CN202684913U - Six-degree-of-freedom spraying robot - Google Patents
Six-degree-of-freedom spraying robot Download PDFInfo
- Publication number
- CN202684913U CN202684913U CN2012203445342U CN201220344534U CN202684913U CN 202684913 U CN202684913 U CN 202684913U CN 2012203445342 U CN2012203445342 U CN 2012203445342U CN 201220344534 U CN201220344534 U CN 201220344534U CN 202684913 U CN202684913 U CN 202684913U
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- joint
- degree
- freedom
- wrist
- spray robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The utility model provides a six-degree-of-freedom spraying robot, which comprises a base, a waist joint which is movably arranged on the base, a big arm joint which is movably arranged on the waist joint, a small arm joint which is movably arranged on the big arm joint, a three-degree-of-degree oblique wrist which is movably arranged on the small arm joint, a spraying gun support connected with the tail end of the three-degree-of-degree oblique wrist, flanges or bearings which are movably connected between the joints or the joints and the wrist, a plurality of first drive mechanisms which used for driving the waist joint as well as the big arm joint and the small arm joint to work, and a second drive mechanism which is used for driving the three-degree-of-degree oblique wrist to work. The first drive mechanism comprises a first servo motor and an RV (Recreation Vehicle) speed reducer. The second drive mechanism comprises a second servo motor, a planetary reducer connected with the second servo motor, a hollow drive shaft which is matched and connected with the planetary reducer, and a gear pair which is arranged in the three-degree-of-degree oblique wrist and is connected with the hollow drive shaft.
Description
Technical field
The utility model relates to a kind of spray robot, relates in particular to a kind of six degree of freedom spray robot.
Background technology
Along with day by day deepening and the development of Modern Manufacturing Technology of modern industrialization degree, people are more and more higher to the appearance requirement of product, especially in industries such as household electrical appliances, automobile and light industrys, and the presentation quality of product even have influence on the competitiveness of product on market.Intelligent automatic coating equipment has replaced the Traditional Man spraying gradually owing to have the advantages such as spray efficiency height, coating is even, pollution is few.At present, automatic coating device commonly used mainly comprises coating machine.But there is following shortcoming in existing coating machine on the market: (1) free degree is few, and working space is little, is difficult to satisfy the needs of the automatic coating of large complicated part surfaces externally and internally.(2) flexible poor, spraying profile is single, can only spray specific component.(3) coating quality is low, for the higher part of appearance requirement, such as outer surface of automobile, is difficult to satisfy the spraying requirement.(4) positioning accuracy is low, utilization efficiency of coatings is low.
Therefore, be necessary to provide a kind of improved six degree of freedom spray robot to overcome the problems referred to above.
The utility model content
The purpose of this utility model is to provide a kind of and sprays free degree height, working space is large and coating quality and the high six degree of freedom spray robot of precision.
For realizing above-mentioned utility model purpose, the utility model provides a kind of six degree of freedom spray robot, comprises base, be movably fixed to the waist joint on the base, be movably fixed to the large-arm joint on the waist joint, be movably fixed to the little shoulder joint on the large-arm joint, be movably fixed to the Three Degree Of Freedom oblique wrist on the little shoulder joint, be connected to the gun stand of described Three Degree Of Freedom oblique wrist end, be movably connected between each joint or the flange between joint and the wrist and bearing, in order to drive described waist joint and large-arm joint and forearm joint work some the first driving mechanisms and in order to drive the second driving mechanism of described Three Degree Of Freedom oblique wrist work; Wherein said the first driving mechanism comprises the first servomotor and the RV reductor in mating connection with described the first servomotor, and described the second driving mechanism comprises the second servomotor, the planetary reducer that is connected with described the second servomotor, with described planetary reducer Hollow Transmission Shafts in mating connection and be arranged in the described Three Degree Of Freedom oblique wrist and the gear pair that is connected with described Hollow Transmission Shafts.
As further improvement of the utility model, described waist joint is compared base and is become biasing setting, described large-arm joint is fixed on a side of described waist joint, described forearm arthrodesis is in end one side of large-arm joint away from described waist joint, and described Three Degree Of Freedom oblique wrist is fixed on described little shoulder joint away from an end of described large-arm joint.
As further improvement of the utility model, described waist joint, large-arm joint and little shoulder joint are the hollow seal structure and at waist joint, large-arm joint and forearm joint inner formation joint annular seal space, described the first driving mechanism is arranged in the annular seal space of described joint.
As further improvement of the utility model, described six degree of freedom spray robot also comprises the positive-pressure explosion-proof device, and described positive-pressure explosion-proof device comprises the pneumatic tube that is fixed on the interior malleation flow pick device of described base, is fixed on the air compressor of chassis outer side and connects air compressor and stretch in the annular seal space of described joint.
As further improvement of the utility model, described malleation flow pick device comprises be used to the Bending Tube Sensor that picks up protective gas flow velocity in the annular seal space and picks up the pressure difference switch of malleation in the annular seal space.
As further improvement of the utility model, described Three Degree Of Freedom oblique wrist is the non-spherical wrist of hollow oblique with three degree of freedom, and comprise the first-hand wrist joint that is connected with described forearm joint motion, the second-hand's wrist joint that is connected with first-hand wrist joints moving and the 3rd wrist joint that is connected with second-hand's wrist joints moving, described gun stand is fixed on described the 3rd wrist joint, and described six degree of freedom spray robot comprises three groups of described second driving mechanisms controlling respectively the first to the 3rd wrist joint.
As further improvement of the utility model, described Hollow Transmission Shafts is arranged on inside, forearm joint and be arranged in parallel with little shoulder joint, one end of described Hollow Transmission Shafts is connected with the output optical axis of described planetary reducer, and the other end is by the bearings in the terminal flange in forearm joint.
As further improvement of the utility model, described six degree of freedom spray robot also comprises the coating pipeline, and it is inner that described coating pipeline is contained in described Three Degree Of Freedom oblique wrist.
The beneficial effects of the utility model are: the utility model six degree of freedom spray robot adopts six joint motions to connect, so that the spraying free degree is high, working space is large, coating quality is high and can satisfy the automatic coating of large complicated part surfaces externally and internally; In addition, adopt servomotor to cooperate the RV reductor to drive, adopt simultaneously servomotor to cooperate planetary reducer and Hollow Transmission Shafts that Three Degree Of Freedom oblique wrist is driven to waist joint and large-arm joint and little shoulder joint, can be so that the utility model spray robot transmission accuracy be high, and the realization electrodeless variable-speed, and then realize high accuracy control.
Description of drawings
Fig. 1 is the stereogram of the six degree of freedom spray robot of the utility model one specific embodiment;
Fig. 2 is the part perspective diagram with six degree of freedom spray robot among Fig. 1, shows the internal driving mechanism of six degree of freedom spray robot.
The specific embodiment
Below with reference to each embodiment shown in the drawings the utility model is described in detail.But these embodiments do not limit the utility model, and the conversion on the structure that those of ordinary skill in the art makes according to these embodiments, method or the function all is included in the protection domain of the present utility model.
Please refer to Figure 1 and Figure 2 is the preferred embodiments of the utility model six degree of freedom spray robot 100.Described six degree of freedom spray robot 100 comprises base 1, be movably fixed to the waist joint 2 on the base 1, be movably fixed to the large-arm joint 3 on the waist joint 2, be movably fixed to the forearm joint 4 on the large-arm joint 3, be movably fixed to the Three Degree Of Freedom oblique wrist 5 on the forearm joint 4, be connected to the gun stand 6 of described Three Degree Of Freedom oblique wrist 5 ends, be movably connected in each joint 2,3, between 4 or joint 2,3,4 and wrist 5 between flange and bearing (not shown), in order to drive respectively described waist joint 2 with several first driving mechanisms 7 of large-arm joint 3 and 4 work of forearm joint and in order to drive the second driving mechanism 8 of described Three Degree Of Freedom oblique wrist 5 work.
Please refer to shown in Figure 2ly, each described first driving mechanism 7 comprises the first servomotor 71 and the RV reductor 72 in mating connection with described the first servomotor 71, and wherein the first servomotor 71 is connected connection by straight spur gear secondary 73 with the RV reductor.The first driving mechanism 7 adopts the first servomotor 71 to cooperate the driving can be so that transmission accuracy is high with RV reductor 72 in the utility model, and the realization electrodeless variable-speed.Described the second driving mechanism 8 comprises the second servomotor 81, the planetary reducer 82 that is connected with described the second servomotor 81, with described planetary reducer 82 Hollow Transmission Shafts 83 in mating connection and be arranged in the described Three Degree Of Freedom oblique wrist 5 and the gear pair (not shown) that is connected with described Hollow Transmission Shafts 83.Described gun stand 6 is used for fixed air atomizing lance or electrostatic gun 61 and coating pipe 62.Gun stand 6 is bolted, and is fixed on the Three Degree Of Freedom oblique wrist 5.
Please refer to shown in Figure 1ly, described waist joint 2 is compared the biasing of 1 one-tenth of base and is arranged, thereby so that the utility model six degree of freedom spray robot 100 compact conformations are effectively expanded working space.Described large-arm joint 3 is fixed on a side of described waist joint 2, and described forearm joint 4 is fixed on large-arm joint 3 away from end one side of described waist joint 2, and described Three Degree Of Freedom oblique wrist 5 is fixed on described forearm joint 4 away from an end of described large-arm joint 3.Described waist joint 2, large-arm joint 3 and forearm joint 4 are the hollow seal structure, the connection of each joint 2,3,4 composition shell seals by rubber sheet gasket, sealing is good, and at waist joint 2, large-arm joint 3 and the forearm joint 4 inner joint annular seal spaces that form.
Please refer to shown in Figure 2ly, described base 1 is used for spray robot 100 integral installations to ground or portal frame (not shown).In the first driving mechanism 7 that drives described waist joint 2 work, RV reductor 72 is bolted on described base 1, and the first servomotor 71 is bolted on waist joint 2.Described base 1 is provided with the limited block 10 of anticollision, is mainly used in avoiding owing to the excessive barrier that collides of waist joint 2 rotational angles.In the first driving mechanism 7 that drives large-arm joint 3 work, the first servomotor 71 and RV reductor 72 all are bolted on described large-arm joint 3.In the first driving mechanism 7 that drives 4 work of forearm joint, the first servomotor 71 and RV reductor 72 all are bolted on described forearm joint 4.
Please refer to Figure 1 and Figure 2, four lateral openings of described base 1, wherein servomotor 71,81 cable (not shown) and pneumatic tube (not shown) be used for to be arranged in a side, and rubber sheet gasket sealing plate 11 are installed to seal described cable and pneumatic tube in this side; One side is used for installing a positive-pressure explosion-proof device 9.In addition, the utility model base 1 four lateral openings also can conveniently be tightened the bolt of the RV reductor 72 of fixed drive waist joint 2.Described positive-pressure explosion-proof device 9 comprises the malleation flow pick device that is fixed in the described base 1, is fixed on the air compressor in base 1 outside and connects air compressor and stretches into described pneumatic tube in the annular seal space of described joint.Described malleation flow pick device comprises be used to the Bending Tube Sensor that picks up protective gas flow velocity in the annular seal space of described joint and picks up the pressure difference switch of malleation in the annular seal space of described joint.Described the first driving mechanism 7 all is arranged in the annular seal space of described joint.Described cable and pneumatic tube also are arranged in the annular seal space of described joint, thus can prevent servomotor 71,81 and cable exposed outside and explosion caused.During 100 work of the utility model spray robot; enter into described joint annular seal space through the protective gas after the purified treatment; be delivered to servomotor 71,81 ends in waist joint 2, large-arm joint 3, forearm joint 4 through pneumatic tube; imflammable gas in the annular seal space of joint is cleaned, then discharge.
Please refer to Figure 1 and Figure 2, described Three Degree Of Freedom oblique wrist 5 is for having the non-spherical wrist of hollow oblique of three degree of freedom, hollow wall is used for arranging coating pipeline (not shown), the coating line rupture protection valve of avoiding hanging has been sprayed the surface, effectively prevent pipeline knotting or fracture, realize three-dimensional any attitude.Described Three Degree Of Freedom oblique wrist 5 comprises the first-hand wrist joint 51 that is flexibly connected with described forearm joint 4, the second-hand's wrist joint 52 that is flexibly connected with first-hand wrist joint 51 and the 3rd wrist joint 53 that is flexibly connected with second-hand's wrist joint 52.Described gun stand 6 is fixed on described the 3rd wrist joint 53.Described six degree of freedom spray robot 100 comprises controls respectively the first to the 3rd wrist joint 51, three groups of described second driving mechanisms 8 of 52,53.In addition, the Hollow Transmission Shafts 83 in described the second driving mechanism 8 all is arranged on 4 inside, forearm joint and be arranged in parallel with forearm joint 4.One end of described Hollow Transmission Shafts 83 is connected with the output optical axis of described planetary reducer 82, and the other end is by the bearings in the 4 terminal flanges 41 of forearm joint.The utility model is arranged in forearm joint 4 front ends with three servomotors 81 of Three Degree Of Freedom oblique wrist 5, can reduce the space that takies described Three Degree Of Freedom oblique wrist 5, the load that alleviates large-arm joint 3, and structure is compacter.
In sum, the utility model six degree of freedom spray robot 100 adopts six joints 2,3,4,51,52,53 to be flexibly connected, so that the spraying free degree is high, working space is large, coating quality is high and can satisfy the automatic coating of large complicated part surfaces externally and internally, the product that can adapt to spraying can be from auto industry, electronic product industry to household electrical appliance industry; In addition, adopt servomotor 71 to cooperate 72 pairs of waist joints 2 of RV reductor to drive, adopt simultaneously servomotor 81 to cooperate planetary reducer 82 and 83 pairs of Three Degree Of Freedom obliques of Hollow Transmission Shafts wrist 5 to drive with large-arm joint 3 and forearm joint 4, can be so that the utility model spray robot 100 transmission accuracies be high, and the realization electrodeless variable-speed, and then realize high accuracy control.
Be to be understood that, although this specification is described according to embodiment, but be not that each embodiment only comprises an independently technical scheme, this narrating mode of specification only is for clarity sake, those skilled in the art should make specification as a whole, technical scheme in each embodiment also can through appropriate combination, form other embodiments that it will be appreciated by those skilled in the art that.
Above listed a series of detailed description only is specifying for feasibility embodiment of the present utility model; they are not to limit protection domain of the present utility model, allly do not break away from equivalent embodiment or the change that the utility model skill spirit does and all should be included within the protection domain of the present utility model.
Claims (8)
1. six degree of freedom spray robot, it is characterized in that: described six degree of freedom spray robot comprises base, be movably fixed to the waist joint on the base, be movably fixed to the large-arm joint on the waist joint, be movably fixed to the little shoulder joint on the large-arm joint, be movably fixed to the Three Degree Of Freedom oblique wrist on the little shoulder joint, be connected to the gun stand of described Three Degree Of Freedom oblique wrist end, be movably connected between each joint or the flange between joint and the wrist and bearing, in order to drive described waist joint and large-arm joint and forearm joint work some the first driving mechanisms and in order to drive the second driving mechanism of described Three Degree Of Freedom oblique wrist work; Wherein said the first driving mechanism comprises the first servomotor and the RV reductor in mating connection with described the first servomotor, and described the second driving mechanism comprises the second servomotor, the planetary reducer that is connected with described the second servomotor, with described planetary reducer Hollow Transmission Shafts in mating connection and be arranged in the described Three Degree Of Freedom oblique wrist and the gear pair that is connected with described Hollow Transmission Shafts.
2. six degree of freedom spray robot according to claim 1, it is characterized in that: described waist joint is compared base and is become biasing setting, described large-arm joint is fixed on a side of described waist joint, described forearm arthrodesis is in end one side of large-arm joint away from described waist joint, and described Three Degree Of Freedom oblique wrist is fixed on described little shoulder joint away from an end of described large-arm joint.
3. six degree of freedom spray robot according to claim 1, it is characterized in that: described waist joint, large-arm joint and little shoulder joint are the hollow seal structure and at waist joint, large-arm joint and forearm joint inner formation joint annular seal space, described the first driving mechanism is arranged in the annular seal space of described joint.
4. six degree of freedom spray robot according to claim 3, it is characterized in that: described six degree of freedom spray robot also comprises the positive-pressure explosion-proof device, and described positive-pressure explosion-proof device comprises the pneumatic tube that is fixed on the interior malleation flow pick device of described base, is fixed on the air compressor of chassis outer side and connects air compressor and stretch in the annular seal space of described joint.
5. six degree of freedom spray robot according to claim 4 is characterized in that: described malleation flow pick device comprises be used to the Bending Tube Sensor that picks up protective gas flow velocity in the annular seal space and picks up the pressure difference switch of malleation in the annular seal space.
6. six degree of freedom spray robot according to claim 1, it is characterized in that: described Three Degree Of Freedom oblique wrist is the non-spherical wrist of hollow oblique with three degree of freedom, and comprise the first-hand wrist joint that is connected with described forearm joint motion, the second-hand's wrist joint that is connected with first-hand wrist joints moving and the 3rd wrist joint that is connected with second-hand's wrist joints moving, described gun stand is fixed on described the 3rd wrist joint, and described six degree of freedom spray robot comprises three groups of described second driving mechanisms controlling respectively the first to the 3rd wrist joint.
7. six degree of freedom spray robot according to claim 6, it is characterized in that: described Hollow Transmission Shafts is arranged on inside, forearm joint and be arranged in parallel with little shoulder joint, one end of described Hollow Transmission Shafts is connected with the output optical axis of described planetary reducer, and the other end is by the bearings in the terminal flange in forearm joint.
8. six degree of freedom spray robot according to claim 6, it is characterized in that: described six degree of freedom spray robot also comprises the coating pipeline, it is inner that described coating pipeline is contained in described Three Degree Of Freedom oblique wrist.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012203445342U CN202684913U (en) | 2012-07-17 | 2012-07-17 | Six-degree-of-freedom spraying robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012203445342U CN202684913U (en) | 2012-07-17 | 2012-07-17 | Six-degree-of-freedom spraying robot |
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| CN202684913U true CN202684913U (en) | 2013-01-23 |
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| CN2012203445342U Expired - Fee Related CN202684913U (en) | 2012-07-17 | 2012-07-17 | Six-degree-of-freedom spraying robot |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103266751A (en) * | 2013-05-30 | 2013-08-28 | 昆山华恒工程技术中心有限公司 | Robot |
| CN103538053A (en) * | 2012-07-17 | 2014-01-29 | 昆山华恒焊接股份有限公司 | Six-freedom-degree spray coating robot |
| CN103737607A (en) * | 2013-12-27 | 2014-04-23 | 柳州高华机械有限公司 | Six-shaft joint mechanical hand |
| CN104908031A (en) * | 2015-06-23 | 2015-09-16 | 泉州市微柏工业机器人研究院有限公司 | Multi-joint industrial mechanical arm |
| CN105881503A (en) * | 2015-01-13 | 2016-08-24 | 上海奉业机械设备有限公司 | Industrial six-axis robot |
| CN106272399A (en) * | 2016-08-29 | 2017-01-04 | 上海交通大学 | A kind of hollow friendship type partially six degree of freedom spray robot |
| CN106423667A (en) * | 2016-10-28 | 2017-02-22 | 嘉善蓝欣涂料有限公司 | Paint spraying device for bearing |
| CN107876267A (en) * | 2017-11-26 | 2018-04-06 | 林建武 | A kind of spray robot |
| CN108115672A (en) * | 2016-11-26 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | A kind of kinetic control system and its method of oblique wrist spray robot |
| WO2018177211A1 (en) * | 2017-03-27 | 2018-10-04 | 陕西华拓科技有限责任公司 | Robot for performing droplet jetting, and droplet jetting control method for robot |
| CN109153132A (en) * | 2016-04-27 | 2019-01-04 | 奥维罗有限责任公司 | For the programmable motor-driven movable joint for automatically moving machine |
| CN109732253A (en) * | 2019-02-27 | 2019-05-10 | 西安理工大学 | Lorry compartment automatic welding equipment |
| CN110050131A (en) * | 2016-12-09 | 2019-07-23 | 杜尔系统股份公司 | For being attached to the locking device of robot |
| CN110918321A (en) * | 2019-12-12 | 2020-03-27 | 太原市磊焱科技有限公司 | It prevents wind formula multi freedom intelligence spray arm to advance carriage |
| CN113198650A (en) * | 2021-05-25 | 2021-08-03 | 伯朗特机器人股份有限公司 | Spraying robot and positive pressure explosion-proof method thereof |
| CN115351792A (en) * | 2022-08-03 | 2022-11-18 | 北京炎凌嘉业机电设备有限公司 | Movable explosion-proof robot for spraying large-scale target body |
-
2012
- 2012-07-17 CN CN2012203445342U patent/CN202684913U/en not_active Expired - Fee Related
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103538053A (en) * | 2012-07-17 | 2014-01-29 | 昆山华恒焊接股份有限公司 | Six-freedom-degree spray coating robot |
| CN103266751B (en) * | 2013-05-30 | 2016-02-03 | 昆山华恒工程技术中心有限公司 | Robot |
| CN103266751A (en) * | 2013-05-30 | 2013-08-28 | 昆山华恒工程技术中心有限公司 | Robot |
| CN103737607A (en) * | 2013-12-27 | 2014-04-23 | 柳州高华机械有限公司 | Six-shaft joint mechanical hand |
| CN103737607B (en) * | 2013-12-27 | 2016-01-06 | 柳州高华机械有限公司 | Six axle joint mechanical hands |
| CN105881503A (en) * | 2015-01-13 | 2016-08-24 | 上海奉业机械设备有限公司 | Industrial six-axis robot |
| CN104908031A (en) * | 2015-06-23 | 2015-09-16 | 泉州市微柏工业机器人研究院有限公司 | Multi-joint industrial mechanical arm |
| CN109153132A (en) * | 2016-04-27 | 2019-01-04 | 奥维罗有限责任公司 | For the programmable motor-driven movable joint for automatically moving machine |
| CN106272399A (en) * | 2016-08-29 | 2017-01-04 | 上海交通大学 | A kind of hollow friendship type partially six degree of freedom spray robot |
| CN106272399B (en) * | 2016-08-29 | 2020-07-14 | 上海交通大学 | Hollow bias-crossing type six-freedom-degree spraying robot |
| CN106423667A (en) * | 2016-10-28 | 2017-02-22 | 嘉善蓝欣涂料有限公司 | Paint spraying device for bearing |
| CN108115672A (en) * | 2016-11-26 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | A kind of kinetic control system and its method of oblique wrist spray robot |
| CN108115672B (en) * | 2016-11-26 | 2021-04-20 | 沈阳新松机器人自动化股份有限公司 | Motion control system and method of oblique wrist spraying robot |
| CN110050131A (en) * | 2016-12-09 | 2019-07-23 | 杜尔系统股份公司 | For being attached to the locking device of robot |
| WO2018177211A1 (en) * | 2017-03-27 | 2018-10-04 | 陕西华拓科技有限责任公司 | Robot for performing droplet jetting, and droplet jetting control method for robot |
| CN107876267A (en) * | 2017-11-26 | 2018-04-06 | 林建武 | A kind of spray robot |
| CN109732253A (en) * | 2019-02-27 | 2019-05-10 | 西安理工大学 | Lorry compartment automatic welding equipment |
| CN110918321A (en) * | 2019-12-12 | 2020-03-27 | 太原市磊焱科技有限公司 | It prevents wind formula multi freedom intelligence spray arm to advance carriage |
| CN110918321B (en) * | 2019-12-12 | 2022-05-20 | 太原市磊焱科技有限公司 | Enter carriage windproof type antifreeze solution sprinkler |
| CN113198650A (en) * | 2021-05-25 | 2021-08-03 | 伯朗特机器人股份有限公司 | Spraying robot and positive pressure explosion-proof method thereof |
| CN115351792A (en) * | 2022-08-03 | 2022-11-18 | 北京炎凌嘉业机电设备有限公司 | Movable explosion-proof robot for spraying large-scale target body |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130123 Termination date: 20210717 |