CN105921327A - Telescopic spraying teaching mechanism with hemispherical operation range - Google Patents
Telescopic spraying teaching mechanism with hemispherical operation range Download PDFInfo
- Publication number
- CN105921327A CN105921327A CN201610429773.0A CN201610429773A CN105921327A CN 105921327 A CN105921327 A CN 105921327A CN 201610429773 A CN201610429773 A CN 201610429773A CN 105921327 A CN105921327 A CN 105921327A
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- Prior art keywords
- connecting rod
- spray gun
- teaching
- shaft
- hemisphere
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/68—Arrangements for adjusting the position of spray heads
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses a telescopic spraying teaching mechanism with a hemispherical operation range. The mechanism comprises a base (1), a rotary shaft plate (2), a connecting device (3), a telescopic device (4), a teaching wrist mechanism (5) and a spray gun device (6). The rotary shaft plate (2) is rotatably connected with the base (1) through a base rotary shaft (203). The connecting device (3) is rotatably connected with the rotary shaft plate (2) through a rotary shaft (307). The base rotary shaft (203) and the rotary shaft (307) are combined in a crossed mode. The telescopic device (4) is fixedly connected with the connecting device (3). The teaching wrist mechanism (5) is fixedly connected with the telescopic device (4). The spray gun device (6) is fixedly connected with the teaching wrist mechanism (5). The mechanism is used for enabling a multi-axis controller to read motion parameter information and drive a manipulator to make the operation process of the teaching mechanism reoccur, and the defect that existing multi-axis manipulators are not suitable for spraying of workpieces which are complicated, changeable and replaced frequently at present can be overcome.
Description
Technical field
The present invention relates to a kind of teaching device for spraying industry, be specifically related to a kind of telescopic, lightweight,
Without operative interventions, can the spraying teaching mechanism of teaching on a large scale.
Background technology
In spraying industry, the job programming of multiaxis spray coating mechanical hand mainly has two ways: on-line teaching is compiled
Journey and off-line programing.On-line programming by demonstration refers in mechanical hand production scene, by operator's handheld mechanical hands
Terminal move according to manual spray path, sensor record System for Joint Motion of Manipulator information simultaneously,
To obtain mechanical hand spraying operation track.This teaching method is primarily adapted for use in articulated robot, program simply,
Intuitively, but needing operator's spraying operation of difficulty action accomplishment requirement under certain load, labor intensity is big, warp
Test requirement height, and joint Manipulator Costco Wholesale is high, it is adaptable to spraying operation in high volume.Off-line programing is different
In On-line programming by demonstration, operator need not handle the mechanical hand of actual job, but the operation ring that loses contact with reality
Border, according to spraying workpiece configurations size, utilizes computer geometric graphics to obtain mechanical hand spraying operation track；
Off-line programing can pre-optimized operation scheme and cycle of operation time, but to workman's technology and programming requested knowledge
Height, and can not intuitively express mechanical hand operation track, it is primarily adapted for use in the spray piece of simple in construction.
Current middle-size and small-size spraying enterprise, typically based on Single unit job lot production pattern, the spy of its spraying workpiece
Point is: size differs, shape is changeable, replacing is frequent, and operating type is to be with hand spray flexibly
Main.To realize the industrial automation of middle-size and small-size spraying enterprise, improving production efficiency, both the above multiaxis machine
Tool manual task mode is all difficult to meet the feature that spraying workpiece is complicated and changeable.
Summary of the invention
Goal of the invention: for middle-size and small-size spraying enterprise present situation, it is provided that a kind of have stretching of hemisphere job area
Contracting formula spraying teaching mechanism, it is achieved lightweight, without operative interventions, job area greatly, the purpose of low cost.
Technical scheme: for reaching above-mentioned purpose, technical scheme is as follows:
A kind of telescopic spraying teaching mechanism with hemisphere job area, including pedestal, rotating shaft plate, company
Connection device, retractor device, teaching Wrist mechanism, spray gun device, described pedestal is fixedly mounted on ground, institute
Stating rotating shaft plate to be rotationally connected with pedestal, described attachment means is rotationally connected with rotating shaft plate, and two above rotates even
Connect and combine in a criss-cross fashion, freely rotatable in teaching mechanism hemisphere face can be realized, mechanism's job area
Interfere greatly and without dead point, nothing；Described retractor device can realize free expanding-contracting action, its underpart and attachment means
Fixing connection；Compound mode and freely stretching of retractor device that said two is rotationally connected as decussation are moved
Combine, can realize that teaching mechanism is upper and lower to workpiece in hemisphere, left and right spraying operation；Described show
Religion Wrist mechanism can realize rotation action, the action of simulation human wrist, and its underpart is fixing with retractor device to be connected；
Described spray gun device is fixing with teaching Wrist mechanism to be connected.
Described pedestal includes that floor installation plate and two shaft seats, described shaft seat and floor installation plate pass through spiral shell
Stricture of vagina connects, it is simple to the assembling of rotating shaft plate, and described shaft seat has rotary encoder installing hole, for installation the
One rotary encoder.
Described rotating shaft plate includes that base shaft and installing plate, described base shaft are threaded connection with installing plate,
Being fixed with encoder-mounting bracket on described installing plate, described base shaft one end connects the first rotary encoder,
Described first rotary encoder is for recording the first attitude angle of retractor device.
Described attachment means includes connecting shaft, rotary shaft, and described connecting shaft and rotary shaft are fixing even by pin
Connecing, described rotary shaft one end connects the second rotary encoder, and described second rotary encoder is arranged on described volume
In code device mounting bracket, for recording the second attitude angle of retractor device, described connecting shaft is fixed with displacement
Sensor installing plate, fixed displacement sensor on institute's displacement sensors installing plate, institute's displacement sensors is used
Collapsing length in record teaching mechanism.
Described retractor device includes connecting rod, steel ball guide pin bushing and displacement transducer standing screw, and described steel ball is led
Set is connected with described connecting rod interference, and described steel ball guide pin bushing has the through hole of 2.5mm, described displacement sensing
Device standing screw is threaded connection with described connecting rod, and the stretching motion of described retractor device can meet teaching
Mechanism realizes spraying operation in a big way.
Further, described connecting rod is hollow through cure process and high-strength aluminum alloy that wall thickness is 3mm
Pipe, and to be divided into be three joints, respectively head rod, the second connecting rod, the 3rd connecting rod；By described
Steel ball guide pin bushing makes the second connecting rod be nested in head rod, and the 3rd connecting rod is nested in the second connecting rod,
Make between three joint connecting rods freely slidable；Described connecting rod surface is opened on the bus between the 80mm of two ends
The V-type straight trough having a degree of depth to be 2mm, the through hole phase of described V-type straight trough and described steel ball guide pin bushing during assembling
Correspondence, loads the steel ball of 2.2mm in described through hole, described steel ball is positioned by holding screw, and anti-locking mechanism is stretched
During contracting motion, connecting rod rotates, and affects the location parameter degree of accuracy of displacement transducer record, described V-type
Straight trough can play guiding and position-limiting action when mechanism's stretching motion.
Described teaching Wrist mechanism includes that cross universal coupling, spray gun connecting rod, needle bearing and location are only
Head screw, described spray gun pitman shaft the most also has rectangular channel, described cross universal coupling lower end and institute
Stating the fixing connection of retractor device, upper end is rotationally connected with described spray gun connecting rod by described needle bearing, institute
State rectangular channel and play axial limiting effect with location stopping screw when spray gun connecting rod rotates so that described spray gun
Connecting rod can realize 360 degree of free rotation actions.
Described spray gun device includes manual spray gun, three axle electric top instrument, three axle electric top instrument installing plates, described
Three axle electric top instrument installing plates are fixed on described manual spray gun, and described three axle electric top instrument are fixed on described three
On axle electric top instrument installing plate, described manual spray gun is fixing with spray gun connecting rod to be connected, and manual spray gun spraying is made
During industry, three axle electric top instrument record spray gun attitude angle informations.
Beneficial effects of the present invention: the present invention is by extracting spraying operation trajectory parameters and being read by multi-axis controller
Take moving parameter information, drive mechanical hand to reappear the operating process of teaching mechanism, current multi-spindle machining hands can be made up
Operating type is not suitable for defect complicated and changeable, that replacing sprays workpiece frequently, promotes the spray of multi-spindle machining hands
Being coated with operating type motility, concrete beneficial effect shows themselves in that
1, effectively devise retractor device and pedestal bridging mode, enable teaching mechanism without interfering, without dead
Point ground is freely rotatable in hemisphere face.
2, use the steel ball guide pin bushing mode mutually nested with hollow pipe, make retractor device can in a big way in oneself
By flexible operation, V-type straight trough is spacing, limit rotating function design enables the encoder to more accurately record teaching machine
Structure positional information.
3, retractor device uses the mounting means that three joint hollow pipes are mutually nested, makes manual operation more lightweight,
Teaching scope is more extensive.
4, spray gun device is rotationally connected with teaching Wrist mechanism by spray gun connecting rod, and teaching Wrist mechanism passes through
Candan universal joint is fixing with retractor device to be connected, and makes spray gun manual operation more flexible, can be the most real during teaching
The now operation habit of artificial on-line spray.
5, reasonable in design, principle is simple, low cost, it is simple to promote the use of in spraying industry.
Accompanying drawing explanation
Fig. 1 is the perspective view of the present invention telescopic spraying teaching mechanism；
Fig. 2 is the teaching Wrist mechanism close-up schematic view of the present invention telescopic spraying teaching mechanism；
Fig. 3 is the retractor device structure partial enlarged diagram of the present invention telescopic spraying teaching mechanism.
Wherein:
1, pedestal；2, rotating shaft plate；3, attachment means；4, retractor device；5, teaching Wrist mechanism；
6, spray gun device；101, floor installation plate；102, shaft seat；104, the first rotary encoder；
203, base shaft；204, the second rotary encoder；205, installing plate；206, deep groove ball bearing；
208, encoder-mounting bracket；307, rotary shaft；309, displacement transducer installing plate；310, position
Displacement sensor；311, connecting shaft；401, connecting rod；402, through hole；412, head rod；
413, the second connecting rod；414, the 3rd connecting rod；415, displacement transducer standing screw；416、V
Type straight trough；422, Limit screw；423, steel ball；425, steel ball guide pin bushing；516, cross universal connection
Axial organ；517, spray gun connecting rod；521, needle bearing；524, location stopping screw；525, square
Shape groove, 618, manual spray gun；619, three axle electric top instrument installing plate；620, three axle electric top instrument.
Detailed description of the invention
In order to make the object, technical solutions and advantages of the present invention clearer, below in conjunction with the accompanying drawings
Describe the present invention with specific embodiment.
Shown in Fig. 1, a kind of telescopic spraying teaching mechanism with hemisphere job area, including pedestal 1,
Rotating shaft plate 2, attachment means 3, retractor device 4, teaching Wrist mechanism 5, spray gun device 6, described pedestal 1
Being fixedly mounted on ground, described rotating shaft plate 2 is rotationally connected by base shaft 203 with pedestal 1, described company
Connection device 3 and rotating shaft plate 2 is rotationally connected by rotary shaft 307, base shaft 203 and rotary shaft 307 with
The mode of decussation combines, freely rotatable in can realizing teaching mechanism hemisphere face, mechanism's job area big and
Without dead point, without interfering；Described retractor device 4 can realize free expanding-contracting action, its underpart and attachment means 3
Fixing connection；Described base shaft 203 combines and retractor device with the mode that rotary shaft 307 is decussation
Free expanding-contracting action combine, can realize that teaching mechanism is upper and lower to workpiece in hemisphere, left and right spraying
Operation；Described teaching Wrist mechanism 5 can realize rotation action, the action of simulation human wrist, its underpart with stretch
Compression apparatus 4 is fixing to be connected；Described spray gun device 6 is fixing with teaching Wrist mechanism 5 to be connected.
Described pedestal 1 includes floor installation plate 101 and two shaft seats 102, described shaft seat 102 and the end
Seat installing plate 101 is threaded connection, it is simple to the assembling of rotating shaft plate 2, and described shaft seat 102 has rotation
Encoder installing hole, for installing the first rotary encoder 104.
Described rotating shaft plate 2 includes base shaft 203 and installing plate 205, described base shaft 203 and installing plate
205 are threaded connection, and described installing plate 205 is fixed with encoder-mounting bracket 208；Described base turns
Axle 203 is connected with shaft seat 102 by deep groove ball bearing 206, described base shaft 203 one end connection the
One rotary encoder 104, described first rotary encoder 104 is for recording the first attitude angle of retractor device.
Described attachment means 3 includes connecting shaft 311, rotary shaft 307, described connecting shaft 311 and rotary shaft 307
Connecting by pin is fixing, described rotary shaft 307 is rotationally connected with described installing plate 205 by bearing；Institute
Stating rotary shaft 307 one end and connect the second rotary encoder 204, described second rotary encoder 204 is arranged on institute
State on encoder-mounting bracket 208, for recording the second attitude angle of retractor device, described connecting shaft 311
On be fixed with displacement transducer installing plate 309, fixed displacement sensor on institute's displacement sensors installing plate 309
310, institute's displacement sensors 310 is for recording the collapsing length of teaching mechanism.
Described retractor device 4 includes connecting rod 401, steel ball guide pin bushing 425 and displacement transducer standing screw 415,
Described steel ball guide pin bushing 425 is connected with the interference of described connecting rod 401, and described steel ball guide pin bushing 425 has 2.5mm
Through hole 402, institute's displacement sensors standing screw 415 is threaded connection with described connecting rod 401, institute
State the stretching motion of retractor device 4 to meet teaching mechanism and realize spraying operation in a big way.
Further, as it is shown on figure 3, described connecting rod 401 is for being 3mm's through cure process and wall thickness
High-strength aluminum alloy hollow pipe, and to be divided into be three joints, respectively head rod the 412, second connecting rod 413,
3rd connecting rod 414；The second connecting rod 413 is made to be nested in head rod by described steel ball guide pin bushing 425
In 412, the 3rd connecting rod 414 is nested in the second connecting rod 413 so that can be free between three joint connecting rods
Slide；In described second connecting rod 413 and the 3rd connecting rod 414 surface bus open-minded between the 80mm of two ends
The V-type straight trough 416 of the 2mm degree of depth, described V-type straight trough 416 and the through hole of described steel ball guide pin bushing 425 during assembling
402 is corresponding, loads the steel ball 423 of 2.2mm in described through hole 402, and described steel ball 423 is by Limit screw
422 location, during anti-locking mechanism stretching motion, connecting rod rotates, and affects the position ginseng of displacement transducer record
Number degree of accuracy.
Described teaching Wrist mechanism 5 includes cross universal coupling 516, spray gun connecting rod 517, needle bearing
521, location stopping screw 524, described spray gun connecting rod 517 axially on also have rectangular channel 525, described
Cross universal coupling 516 lower end is fixing even by pin with the 3rd connecting rod 414 of described retractor device 4
Connecing, upper end is rotationally connected with described spray gun connecting rod 517 by described needle bearing 521, described rectangular channel
525 play axial limiting effect with location stopping screw 524 when spray gun connecting rod 517 rotates so that described spray
Rifle connecting rod 517 can realize 360 degree of free rotation actions, as shown in Figure 2.
Described spray gun device 6 includes that manual spray gun 618, three axle electric top instrument 619, three axle electric top instrument is installed
Plate 620, described three axle electric top instrument installing plates 620 are fixed on described manual spray gun 618, described three axle electricity
Gyroscope 619 is fixed on described three axle electric top instrument installing plates 620；Described manual spray gun 618 and spray gun
Connecting rod 517 is fixing to be connected, during manual spray gun 618 spraying operation, and the three recordable sprays of axle electric top instrument 619
Rifle attitude angle information.
The foregoing is only the preferred embodiments of the present invention, not in order to limit the present invention, at this
Any modification, equivalent substitution and improvement etc. made within the spirit of invention and principle, all should wrap
Within being contained in the system structure of the present invention.
Claims (8)
1. one kind has a hemisphere job area telescopic spraying teaching mechanism, it is characterised in that include base
Seat (1), rotating shaft plate (2), attachment means (3), retractor device (4), teaching Wrist mechanism (5), spray
Gun apparatus (6), described pedestal (1) is fixedly mounted on ground, and described rotating shaft plate (2) is led to pedestal (1)
Crossing base shaft (203) to be rotationally connected, described attachment means (3) and rotating shaft plate (2) are by rotary shaft (307)
Being rotationally connected, base shaft (203) combines in a criss-cross fashion with rotary shaft (307), can realize showing
In religion mechanism hemisphere face freely rotatable；Described retractor device (4) can realize free expanding-contracting action, its underpart with
Attachment means (3) is fixing to be connected；Described base shaft (203) and rotary shaft (307) are decussation
The free expanding-contracting action of compound mode and retractor device combines, and can realize teaching mechanism right in hemisphere
Workpiece is upper and lower, left and right spraying operation；Described teaching Wrist mechanism (5) can realize rotation action, its underpart with
Retractor device (4) is fixing to be connected；Described spray gun device (6) is fixing with teaching Wrist mechanism (5) to be connected.
The telescopic spraying teaching mechanism with hemisphere job area the most according to claim 1,
It is characterized in that, described pedestal (1) includes floor installation plate (101) and two shaft seats (102), institute
Stating shaft seat (102) to be threaded connection with floor installation plate (101), described shaft seat has on (102)
Rotary encoder installing hole, for installing the first rotary encoder (104).
The telescopic spraying teaching mechanism with hemisphere job area the most according to claim 1, its
Being characterised by, described rotating shaft plate (2) includes base shaft (203) and installing plate (205), described base
Rotating shaft (203) is threaded connection with installing plate (205), and described installing plate is fixed with coding on (205)
Device mounting bracket (208), described base shaft (203) one end connects the first rotary encoder (104).
The telescopic spraying teaching mechanism with hemisphere job area the most according to claim 1, its
Being characterised by, described attachment means (3) includes connecting shaft (311), rotary shaft (307), described connecting shaft
(311) being connected by pin is fixing with rotary shaft (307), described rotary shaft (307) passes through bearing and institute
State installing plate (205) to be rotationally connected；Described rotary shaft (307) one end connects the second rotary encoder (204),
Described second rotary encoder (204) is arranged on described encoder-mounting bracket (208), described connection
Displacement transducer installing plate (309), institute's displacement sensors installing plate (309) it is fixed with on axle (311)
Upper fixed displacement sensor (310), institute's displacement sensors (310) is for recording the flexible of teaching mechanism
Length.
The telescopic spraying teaching mechanism with hemisphere job area the most according to claim 1, its
Being characterised by, described retractor device (4) includes that connecting rod (401), steel ball guide pin bushing (425) and displacement pass
Sensor standing screw (415), described steel ball guide pin bushing (425) is connected with described connecting rod (401) interference,
The through hole (402) of 2.5mm, institute's displacement sensors standing screw (415) is had on described steel ball guide pin bushing (425)
Being threaded connection with described connecting rod (401), the stretching motion of described retractor device (4) can meet and shows
Religion mechanism realizes spraying operation in a big way.
The telescopic spraying teaching mechanism with hemisphere job area the most according to claim 5, its
Being characterised by, described connecting rod (401) is empty through cure process and high-strength aluminum alloy that wall thickness is 3mm
Heart pipe, and to be divided into be three joints, respectively head rod (412), the second connecting rod (413), the 3rd even
Extension bar (414)；The second connecting rod (413) is made to be nested in the first connection by described steel ball guide pin bushing (425)
In bar (412), the 3rd connecting rod (414) is nested in the second connecting rod (413) so that three joints connect
Between bar slidably；On described second connecting rod (413) and the 3rd connecting rod (414) surface bus away from
The V-type straight trough (416) of the 2mm degree of depth is opened, described V-type straight trough (416) during assembling between the 80mm of two ends
Corresponding with the through hole (402) of described steel ball guide pin bushing (425), load 2.2mm in described through hole (402)
Steel ball (423), described steel ball (423) by Limit screw (422) position.
The telescopic spraying teaching mechanism with hemisphere job area the most according to claim 1, its
Be characterised by, described teaching Wrist mechanism (5) include cross universal coupling (516), spray gun connecting rod (517),
Needle bearing (521), location stopping screw (524), described spray gun connecting rod (517) axially on also have
Rectangular channel (525), described cross universal coupling (516) lower end is fixing with described retractor device (4) even
Connecing, upper end is rotationally connected with described spray gun connecting rod (517) by described needle bearing (521), described
Rectangular channel (525) rises when described spray gun connecting rod (517) rotates with described location stopping screw (524)
Axial limiting effect so that described spray gun connecting rod (517) can realize 360 degree of free rotation actions.
The telescopic spraying teaching mechanism with hemisphere job area the most according to claim 1, its
Be characterised by, described spray gun device (6) include manual spray gun (618), three axles electric top instrument (619), three
Axle electric top instrument installing plate (620), described three axles electric top instrument installing plate (620) are fixed on described manual spray
On rifle (618), described three axles electric top instrument (619) are fixed on described three axles electric top instrument installing plate (620)
On；Described manual spray gun (618) is fixing with spray gun connecting rod (517) to be connected, and manual spray gun (618) sprays
When being coated with operation, three axle electric top instrument (619) record spray gun attitude angle informations.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610429773.0A CN105921327A (en) | 2016-06-16 | 2016-06-16 | Telescopic spraying teaching mechanism with hemispherical operation range |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610429773.0A CN105921327A (en) | 2016-06-16 | 2016-06-16 | Telescopic spraying teaching mechanism with hemispherical operation range |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105921327A true CN105921327A (en) | 2016-09-07 |
Family
ID=56831535
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610429773.0A Pending CN105921327A (en) | 2016-06-16 | 2016-06-16 | Telescopic spraying teaching mechanism with hemispherical operation range |
Country Status (1)
| Country | Link |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106584470A (en) * | 2016-11-08 | 2017-04-26 | 杭州国辰机器人科技有限公司 | Novel wrist structure for spraying demonstration mechanism |
| CN106826818A (en) * | 2017-01-12 | 2017-06-13 | 杭州国辰机器人科技有限公司 | A kind of Wrist mechanism of teaching device |
| CN107824356A (en) * | 2017-11-21 | 2018-03-23 | 中冶天工集团天津有限公司 | A kind of crane girder painting device and the coating process using the crane girder painting device |
| CN110653102A (en) * | 2019-10-15 | 2020-01-07 | 成都飞机工业（集团）有限责任公司 | Spray gun posture adjusting device free of disassembly |
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| CN106584470A (en) * | 2016-11-08 | 2017-04-26 | 杭州国辰机器人科技有限公司 | Novel wrist structure for spraying demonstration mechanism |
| CN106826818A (en) * | 2017-01-12 | 2017-06-13 | 杭州国辰机器人科技有限公司 | A kind of Wrist mechanism of teaching device |
| CN106826818B (en) * | 2017-01-12 | 2024-06-07 | 杭州国辰机器人科技有限公司 | Wrist mechanism of teaching equipment |
| CN107824356A (en) * | 2017-11-21 | 2018-03-23 | 中冶天工集团天津有限公司 | A kind of crane girder painting device and the coating process using the crane girder painting device |
| CN110653102A (en) * | 2019-10-15 | 2020-01-07 | 成都飞机工业（集团）有限责任公司 | Spray gun posture adjusting device free of disassembly |
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