CN210875969U - Real robot automatic spraying and grinding device of instructing - Google Patents
Real robot automatic spraying and grinding device of instructing Download PDFInfo
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- CN210875969U CN210875969U CN201921274028.9U CN201921274028U CN210875969U CN 210875969 U CN210875969 U CN 210875969U CN 201921274028 U CN201921274028 U CN 201921274028U CN 210875969 U CN210875969 U CN 210875969U
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Abstract
The utility model relates to a robot device for practical training, in particular to an automatic spraying and polishing device of a robot for practical training, which comprises a workbench and a manipulator, wherein the manipulator is fixed on the workbench and also comprises an automatic clamping jaw which is fixed on the manipulator; the workpiece clamping device is used for clamping a workpiece; the storage device is used for storing workpieces; a tool presence device for placing a production tool; the workpiece clamping device, the storage device and the tool storage device are all arranged on the workbench and are positioned in the working range of the manipulator; the workpiece clamping device comprises a clamping device, and the clamping device is used for clamping a workpiece; the displacement substrate is provided with a clamping device; and the displacement driving device is connected with the displacement substrate and is used for driving the displacement substrate to rotate. The utility model provides a pair of instruct to use robot automatic spraying and grinding device in fact can carry out the automation mechanized operation simulation to the spraying with polishing to improve student's technical ability.
Description
Technical Field
The utility model relates to a real robot device of using of instructing, especially a real robot automatic spraying and grinding device of using of instructing.
Background
For automated devices, students' perceptual knowledge is insufficient and lack of associated devices to perform simulated operations, resulting in limited skill improvement, poor operational programming and practical application capabilities.
SUMMERY OF THE UTILITY MODEL
In order to solve the above problem, the utility model provides a can carry out the automation mechanized operation simulation to spraying and polishing to improve the real robot automatic spraying and the grinding device of using of instructing of student's skill, concrete technical scheme is:
a robot automatic spraying and polishing device for practical training comprises a workbench, a manipulator and an automatic clamping jaw, wherein the manipulator is fixed on the workbench; a workpiece clamping device for clamping a workpiece; the storage device is used for storing workpieces; a tool storage device for holding a production tool; the workpiece clamping device, the storage device and the tool storage device are all arranged on the workbench and are positioned in the working range of the manipulator; the workpiece clamping device comprises a clamping device, and the clamping device is used for clamping a workpiece; the displacement base plate is provided with a clamping device; and the displacement driving device is connected with the displacement substrate and is used for driving the displacement substrate to rotate.
Through adopting above-mentioned technical scheme, automatic clamping jaw is used for snatching production instrument or work piece, and the manipulator drives automatic clamping jaw and switches on relevant station, and the manipulator drives automatic clamping jaw and snatchs the work piece from storage device earlier, then places the work piece on the work piece clamping device, makes the work piece by fixed, and the manipulator drives automatic clamping jaw and snatchs production instrument from instrument strorage device and process after that, can simulate actual processing step, improves student's technical ability, be convenient for audio-visual impression processing and programming.
Preferably, the automatic clamping jaw comprises a pneumatic clamping jaw or an electric clamping jaw, and the pneumatic clamping jaw or the electric clamping jaw is provided with two sliding tables; the gripper A is fixed on one sliding table of the pneumatic clamping jaw or the electric clamping jaw; the gripper B is fixed on the other sliding table of the pneumatic clamping jaw or the electric clamping jaw; the grabbing device comprises a grabbing handle A and a grabbing handle B, the grabbing handle A and the grabbing handle B are identical in structure, grabbing bosses are arranged on the grabbing handle A and the grabbing handle B, grabbing grooves are formed in the grabbing bosses and are V-shaped grooves, the grabbing grooves are two, and the two grabbing grooves are perpendicular to each other to form a cross shape.
Preferably, the tool support is used for installing a production tool, clamping positioning holes are formed in two sides of the tool support and correspond to the grabbing bosses.
And the pneumatic clamping jaw or the electric clamping jaw is used for driving the hand grip A and the hand grip B to clamp the tool support.
Preferably, vent holes are formed in the hand grip A and/or the hand grip B and are through holes, quick connectors are arranged on the vent holes, and the quick connectors are located on the outer sides of the hand grip A and the hand grip B; sealing rings are arranged on the hand grip A and/or the hand grip B, the sealing rings are coaxial with the vent holes, and the sealing rings are positioned on the inner sides of the hand grip A and the hand grip B; the tool support is provided with a communication hole which is a through hole and corresponds to the vent hole, and the communication hole is provided with a quick connector which is positioned on the inner side of the tool support.
Preferably, the grip A or the grip B is provided with a positive female contact electrode and a negative female contact electrode; the tool support is provided with a positive male contact electrode and a negative male contact electrode, and the positive male contact electrode and the negative male contact electrode correspond to the positive female contact electrode and the negative female contact electrode respectively.
Preferably, the workpiece storage device comprises a tool positioning support, the tool positioning support is provided with a tool positioning groove and a tool placing groove, ball plungers are arranged on two sides of the tool positioning groove, the number of the ball plungers on each side is not less than two, the tool positioning groove is used for placing the tool support, and the tool placing groove is used for placing production tools; and the tool support is provided with a sliding positioning groove on the surface corresponding to the tool positioning groove, the sliding positioning groove is matched with the ball plunger, and the sliding positioning groove is used for positioning the tool support with the ball plunger.
Preferably, the production tool further comprises a tool connecting plate, wherein the production tool is arranged on the tool connecting plate, and the tool connecting plate is fixed on the tool support and is positioned at the bottom of the tool support.
Preferably, the displacement driving device comprises a displacement seat; the active displacement shaft is rotatably arranged on the displacement seat and is fixed at one end of the displacement substrate; the driven displacement shaft is rotatably arranged on the displacement seat and is fixed at the other end of the displacement substrate; the deflection motor is connected with the active deflection shaft; the clamping device comprises a clamping cylinder, the clamping cylinder is fixed on the position-changing base plate, and a movable clamping block is arranged on the clamping cylinder; and the fixed clamping block is arranged on the displacement substrate and is opposite to the movable clamping block.
Preferably, the storage device comprises a storage rack, and the storage rack is fixed on the workbench; the interlayer plate is fixed on the storage rack and is provided with a plurality of layers in parallel; the storage positioning columns are fixed on the partition plate, and the number of the storage positioning columns is not less than two; and the storage positioning seat is provided with a workpiece, the bottom of the storage positioning seat is provided with a storage positioning hole, and the storage positioning hole corresponds to the storage positioning column.
Compared with the prior art the utility model discloses following beneficial effect has:
the utility model provides a pair of instruct to use robot automatic spraying and grinding device in fact can carry out the automation mechanized operation simulation to the spraying with polishing to improve student's technical ability.
Drawings
FIG. 1 is a schematic axial view of an automatic robot spraying and polishing device for practical training;
FIG. 2 is a top view of a robotic automatic spraying and polishing device for training;
FIG. 3 is a schematic view of a gripper A and a gripper B mounted on a robotic gripper;
FIG. 4 is a front view of the tool holder mounted on the tool positioning bracket;
FIG. 5 is a schematic diagram of the isometric configuration of FIG. 4;
FIG. 6 is a schematic view of a vacuum chuck mounted on a tool holder;
FIG. 7 is a schematic view of a tool holder with an electric sander mounted thereon;
FIG. 8 is a schematic view of a spray head mounted on a tool holder;
FIG. 9 is a front view of the workpiece holding device with portions of the parts hidden;
FIG. 10 is a top view of the workpiece holding device;
FIG. 11 is a schematic diagram of an axial structure of the active deflection box;
FIG. 12 is a front view of the driven indexing housing with the drive housing concealed;
FIG. 13 is a schematic view of the structure of the active shift shaft;
FIG. 14 is a schematic axial view of the driven deflection box with the driven box hidden;
FIG. 15 is a schematic diagram of an isometric configuration of the bin;
fig. 16 is a side view of the bin.
Detailed Description
The present invention will now be further described with reference to the accompanying drawings.
As shown in fig. 1 to 16, an automatic spraying and polishing device of a practical training robot includes a workbench 411 and a manipulator 412, the manipulator 412 is fixed on the workbench 411, and further includes an automatic clamping jaw 210, the automatic clamping jaw 210 is fixed on the manipulator 412; the workpiece clamping device is used for clamping a workpiece; the storage device is used for storing workpieces; a tool storage device for placing the production tool; the workpiece holding device, the stocker, and the tool storage device are all mounted on the table 411 and within the working range of the robot 412.
The automatic clamping jaw 210 is used for grabbing production tools or workpieces, the manipulator 412 drives the automatic clamping jaw 210 to switch on relevant stations, the manipulator 412 drives the automatic clamping jaw 210 to grab the workpieces from the storage device firstly, then the workpieces are placed on the workpiece clamping device, the workpieces are fixed, then the manipulator 412 drives the automatic clamping jaw 210 to grab the production tools from the tool storage device for machining, actual machining steps can be simulated, the skill of students is improved, and visual feeling machining and programming are facilitated.
Robot 412 is a six-axis robot.
The automatic clamping jaw 210 comprises a pneumatic clamping jaw or an electric clamping jaw, and the pneumatic clamping jaw or the electric clamping jaw is provided with two sliding tables; a gripper a228, the gripper a228 being fixed to one of the slips of the automatic gripper 210; the hand grip B227 is fixed on the other sliding table of the automatic clamping jaw 210, and the hand grip A228 and the hand grip B227 have the same structure.
The automatic chuck 210 is fixed to a chuck base 211, and the chuck base 211 is mounted on a robot 412. The hand grip A228 and the hand grip B227 are used for clamping the tool support 240, a plurality of tool supports 240 are adopted, and different types of production tools are respectively mounted on the tool supports 240, so that the manipulator 412 can automatically replace the production tools, namely the manipulator 412 selects the tool support 240 provided with the related production tools according to different production requirements, and the tool support is convenient to use, rapid in replacement of the production tools and high in automation degree.
The gripper A228 and the gripper B227 are both provided with gripping bosses 221, the gripping bosses 221 are positioned at one ends of the gripper A228 and the gripper B227 far away from the automatic clamping jaws 210 and are both positioned at the inner sides of the gripper A228 and the gripper B227;
The catching projections 221 can restrict the position of the tool holder 240, preventing the tool holder 240 from being separated from the grips a228 and B227, improving reliability.
Further, the grabbing lug boss 221 is provided with grabbing grooves 222, the grabbing grooves 222 are V-shaped grooves, and the grabbing grooves 222 are two, and the two grabbing grooves 222 are perpendicular to each other to form a cross shape. Grip slot 222 enables grip A228 and grip B227 to be used independently for gripping a part or a production tool.
And clamping jaw positioning grooves 242 are formed in two sides of the tool support 240, the clamping jaw positioning grooves 242 are matched with the hand grip A228 and the hand grip B227, and the hand grip A228 and the hand grip B227 are positioned in the clamping jaw positioning grooves 242 when the tool support 240 is clamped.
The jaw positioning slot 242 prevents the tool holder 240 from rotating during use, improving stability.
The gripper A228 and the gripper B227 are both provided with vent holes 225, the vent holes 225 are through holes, quick connectors are mounted on the vent holes 225, and the quick connectors are both positioned on the outer sides of the gripper A228 and the gripper B227; the hand grip A228 and the hand grip B227 are both provided with a sealing ring 226, the sealing ring 226 is coaxial with the vent hole 225, and the sealing ring 226 is positioned on the inner side of the hand grip A228 and the inner side of the hand grip B227; the tool support 240 is provided with a communication hole 243, the communication hole 243 is a through hole, the communication hole 243 corresponds to the vent hole 225, and the communication hole 243 is provided with a quick connector which is positioned at the inner side of the tool support 240.
The sealing ring 226 effects a seal between the grip a228 or grip B227 and the tool holder 240.
Alternatively, one of the hand grip a228 and the hand grip B227 may be provided with a vent hole 225, and the other may be provided with a seal ring 226.
The ventilation holes 225 realize ventilation of production tools on the tool support 240, and after the tool support 240 is replaced, the air pipe integrated on the manipulator 412 is inserted into the quick connector, so that the air passage can be communicated, and the replacement efficiency of the production tools is improved.
The tool positioning device further comprises a tool positioning bracket 230, wherein a tool positioning groove 231 and a workpiece placing groove 232 are arranged on the tool positioning bracket 230, ball plungers 233 are arranged on two sides of the tool positioning groove 231, the number of the ball plungers 233 on each side is not less than two, the tool positioning groove 231 is used for placing a tool bracket 240, and the tool placing groove 232 is used for placing production tools; the tool holder 240 has a slide positioning groove 244 on the surface corresponding to the tool positioning groove 231, the slide positioning groove 244 is matched with the ball plunger 233, and the slide positioning groove 244 is used for positioning the tool holder 240 with the ball plunger 233.
The ball plunger 233 can be positioned while having elasticity to facilitate the removal and insertion of the tool holder 240.
The ball plungers 233 are positioned from the top and bottom of the slide positioning slots 244 to prevent the tool holder 240 from flipping over on the tool positioning holder 230. The slide detent 244 begins with a flared shape.
A tool positioning hole 245 is formed in the slide positioning groove 244, the tool positioning hole 245 corresponds to the ball plunger 233, and the tool positioning hole 245 is used for positioning the tool holder 240.
The tool positioning hole 245 can prevent the tool holder 240 from moving up and down.
A bracket positioning sensor 234 is further included, and the bracket positioning sensor 234 is fixed on the tool positioning bracket 230; and a bracket positioning sensing plate 249, wherein the bracket positioning sensing plate 249 is fixed on the tool bracket 240, and the bracket positioning sensing plate 249 is used for triggering the bracket positioning sensor 234.
The holder positioning sensor 234 is a slot-type photoelectric sensor, and the holder positioning sensor 234 is used in cooperation with the manipulator 412 to send a signal when the tool holder 240 is inserted in place, so that the manipulator 412 stops being inserted.
The tool connecting plate 248 is also included, the tool connecting plate 248 is provided with a production tool, and the tool connecting plate 248 is fixed on the tool support 240 and is positioned at the bottom of the tool support 240.
As shown in fig. 6, the tool holder 240 is provided with a vacuum chuck 251. As shown in fig. 8, the tool holder 240 is provided with a spray head 253. As shown in fig. 7, the tool holder 240 is provided with a tool attachment plate 248, and the tool attachment plate 248 is provided with an electric sander 252.
The hand grip A228 or the hand grip B227 is provided with a positive female contact electrode 223 and a negative female contact electrode 224; the tool holder 240 is provided with a positive male contact electrode 247 and a negative male contact electrode 246, and the positive male contact electrode 247 and the negative male contact electrode 246 correspond to the positive female contact electrode 223 and the negative female contact electrode 224, respectively.
The electrode realizes the power supply of the electric tool, thereby enabling the production tool to be replaced quickly. The electrodes are separately provided or provided on the basis of the vent holes 225, thereby being applicable to a production tool.
As shown in fig. 7, the tool holder 240 is provided with a tool attachment plate 248, and the tool attachment plate 248 is provided with an electric sander 252. The electric sander 252 is electrically connected by electrodes.
As shown in fig. 15 and 16, the stocker includes a stocker 311, and the stocker 311 is fixed to the table 411; the interlayer plate 312 is fixed on the storage rack 311, and multiple layers of interlayer plates 312 are arranged in parallel; the storage positioning columns 313 are fixed on the partition plate, and the number of the storage positioning columns 313 is not less than two; and the storage positioning seat 314 is provided with workpieces, the bottom of the storage positioning seat 314 is provided with a storage positioning hole, and the storage positioning hole corresponds to the storage positioning column 313.
As shown in fig. 9 to 14, the workpiece holding device includes a clamping device for clamping the workpiece; a displacement substrate 111, on which a clamping device is mounted; and the displacement driving device is connected with the displacement substrate 111 and is used for driving the displacement substrate 111 to rotate.
The displacement driving device drives the displacement substrate to rotate, and the displacement substrate drives the workpiece to rotate through the clamping device, so that the workpiece rotates along with the mechanical arm 412, and the workpiece is machined in an all-dimensional mode.
The displacement driving device comprises a displacement seat; the active displacement shaft 140 is rotatably arranged on the displacement seat, and the active displacement shaft 140 is fixed at one end of the displacement substrate 111; a driven displacement shaft 151, the driven displacement shaft 151 is rotatably mounted on the displacement base and fixed to the other end of the displacement base plate 111; the displacement motor 132, the displacement motor 132 is connected with the active displacement shaft 140.
The displacement motor 132 rotates the displacement substrate 111 through the active displacement shaft 140.
The shifting base comprises a driving shifting box and a driven shifting box, and the driving shifting box and the driven shifting box are respectively positioned at two ends of the shifting base plate 111; the driving displacement box comprises a driving support plate 133 and a driving box body 130, the driving box body 130 is fixed on the driving support plate 133, a worm and gear reducer 131 and a displacement motor 132 are mounted on the driving support plate 133, and the worm and gear reducer 131 is respectively connected with the displacement motor 132 and the driving displacement shaft 140. The driven displacement box comprises a driven supporting plate 153 and a driven box body 140, the driven box body 140 is fixed on the driven supporting plate 153, a bearing seat 152 is arranged on the driven supporting plate 153, and a driven displacement shaft 151 is arranged on the bearing seat 152. The worm gear reducer 131 has a self-locking function, and can prevent the position of the displacement base plate 111 from changing after rotating in place.
The center of the driving displacement shaft 140 is provided with a shaft hole 141, the shaft hole 141 is connected with an output shaft of the worm gear reducer 131, the outer circular surface of the driving displacement shaft 140 is provided with a clamping groove 142, a deformation groove 143 and a screw hole 144, the clamping groove 142 is parallel to the axis of the driving displacement shaft 140, the clamping groove 142 is communicated with the shaft hole 141, the deformation groove 143 is perpendicular to the axis of the driving displacement shaft 140, the deformation groove 143 is respectively communicated with the clamping groove 142 and the shaft hole 141, the screw hole 144 is respectively positioned at two sides of the deformation groove 143, the screw hole 144 is used for inserting a screw, and the screw fixes the driving displacement shaft 140 on the output shaft of the worm gear reducer 131 through the deformation groove 143 and the clamping groove 142.
The active displacement shaft 140 is provided with a displacement connecting seat 148, and the displacement connecting seat 148 is connected with the displacement substrate 111. The indexing connecting seat 148 facilitates the installation of the indexing substrate 111.
The positioning device comprises a positioning induction column 162, the positioning induction column 162 is fixed on a positioning connection column 161, and the positioning connection column 161 is installed on the active displacement shaft 140; and a plurality of displacement proximity switches 163, wherein the displacement proximity switches 163 are fixed on the driving support plate 133, and the displacement proximity switches 163 correspond to the positioning induction columns 162.
The positioning device can accurately position the rotating position of the deflection substrate 111, so that the rotation of the motor is controlled, a common motor is adopted, and the cost is reduced.
The clamping device comprises a clamping cylinder 121, the clamping cylinder 121 is fixed on the position-changing base plate 111, and a movable clamping block 122 is arranged on the clamping cylinder 121; and a fixed clamp block 123, wherein the fixed clamp block 123 is mounted on the displacement substrate 111 and is arranged opposite to the movable clamp block 122. The clamping cylinder 121 is convenient to use. The clamping cylinder 121 is a two-axis cylinder. The double-shaft cylinder has a guiding function and a simple structure.
The fixed clamping block 123 and the movable clamping block 122 are both provided with V-shaped grooves. The V-shaped groove is convenient for positioning and clamping the workpiece.
The device covers various abundant general technologies such as machinery, electricity, control, sensors, pneumatics, and knowledge is comprehensive, can carry out industrial robot and relevant teaching practice of mechatronics comprehensively from basis to system, possesses the commonality.
The device can train the creative thinking and the practical ability of students, theoretically link the reality, and practice comprehensively from machinery, motor performance application, PLC programming and the like.
Students can master knowledge points and related skills to be remembered in actual production through typically applied practical training, quickly and accurately adapt to the surface profile and the continuity of the workpiece, and the spraying track is ensured;
the operation robot is used for grinding, polishing and other surface applications according to the appearance of a product, optimal track control is achieved, and the robot is a precision machining and conveying technology skill type talent.
After a period of time of practical training, students can optimize corresponding process flows on the basis of the original flows, and form an independent process flow packet to be stored independently for calling in the next practical training.
The student can master the following skills through training:
understanding the basic knowledge of common spraying and polishing processes;
mastering the planning of spraying and polishing tracks;
the simple spraying and the weaving and running of the polishing program are independently completed;
and designing an action track according to the characteristics of the workpiece.
Claims (9)
1. The utility model provides a instruct and use robot automatic spraying and grinding device in fact, includes workstation and manipulator, the manipulator is fixed on the workstation, its characterized in that still includes
The automatic clamping jaw is fixed on the manipulator;
a workpiece clamping device for clamping a workpiece;
the storage device is used for storing workpieces;
a tool storage device for holding a production tool;
the workpiece clamping device, the storage device and the tool storage device are all arranged on the workbench and are positioned in the working range of the manipulator;
the workpiece clamping device comprises
A clamping device for clamping a workpiece;
the displacement base plate is provided with a clamping device; and
the displacement driving device is connected with the displacement substrate and is used for driving the displacement substrate to rotate.
2. The robotic automated painting and grinding device of claim 1, wherein the automated gripper comprises
The pneumatic clamping jaw or the electric clamping jaw is provided with two sliding tables;
the gripper A is fixed on one sliding table of the pneumatic clamping jaw or the electric clamping jaw;
the gripper B is fixed on the other sliding table of the pneumatic clamping jaw or the electric clamping jaw;
the grabbing device comprises a grabbing handle A and a grabbing handle B, the grabbing handle A and the grabbing handle B are identical in structure, grabbing bosses are arranged on the grabbing handle A and the grabbing handle B, grabbing grooves are formed in the grabbing bosses and are V-shaped grooves, the grabbing grooves are two, and the two grabbing grooves are perpendicular to each other to form a cross shape.
3. The automatic robot spraying and polishing device for the practical training according to claim 2, characterized by further comprising a tool support, wherein the tool support is used for mounting production tools, clamping positioning holes are formed in two sides of the tool support, and the clamping positioning holes correspond to the grabbing bosses;
and the pneumatic clamping jaw or the electric clamping jaw is used for driving the hand grip A and the hand grip B to clamp the tool support.
4. The automatic robot spraying and polishing device for the practical training according to claim 3, wherein vent holes are formed in the hand grip A and/or the hand grip B, the vent holes are through holes, quick connectors are mounted on the vent holes, and the quick connectors are located on the outer sides of the hand grip A and the hand grip B;
sealing rings are arranged on the hand grip A and/or the hand grip B, the sealing rings are coaxial with the vent holes, and the sealing rings are positioned on the inner sides of the hand grip A and the hand grip B;
the tool support is provided with a communication hole which is a through hole and corresponds to the vent hole, and the communication hole is provided with a quick connector which is positioned on the inner side of the tool support.
5. The automatic robot spraying and polishing device for the practical training according to claim 3 or 4, wherein a positive female contact electrode and a negative female contact electrode are arranged on the gripper A or the gripper B;
the tool support is provided with a positive male contact electrode and a negative male contact electrode, and the positive male contact electrode and the negative male contact electrode correspond to the positive female contact electrode and the negative female contact electrode respectively.
6. The automatic robot spraying and grinding device for the practical training according to claim 3, wherein the workpiece storage device comprises a tool positioning support, a tool positioning groove and a tool placing groove are formed in the tool positioning support, ball plungers are arranged on two sides of the tool positioning groove, at least two ball plungers are arranged on each side of the tool positioning groove, the tool positioning groove is used for placing a tool support, and the tool placing groove is used for placing a production tool;
and the tool support is provided with a sliding positioning groove on the surface corresponding to the tool positioning groove, the sliding positioning groove is matched with the ball plunger, and the sliding positioning groove is used for positioning the tool support with the ball plunger.
7. The automatic robot spraying and polishing device for the practical training of claim 6, further comprising a tool connecting plate, wherein a production tool is mounted on the tool connecting plate, and the tool connecting plate is fixed on the tool support and is located at the bottom of the tool support.
8. The automatic robot spraying and polishing device for practical training of claim 1, wherein the displacement driving device comprises
A position changing seat;
the active displacement shaft is rotatably arranged on the displacement seat and is fixed at one end of the displacement substrate;
the driven displacement shaft is rotatably arranged on the displacement seat and is fixed at the other end of the displacement substrate; and
the deflection motor is connected with the active deflection shaft;
the clamping device comprises
The clamping cylinder is fixed on the deflection substrate, and a movable clamping block is arranged on the clamping cylinder; and
and the fixed clamping block is arranged on the shifting base plate and is opposite to the movable clamping block.
9. The robotic automated painting and grinding device for training of claim 1, wherein the warehousing device comprises
The storage rack is fixed on the workbench;
the interlayer plate is fixed on the storage rack and is provided with a plurality of layers in parallel;
the storage positioning columns are fixed on the partition plate, and the number of the storage positioning columns is not less than two; and
the storage positioning seat is provided with a workpiece, a storage positioning hole is formed in the bottom of the storage positioning seat, and the storage positioning hole corresponds to the storage positioning column.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921274028.9U CN210875969U (en) | 2019-08-07 | 2019-08-07 | Real robot automatic spraying and grinding device of instructing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921274028.9U CN210875969U (en) | 2019-08-07 | 2019-08-07 | Real robot automatic spraying and grinding device of instructing |
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| Publication Number | Publication Date |
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| CN210875969U true CN210875969U (en) | 2020-06-30 |
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| CN201921274028.9U Active CN210875969U (en) | 2019-08-07 | 2019-08-07 | Real robot automatic spraying and grinding device of instructing |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110339965A (en) * | 2019-08-07 | 2019-10-18 | 江苏汇博机器人技术股份有限公司 | A kind of real training is sprayed automatically with robot and grinding device |
-
2019
- 2019-08-07 CN CN201921274028.9U patent/CN210875969U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110339965A (en) * | 2019-08-07 | 2019-10-18 | 江苏汇博机器人技术股份有限公司 | A kind of real training is sprayed automatically with robot and grinding device |
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