CN202667069U - Mechanical arm driving device for spraying robot - Google Patents
Mechanical arm driving device for spraying robot Download PDFInfo
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- CN202667069U CN202667069U CN 201220007624 CN201220007624U CN202667069U CN 202667069 U CN202667069 U CN 202667069U CN 201220007624 CN201220007624 CN 201220007624 CN 201220007624 U CN201220007624 U CN 201220007624U CN 202667069 U CN202667069 U CN 202667069U
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Abstract
The utility model relates to a mechanical arm driving device for a spraying robot. The device comprises a middle rotating driving mechanism, a telescopic driving mechanism and a swinging driving mechanism at the front end. The rotating driving mechanism drives the mechanical arm to rotate through a servo motor, the telescopic driving mechanism drives a lead screw to rotate through the servo motor, and a rolling ball spline shaft changes rotating movement of a rolling ball lead screw nut into telescopic movement of the mechanical arm. The swinging driving mechanism at the front end is connected with the front end of a telescopic shaft of the telescopic driving mechanism through a tensioning sleeve, and the swinging driving mechanism at the front end drives a swinging shaft to rotate through the servo motor and a speed reducer so as to drive a spray gun to swinging.
Description
Technical field:
The utility model relates to spray robot, particularly a kind of spraying robot mechanical arm driving device.
Background technology:
Chinese patent application CN200480008390.1 discloses a kind of example of the spray robot that uses in paint line, it comprises first to fourth robot, they are entirely controlled by controller and are set near conveyer line, and ejector mechanism, it is located on the end of arm of first to fourth robot, the action of this first to fourth robot is instructed, and will comprise that the liquid of acrylic copolymer is ejected on the vehicle body.This robot is the multi-joint industrial robot, and it comprises base and from base the first arm, the second arm and the 3rd arm in order, and the end of the 3rd arm is provided with ejector mechanism.Tandem spray robot complex structure, single, the difficult processing of part of form.
Chinese patent application CN200410013789.2 discloses the hybrid robot of three-degree-of-freedom series-parallel that a kind of ball spline drives, and parallel robot exists kind of drive control loaded down with trivial details.
The utility model content:
It is flexible high, simple in structure that the utility model provides a kind of type of drive, the intelligent spraying robot mechanical arm driving device of dependable performance.
Technical solution of the present utility model is: the swing driving mechanism of rotary drive mechanism, telescopic drive mechanism and front end in the middle of a kind of spraying robot mechanical arm driving device comprises, middle rotary drive mechanism reaches rotatablely moving of mechanical arm by the secondary rotation of middle rotating servo motor driven gear; Telescopic drive mechanism is connected with driven gear in the middle rotary drive mechanism, and telescopic drive mechanism drives the leading screw rotation by flexible servomotor, and ball spline shaft is converted into the mechanical arm stretching motion to rotatablely moving of ball-screw nut; Swing driving mechanism is connected to the telescopic shaft front end of telescopic drive mechanism by expansion sleeve, and swing driving mechanism drives swing shaft by front end wobble servo motor and reductor and rotates, and does the rotation campaign thereby drive spray gun.Above mechanism all can operate separately spray gun, also the more than one motion of above-mentioned motion can be combined, and just can make spray gun finish complicated motion of space curve in the space, can finish the spraying task of various workpiece.
Middle rotary drive mechanism comprises: driven swing pinion, active rotation gear, rotating seat, middle rotating servo motor; Rotating servo motor is connected with rotating seat by bolt in the middle of described, and described middle rotating servo motor drives described active rotation gear rotation by key, and described active rotation gear drives again described driven swing pinion rotation.
Telescopic drive mechanism comprises: ball spline shaft, splined shaft top cover, ball spline bracing strut, ball-screw stationary magazine creel, stationary magazine creel adpting flange, coupling shield, telescopic flexible shaft coupling, flexible servomotor; Described flexible servomotor drives described ball-screw rotation by described telescopic flexible shaft coupling, and described ball spline shaft is converted into stretching motion to rotatablely moving of leading screw top nut.
The swing driving mechanism of front end comprises: gun stand, spray gun swinging mounting, front end wobble servo motor and reductor, spray gun; Described front end wobble servo motor and reductor are fixed on the described spray gun swinging mounting, and the spray gun swinging mounting that rotarily drives of described front end wobble servo motor and reductor both forward and reverse directions swings, and described spray gun swinging mounting is realized the swing of gun stand.
The servomotor of the swing driving mechanism of the middle rotary drive mechanism of described spraying robot mechanical arm driving device, telescopic drive mechanism and front end is external respectively.
Middle rotary drive mechanism comprises: driven rotating sprocket, active rotation sprocket wheel, timing chain driving, rotating seat, middle rotating servo motor; Rotating servo motor is connected with rotating seat by bolt in the middle of described, and described middle rotating servo motor drives described active rotation sprocket wheel rotation by key, and described active rotation sprocket wheel drives described driven rotating sprocket by described timing chain driving and rotates.
Middle rotary drive mechanism comprises: driven swing pinion, active rotation gear, Timing Belt, rotating seat, middle rotating servo motor; Rotating servo motor is connected with rotating seat by bolt in the middle of described, and described middle rotating servo motor drives described active rotation gear rotation by key, and described active rotation gear drives described driven swing pinion rotation by described Timing Belt.
The swing driving mechanism of front end drives the gun stand of one or both sides by bevel gear pair.
Middle rotating servo motor is connected with rotating seat by bolt, rotating servo motor drives the rotation of active rotation gear by key in the middle of described, the active rotation gear drives again driven swing pinion rotation, driven swing pinion is connected with the ball-screw stationary magazine creel, thereby drives the rotation of ball-screw stationary magazine creel; Described flexible servomotor drives the ball-screw rotation by the telescopic flexible shaft coupling, and ball spline shaft is converted into stretching motion to rotatablely moving of leading screw top nut, thereby realizes the stretching motion of gun stand; Described front end wobble servo motor and reductor are fixed on the turning rack, drive the spray gun swinging mounting by rotating shaft and swing, and gun stand is fixed on the spray gun swinging mounting, thereby realize the swing of gun stand.
A kind of spraying robot mechanical arm driving device, the swing driving mechanism of rotary drive mechanism, telescopic drive mechanism and front end in the middle of it comprises, described middle rotary drive mechanism is by middle rotating servo motor driving mechanical arm rotation; The flexible servomotor of described telescopic drive mechanism drives bevel gear pair by the telescopic flexible shaft coupling, thereby drives the rack linear motion on the stationary magazine creel; The swing driving mechanism of described front end is connected to the telescopic shaft front end of described telescopic drive mechanism by expansion sleeve, and the swing driving mechanism of described front end drives swing shaft by front end wobble servo motor and reductor and rotates, and swings thereby drive spray gun.
Intelligence control system control the action of all servomotors drive rotation that counter element realize spray guns, elastic, ± 90 ° swing and keep the spraying direction all the time perpendicular to working face.The spraying of defeated paint mixing system control spray gun, spray speed, spray time, color.All by being placed on the outside, paint spray booth, it comprises a series of integrated for described defeated paint mixing system and intelligence control system, is used for spraying paint and control of this robot.
The servomotor of the utility model spraying robot mechanical arm driving device is all external, thereby is convenient to installation, dismounting and easy to maintenance.
The utility model spraying robot mechanical arm rotates, stretches and swing respectively and driven by the different servo Electric Machine Control, therefore has the flexibility height, and is simple in structure, dependable performance.
The utility model mechanical arm servomotor all can operate separately spray gun, also the more than one motion of above-mentioned motion can be combined, fault is easy to get rid of, be easy to program calling and controlling, safe and reliable, just can make spray gun in the space, finish complicated motion of space curve, can finish the automatic coating task of various workpiece.
Description of drawings:
Fig. 1 is the utility model spray robot perspective view that moves at the framework inner plane;
Fig. 2 is the utility model spraying robot mechanical arm driving device perspective view;
Fig. 3 A is the utility model spraying robot mechanical arm driving device front view;
Fig. 3 B is A-A cutaway view among Fig. 3 A;
Fig. 4 is another embodiment schematic diagram of the utility model spraying robot mechanical arm driving device.
Identical Reference numeral represents same parts or similar parts, and wherein Reference numeral is expressed as follows:
1 lifting servomotor, 2 lifting flexible clutch, 3 top chocks, 4 fuselages, 5 lifting ball-screws, 6 transverse shifting servomotors, 7 Linear modules, 8 upper backup pads, 9 Linear module slide blocks, 10 flexible servomotors, 11 robots arm's rotary drive mechanisms, 12 lower supporting plates, 13 move left and right guided ways, 14 gun stands, 15 spray gun swinging mountings, 16 front end wobble servo motor and reductors, 17 spray guns, 18 steps, 19 baffle plates, 20 supports, 21 ball-screw stationary magazine creels, 22 ball spline bracing struts, 23 defeated paint mixing systems, 24 intelligence control systems, 25 frame upper beams, 34 ball nut take-up housings, 37 bevel gear pairs, 38 turning racks, 39 ball spline shafts, 40 driven shaft gears, 41 driving shaft gears, 42 rotating seats, rotating servo motor in the middle of 43,44 stationary magazine creel adpting flanges, 45 flexible servomotors, 46 telescopic flexible shaft couplings, 47 splined shaft top covers.
The specific embodiment:
Below in conjunction with the drawings and the specific embodiments the utility model is elaborated.
Fig. 1 shows the utility model spray robot that moves at the framework inner plane.Wherein left and right sides lifting servomotor 1 places the frame roof of left and right sides fuselage 4.Lifting servomotor 1 lower end connects lifting flexible clutch 2, top chock 3 and lifting ball-screw 5 successively, and lifting ball-screw 5 upper ends are connected on the top chock 3, and the lower end is connected on the step 18.Left and right sides fuselage 4 is respectively H shape frame structure, and its lifting flexible clutch 2, top chock 3, lifting ball-screw 5 and step 18 place respectively in the H shape framework of fuselage 4.Upper backup pad 8 and two ends, lower supporting plate 12 left and right sides ball nut take-up housing are socketed on respectively on the lifting ball-screw 5.
Above-mentioned lifting servomotor 1, lifting flexible clutch 2, top chock 3, fuselage 4, lifting ball-screw 5 and step 18 have consisted of the utility model spray robot oscilaltion device, lifting servomotor 1 drives lifting flexible clutch 2 and rotates, lifting flexible clutch 2 drives the lifting ball-screw 5 that is fixed between the metal (upper seat 3,18 and rotates, and lifting ball-screw 5 drives the synchronous oscilaltion campaign of gripper shoe 8 and lower supporting plate 12.
Left and right sides fuselage 4 is fixed on the support 20 by baffle plate 19, support 20 both can fix on the ground, also can roller be installed in its bottom, rollably connect on the rail, can adopt servomotor and ball-screw to drive support 20 and move (not shown) along rail.Fuselage 4 upper ends in the left and right sides couple together by frame upper beam 25, and above-mentioned left and right sides fuselage 4, entablature 25 and support 20 consist of plane frame structure, and the utility model spray robot moves up and down in this plane frame structure.Thereby can guarantee position degree, the depth of parallelism, stability that the utility model spray robot moves.Tandem machine people cantilever beam deflection problem can not occur and vibrate unsettled problem.
In plane frame structure, be provided with upper backup pad 8 and lower supporting plate 12, the two ends, the left and right sides of upper backup pad 8 and lower supporting plate 12 are separately fixed on the ball nut take-up housing 34, and ball nut take-up housing 34 is socketed on the lifting ball-screw 5.
Linear module 7 is fixed on the upper backup pad 8.Transverse shifting servomotor 6 drives Linear module slide block 9 move left and right.The lower linear slide rail comprises move left and right guided way 13 and lower linear sliding-rail sliding, and lower linear slide rail and lower supporting plate 12 are fixedly linked, and the lower linear sliding-rail sliding can servo-actuatedly be fixed on the move left and right guided way 13 slidably.
Transverse shifting servomotor 6 drives the utility model spraying robot mechanical arm driving device move left and right, lifting servomotor 1 drives the oscilaltion of the utility model spraying robot mechanical arm driving device, therefore the utility model spraying robot mechanical arm driving device can carry out up and down compound motion in plane frame structure, has consisted of the utility model spray robot leg walking driving mechanism.
In plane frame structure, be respectively arranged with at two ends, lower supporting plate 12 left and right sides and move left limit switch 30 and the limit switch 31 that moves right, two ends arrange respectively raise-position limit switch 32 and the position limit switch 33 that descends in the H of fuselage 4 shape framework, thereby define the utility model spray robot leg walking driving mechanism Ambulatory Activity scope.
Roller is installed in the bottom of plane frame structure, rollably connect on the rail, drive support 20 by servomotor and linear block and move along rail, thereby consist of the utility model spray robot integrated moving.
Above-mentioned plane framework inner driving device has consisted of the utility model spray robot shank running gear.
Fig. 2, Fig. 3 A and Fig. 3 B show the utility model spraying robot mechanical arm driving device, the swing driving mechanism of rotary drive mechanism, telescopic drive mechanism and front end in the middle of this robot arm drive unit comprises.
Rotary drive mechanism comprises in the middle of described: driven swing pinion 40, active rotation gear 41, rotating seat 42, middle rotating servo motor 43; Middle rotating servo motor 43 is connected with rotating seat 42 by bolt, middle rotating servo motor 43 drives 41 rotations of active rotation gear by key, active rotation gear 41 drives again driven swing pinion 40 rotations, driven swing pinion 40 is connected with ball-screw stationary magazine creel 21, thereby drives gun stand 14 rotations.
Telescopic drive mechanism comprises: ball spline shaft 39, splined shaft top cover 47, ball spline bracing strut 22, ball-screw stationary magazine creel 21, stationary magazine creel adpting flange 44, coupling shield 45, telescopic flexible shaft coupling 46, flexible servomotor 10; Flexible servomotor 10 drives the ball-screw rotation by telescopic flexible shaft coupling 46, and ball spline shaft 39 is converted into stretching motion to rotatablely moving of leading screw top nut, thereby realizes the stretching motion of gun stand 14.
The swing mechanism of described front end comprises: gun stand 14, spray gun swinging mounting 15, front end wobble servo motor and reductor 16, spray gun 17; Front end wobble servo motor and reductor 16 are fixed on the spray gun swinging mounting 15, the rotation of front end wobble servo motor and reductor 16 both forward and reverse directions, driving spray gun swinging mounting 15 by rotating shaft swings, gun stand 14 is fixed on the spray gun swinging mounting 15, thereby realizes the swing of gun stand 14.
Middle rotating servo motor 43 is connected with rotating seat 42 by bolt, middle rotating servo motor 43 drives 41 rotations of active rotation gear by key, active rotation gear 41 drives again driven swing pinion 40 rotations, driven swing pinion 40 is connected with ball-screw stationary magazine creel 21, thereby drives 21 rotations of ball-screw stationary magazine creel; Flexible servomotor 10 drives the ball-screw rotation by telescopic flexible shaft coupling 46, and ball spline shaft 39 is converted into stretching motion to rotatablely moving of leading screw top nut, thereby realizes the stretching motion of gun stand 14; Front end wobble servo motor and reductor 16 are fixed on the turning rack 38, drive spray gun swinging mounting 15 by rotating shaft and swing, and gun stand 14 is fixed on the spray gun swinging mounting 15, thereby realize the swing of gun stand 14; The compound rotation that realizes gun stand 14 of above-mentioned three all motions, flexible, swing.
The motion of the utility model spraying robot mechanical arm driving device comprises that the rotatablely moving of described rotary drive mechanism driving device arm self, described telescoping mechanism driving device arm self extend motion, described swing mechanism driving device arm front end swings, thereby realizes the rotation of the utility model spraying robot mechanical arm driving device, the intelligent drives of stretching, swinging.Above mechanism all can operate separately spray gun, also the more than one motion of above-mentioned motion can be combined, and just can make spray gun finish complicated motion of space curve in the space, can finish the spraying task of various workpiece.
Defeated paint mixing system 23 links to each other with corresponding drive unit with cable by pipeline respectively with intelligence control system 24.
Although the above has described the utility model specific embodiment in detail, but be not that limit realizes all embodiments of the present utility model, the above-mentioned specific embodiment only is exemplary description, those skilled in the art describe on the basis in the specific embodiment of the present utility model, are transformed into many different embodiments by increase and decrease, modification, substitute mode.
As shown in Figure 2, described rotary drive mechanism drives again driven swing pinion 40 rotations by active rotation gear 41, by conversion, the swing pinion subcommutation can be become timing chain to drive or the Timing Belt driving.
Described flexible servomotor 10 drives the ball-screw rotation by telescopic flexible shaft coupling 46, ball spline shaft 39 is converted into stretching motion to rotatablely moving of leading screw top nut, by conversion, flexible servomotor 10 moves thereby drive rack linear by the 46 driven gear transmission conversion of telescopic flexible shaft coupling.
The rotation of described front end wobble servo motor and reductor 16 both forward and reverse directions drives spray gun swinging mounting 15 by rotating shaft and swings, and by conversion, is transformed into the type of drive of bevel gear pair shown in Figure 4 37.As shown in Figure 4, front end wobble servo motor and reductor 16 are arranged on the central axis of mechanical arm driving device, drive the gun stand of one or both sides by bevel gear pair 37.
All servomotors actions of intelligence control system 24 control drive oscilaltion that counter element realize spray guns, left and right sides translation, elastic, ± 90 ° swing and keep the spraying direction all the time perpendicular to working face.The spraying of defeated paint mixing system 23 control spray guns, spray speed, spray time, color.All by being placed on the outside, paint spray booth, it comprises a series of integrated for described defeated paint mixing system and intelligence control system, is used for spraying paint and control of this robot.
The servomotor of the utility model spraying robot mechanical arm driving device is all external, thereby is convenient to installation, dismounting and easy to maintenance.
The utility model spraying robot mechanical arm driving device rotary extension and swing are driven by the different servo Electric Machine Control respectively, and it is high, simple in structure therefore to have flexibility, dependable performance.
The utility model servomotor all can operate separately spray gun, also the more than one motion of above-mentioned motion can be combined, fault is easy to get rid of, be easy to program calling and controlling, safe and reliable, just can make spray gun in the space, finish complicated motion of space curve, can finish the automatic coating task of various workpiece.
Characteristics of the present utility model are that rotation adopts high class gear to rotate, and rigidity is strong; Telescoping mechanism adopts ball-screw and ball spline through-drive, and operation accurately steadily; Swing mechanism adopts servomotor and reductor to drive, and mechanism is succinct, easily control.
The utility model spraying robot mechanical arm driving device not only is used for paint line, and this robot arm drive unit also can be used in the various robot driving devices such as welding robot, assembly robot, transfer robot.
Claims (10)
1. spraying robot mechanical arm driving device, the swing driving mechanism of rotary drive mechanism, telescopic drive mechanism and front end in the middle of it is characterized in that comprising, described in the middle of rotary drive mechanism by middle rotating servo motor driving mechanical arm rotation; Described telescopic drive mechanism drives the leading screw rotation by flexible servomotor, and ball spline shaft is converted into the mechanical arm stretching motion to rotatablely moving of ball-screw nut; Described front end swing driving mechanism is connected to the telescopic shaft front end of described telescopic drive mechanism by expansion sleeve, and described front end swing driving mechanism drives swing shaft by front end wobble servo motor and reductor and rotates, and swings thereby drive spray gun.
2. spraying robot mechanical arm driving device according to claim 1 is characterized in that described middle rotary drive mechanism comprises: driven swing pinion, active rotation gear, rotating seat, middle rotating servo motor; Rotating servo motor is connected with rotating seat by bolt in the middle of described, and described middle rotating servo motor drives described active rotation gear rotation by key, and described active rotation gear drives again described driven swing pinion rotation.
3. spraying robot mechanical arm driving device according to claim 1 is characterized in that described telescopic drive mechanism comprises: ball spline shaft, splined shaft top cover, ball spline bracing strut, ball-screw stationary magazine creel, stationary magazine creel adpting flange, coupling shield, telescopic flexible shaft coupling, flexible servomotor; Described flexible servomotor drives described ball-screw rotation by described telescopic flexible shaft coupling, and described ball spline shaft is converted into stretching motion to rotatablely moving of leading screw top nut.
4. spraying robot mechanical arm driving device according to claim 1 is characterized in that the swing driving mechanism of described front end comprises: gun stand, spray gun swinging mounting, front end wobble servo motor and reductor, spray gun; Described front end wobble servo motor and reductor are fixed on the described spray gun swinging mounting, and the spray gun swinging mounting that rotarily drives of described front end wobble servo motor and reductor both forward and reverse directions swings, and described spray gun swinging mounting is realized the swing of gun stand.
5. spraying robot mechanical arm driving device according to claim 1 is characterized in that the servomotor of swing driving mechanism of middle rotary drive mechanism, telescopic drive mechanism and front end of described spraying robot mechanical arm driving device is external respectively.
6. spraying robot mechanical arm driving device according to claim 1 is characterized in that described middle rotary drive mechanism comprises: driven rotating sprocket, active rotation sprocket wheel, timing chain driving, rotating seat, middle rotating servo motor; Rotating servo motor is connected with rotating seat by bolt in the middle of described, and described middle rotating servo motor drives described active rotation sprocket wheel rotation by key, and described active rotation sprocket wheel drives described driven rotating sprocket by described timing chain driving and rotates.
7. spraying robot mechanical arm driving device according to claim 1 is characterized in that described middle rotary drive mechanism comprises: driven swing pinion, active rotation gear, Timing Belt, rotating seat, middle rotating servo motor; Rotating servo motor is connected with rotating seat by bolt in the middle of described, and described middle rotating servo motor drives described active rotation gear rotation by key, and described active rotation gear drives described driven swing pinion rotation by described Timing Belt.
8. spraying robot mechanical arm driving device according to claim 1 is characterized in that the swing driving mechanism of described front end drives the gun stand of one or both sides by bevel gear pair.
9. spraying robot mechanical arm driving device according to claim 1, rotating servo motor is connected with rotating seat by bolt in the middle of described, rotating servo motor drives the rotation of active rotation gear by key in the middle of described, the active rotation gear drives again driven swing pinion rotation, driven swing pinion is connected with the ball-screw stationary magazine creel, thereby drives the rotation of ball-screw stationary magazine creel; Described flexible servomotor drives the ball-screw rotation by the telescopic flexible shaft coupling, and ball spline shaft is converted into stretching motion to rotatablely moving of leading screw top nut, thereby realizes the stretching motion of gun stand; Described front end wobble servo motor and reductor are fixed on the turning rack, drive the spray gun swinging mounting by rotating shaft and swing, and gun stand is fixed on the spray gun swinging mounting, thereby realize the swing of gun stand.
10. spraying robot mechanical arm driving device, the swing driving mechanism of rotary drive mechanism, telescopic drive mechanism and front end in the middle of it is characterized in that comprising, described in the middle of rotary drive mechanism by middle rotating servo motor driving mechanical arm rotation; The flexible servomotor of described telescopic drive mechanism drives bevel gear pair by the telescopic flexible shaft coupling, thereby drives the rack linear motion on the stationary magazine creel; The swing driving mechanism of described front end is connected to the telescopic shaft front end of described telescopic drive mechanism by expansion sleeve, and the swing driving mechanism of described front end drives swing shaft by front end wobble servo motor reducer and rotates, and swings thereby drive spray gun.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220007624 CN202667069U (en) | 2012-01-10 | 2012-01-10 | Mechanical arm driving device for spraying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220007624 CN202667069U (en) | 2012-01-10 | 2012-01-10 | Mechanical arm driving device for spraying robot |
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| Publication Number | Publication Date |
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| CN202667069U true CN202667069U (en) | 2013-01-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201220007624 Expired - Fee Related CN202667069U (en) | 2012-01-10 | 2012-01-10 | Mechanical arm driving device for spraying robot |
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| CN (1) | CN202667069U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102513259A (en) * | 2012-01-10 | 2012-06-27 | 江苏长虹汽车装备集团有限公司 | Spraying robot mechanical arm driving device |
| CN105965543A (en) * | 2016-07-18 | 2016-09-28 | 佛山市联智新创科技有限公司 | Universal robot provided with rotating execution tail end |
| CN107405643A (en) * | 2015-03-27 | 2017-11-28 | 本田技研工业株式会社 | Lubricating grease apparatus for coating and lubricating grease coating method |
| CN114799087A (en) * | 2022-03-31 | 2022-07-29 | 燕山大学 | Spraying device for inner surface of automobile hub mold |
| CN115110725A (en) * | 2022-07-29 | 2022-09-27 | 中国一冶集团有限公司 | Wall surface napping machine capable of achieving uniform spraying |
-
2012
- 2012-01-10 CN CN 201220007624 patent/CN202667069U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102513259A (en) * | 2012-01-10 | 2012-06-27 | 江苏长虹汽车装备集团有限公司 | Spraying robot mechanical arm driving device |
| CN102513259B (en) * | 2012-01-10 | 2014-03-26 | 江苏长虹汽车装备集团有限公司 | Spraying robot mechanical arm driving device |
| CN107405643A (en) * | 2015-03-27 | 2017-11-28 | 本田技研工业株式会社 | Lubricating grease apparatus for coating and lubricating grease coating method |
| CN107405643B (en) * | 2015-03-27 | 2019-05-10 | 本田技研工业株式会社 | Lubricating grease apparatus for coating and lubricating grease coating method |
| US10518277B2 (en) | 2015-03-27 | 2019-12-31 | Honda Motor Co., Ltd. | Grease application device and grease application method |
| CN105965543A (en) * | 2016-07-18 | 2016-09-28 | 佛山市联智新创科技有限公司 | Universal robot provided with rotating execution tail end |
| CN105965543B (en) * | 2016-07-18 | 2018-05-11 | 烟台盛创智能科技有限公司 | A kind of all-purpose robot for being equipped with rotation and performing end |
| CN114799087A (en) * | 2022-03-31 | 2022-07-29 | 燕山大学 | Spraying device for inner surface of automobile hub mold |
| CN114799087B (en) * | 2022-03-31 | 2023-06-23 | 燕山大学 | Spraying device for inner surface of automobile hub die |
| CN115110725A (en) * | 2022-07-29 | 2022-09-27 | 中国一冶集团有限公司 | Wall surface napping machine capable of achieving uniform spraying |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130116 Termination date: 20160110 |