CN108940656A - A kind of automation linking equipment for door leaf coating - Google Patents
A kind of automation linking equipment for door leaf coating Download PDFInfo
- Publication number
- CN108940656A CN108940656A CN201810653064.XA CN201810653064A CN108940656A CN 108940656 A CN108940656 A CN 108940656A CN 201810653064 A CN201810653064 A CN 201810653064A CN 108940656 A CN108940656 A CN 108940656A
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- CN
- China
- Prior art keywords
- fixture
- door leaf
- coating
- lifting
- reciprocating
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- 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
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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
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- Spray Control Apparatus (AREA)
Abstract
A kind of automation linking equipment for door leaf coating, including to coating door leaf, rack, protective fence, fixture, fixture rotating device, fixture closing device, jig lifting apparatus and fixture reciprocating apparatus；Fixture suspension is arranged on jig lifting apparatus, jig lifting apparatus lifting is arranged on fixture closing device, the folding of fixture closing device is arranged on fixture rotating device, and fixture rotating device is rotatably arranged on fixture reciprocating apparatus, and fixture reciprocating apparatus is reciprocating to be slidably arranged in rack；Fixture pass through respectively fixture closing device, jig lifting apparatus, fixture rotating device, fixture reciprocating apparatus treat coating door leaf carry out folding loading and unloading, lifting conveying, rotation adjust, reciprocal transportation operation.The present invention by the improvement of above structure, have the characteristics that it is simple and reasonable, have excellent performance, be easy to use, manufacturing cost is low, easy to produce, easy realization, automation, accurate positioning, conveying are stablized, safe and reliable and high production efficiency, practical.
Description
Technical field
The present invention relates to a kind of automations for door leaf coating to be connected equipment, specifically a kind of to be used for door leaf automatic coating
Multistation integrated automation be connected equipment.
Background technique
Door leaf production will undergo many steps, from sorting, be made, polish, japanning all has to pass through many process ability
It completes.The quality of these door leaf manufacture crafts is all directly related to the quality of end product brand door leaf.Wherein, door leaf coating is as painting
The late stage process for filling production, directly affects the last using effect of door leaf.Good coating process can not only make door leaf not vulnerable to
To extraneous corrosion, improve service life, moreover it is possible to improve the exquisite appearance degree of door leaf.
Coating substantially is carried out using artificial in the prior art, there are problems that low efficiency, large labor intensity.
Related technical personnel have developed automatic coating device thus, but common door leaf coating equipment volume is larger, from upper
Material, positioning, feeding, coating, each station of blanking need manually to be controlled, and the degree of automation is not high, leads to production operation
Inconvenience, while coating process is longer, influences production efficiency and product quality.Therefore, it is necessary to this door leaf coating equipment into
Row structure optimization, to overcome drawbacks described above.
Summary of the invention
The purpose of the present invention be intended to provide it is a kind of it is simple and reasonable, have excellent performance, be easy to use, manufacturing cost is low, easy
Production, easily realization, automation, accurate positioning, conveying stablize, are safe and reliable and high production efficiency for the automatic of door leaf coating
Change linking equipment, to overcome shortcoming in the prior art.
Be connected equipment by a kind of automation for door leaf coating of this purpose design, including to coating door leaf, rack and
The protective fence being arranged on the rack, it is characterised in that: further include fixture, fixture rotating device, fixture closing device, fixture lifting
Device and fixture reciprocating apparatus；Wherein, fixture suspension is arranged on jig lifting apparatus, and jig lifting apparatus lifting setting is being pressed from both sides
Have on closing device, the folding of fixture closing device is arranged on fixture rotating device, and fixture rotating device is rotatably arranged on fixture
On reciprocating apparatus, fixture reciprocating apparatus is reciprocating to be slidably arranged in rack；The fixture pass through respectively fixture closing device,
Jig lifting apparatus, fixture rotating device, fixture reciprocating apparatus treat coating door leaf and carry out folding loading and unloading, lifting conveying, rotation
Modulation section, reciprocal transportation operation.
The fixture reciprocating apparatus includes at least reciprocating carriage, reciprocal drivig cylinder, reciprocal drive rod, reciprocal guide rail；Its
In, there are two the settings of reciprocal guide rail and is separately positioned on rack two sides, reciprocal drive rod be arranged on reciprocating carriage and with it is past
Multiple drivig cylinder is drivingly connected, and reciprocal drive rod drives the reciprocating sliding of reciprocating carriage on the rack by reciprocal drivig cylinder,
Reciprocal transportation operation is carried out to drive fixture to treat coating door leaf.
The fixture reciprocating apparatus further includes that fixture reciprocating apparatus, which passes through, to be detected toward complex detector to coating toward complex detector
The reciprocal position of door leaf, and control fixture and treat the progress reciprocal transportation operation of coating door leaf.
The fixture rotating device includes at least rotating electric machine, rotary drive gear and rotation drive rod；Wherein, electric rotating
Machine is arranged on reciprocating carriage and is drivingly connected with rotary drive gear side, and the rotary drive gear other side and rotation drive
Bar one end is drivingly connected, and the rotation drive rod other end and fixture closing device are drivingly connected, and rotation drive rod passes through rotating electric machine
Cooperation with rotary drive gear drive fixture closing device rotation on reciprocating carriage, with drive fixture to treat coating door leaf into
Row rotation adjusts operation.
The fixture rotating device further includes rotation detector, and fixture rotating device is detected by rotation detector to coating
The rotation position of door leaf, and control rotation drive rod and drive fixture closing device rotation on reciprocating carriage, to drive fixture pair
Rotation, which is carried out, to coating door leaf adjusts operation.
The fixture closing device includes at least opening and closing bracket, folding drivig cylinder, folding guide rail and folding guide part；Its
In, there are two folding guide rail settings and is separately positioned on opening and closing bracket two sides, and opening and closing bracket and rotation drive rod are drivingly connected,
It opens and closes guide part to be drivingly connected with folding drivig cylinder, jig lifting apparatus respectively, folding guide part passes through folding drivig cylinder
The sliding of lifting device open-close type is driven fixture in opening and closing bracket two sides, carries out folding loading and unloading to drive fixture to treat coating door leaf
Operation.
The fixture closing device further includes door leaf size detector, and fixture closing device is examined by door leaf size detector
Size to coating door leaf is surveyed, and controls fixture and treats coating door leaf and carry out folding operation of feeding and discharging.
The jig lifting apparatus includes at least lifting drivig cylinder and lifting drive rod；Wherein, lifting drivig cylinder is set
It sets in opening and closing bracket and is drivingly connected with lifting drive rod one end, the lifting drive rod other end and folding guide part driving connect
It connects, on lifting drive rod, lifting drive rod drives fixture lift sliding by lifting drivig cylinder and opening and closing for fixture setting
On bracket, lifting conveying operations are carried out to drive fixture to treat coating door leaf.
The fixture, fixture rotating device, fixture closing device, jig lifting apparatus and fixture reciprocating apparatus are respectively positioned on anti-
In guardrail；The watch window for observing inner case is additionally provided on the protective fence.
The present invention is utilized respectively fixture closing device, jig lifting apparatus, fixture rotating dress by the improvement of above structure
It sets, fixture reciprocating apparatus, so that fixture is treated coating door leaf can be realized folding loading and unloading, lifting conveying, rotate adjusting, is reciprocal defeated
The operation sent makes the energy full-automation after coating door leaf is from feeding station feeding be delivered to spray station, to solve to be coated
Door leaf is filled from feeding, the labor task issues being fed between coating, the time of coating process is effectively reduced, improves production
The quality of efficiency and product；Meanwhile it further includes rotation detection toward complex detector, fixture rotating device that fixture reciprocating apparatus, which further includes,
Device, fixture closing device further include door leaf size detector, by the use of above-mentioned complex detector, can treat coating door leaf
Reciprocal transportation positioning, rotation adjust positioning, door leaf size further controls, so that the automation for improving equipment uses, in turn
Meet the use demand of user；Also, fixture, fixture rotating device, fixture closing device, jig lifting apparatus and fixture are reciprocal
Device is respectively positioned in protective fence, not only efficiently utilizes the space in protective fence, reduces the space occupied of equipment, moreover it is possible to protect
Nurse people uses the safety of equipment；Moreover, being additionally provided with the watch window for observing inner case on protective fence, it is convenient for work
Observation of the people to protective fence inner workings, it is further convenient for users to use.
Its with it is simple and reasonable, have excellent performance, easy to use, manufacturing cost is low, it is easy to produce, it is easy realize, automation,
It is the features such as accurate positioning, conveying stabilization, safe and reliable and high production efficiency, practical.
Detailed description of the invention
Fig. 1 is the schematic perspective view of first embodiment of the invention.
Fig. 2 is that first embodiment of the invention hides the schematic perspective view after protective fence.
Fig. 3, Fig. 4 are that first embodiment of the invention hides the schematic perspective view after rack and protective fence.
Fig. 5 is that first embodiment of the invention hides the schematic view of the front view after protective fence.
Fig. 6 is that first embodiment of the invention hides the side structure schematic view after protective fence.
Fig. 7 is that first embodiment of the invention hides the overlooking structure diagram after protective fence.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and embodiments.
Referring to Fig. 1-Fig. 7, this automation for being used for door leaf coating is connected equipment, including to coating door leaf 11,10 and of rack
Protective fence 12 in rack 10 is set, further includes fixture 1, fixture rotating device 4, fixture closing device 8, jig lifting apparatus
7 and fixture reciprocating apparatus 2；Wherein, the suspension of fixture 1 is arranged on jig lifting apparatus 7, and the lifting setting of jig lifting apparatus 7 exists
On fixture closing device 8, the folding of fixture closing device 8 is arranged on fixture rotating device 4, the rotation setting of fixture rotating device 4
On fixture reciprocating apparatus 2, fixture reciprocating apparatus 2 is reciprocating to be slidably arranged in rack 10；The fixture 1 passes through folder respectively
Tool closing device 8, jig lifting apparatus 7, fixture rotating device 4, fixture reciprocating apparatus 2 are treated coating door leaf 11 and are opened and closed
Blanking, lifting conveying, rotation is adjusted, reciprocal transportation operates.
Further speaking, fixture reciprocating apparatus 2 includes at least reciprocating carriage 12, reciprocal drivig cylinder 13, reciprocal drive rod
14, reciprocal guide rail 15；Wherein, there are two reciprocal guide rail 15 is arranged and 10 two sides of rack are separately positioned on, reciprocal drive rod 14 is set
It sets on reciprocating carriage 12 and is drivingly connected with reciprocal drivig cylinder 13, reciprocal drive rod 14 is driven by reciprocal drivig cylinder 13
The dynamic reciprocating sliding of reciprocating carriage 12 treats the progress reciprocal transportation operation of coating door leaf 11 in rack 10, to drive fixture 1.
Further speaking, fixture reciprocating apparatus 2 further includes toward complex detector 6, and fixture reciprocating apparatus 2 passes through toward complex detector
Reciprocal position of 6 detections to coating door leaf 11, and control fixture 1 and treat the progress reciprocal transportation operation of coating door leaf 11.
Further speaking, fixture rotating device 4 includes at least rotating electric machine 16, rotary drive gear 17 and rotation drive rod
18；Wherein, rotating electric machine 16 is arranged on reciprocating carriage 12 and is drivingly connected with 17 side of rotary drive gear, rotation driving
17 other side of gear and rotation 18 one end of drive rod are drivingly connected, and rotation 18 other end of drive rod and fixture closing device 8 drive
Connection, rotation drive rod 18 drive fixture the rotation of closing device 8 by the cooperation of rotating electric machine 16 and rotary drive gear 17 and exist
On reciprocating carriage 12, with drive fixture 1 treat coating door leaf 11 carry out rotation adjust operation.
Further speaking, fixture rotating device 4 further includes rotation detector 5, and fixture rotating device 4 passes through rotation detector
Rotation position of 5 detections to coating door leaf 11, and control rotation drive rod 18 and drive fixture the rotation of closing device 8 in reciprocating carriage
On 12, with drive fixture 1 treat coating door leaf 11 carry out rotation adjust operation.
Further speaking, fixture closing device 8 includes at least opening and closing bracket 19, folding drivig cylinder 20, folding guide rail 21
With folding guide part 22；Wherein, there are two folding guide rail 21 is arranged and 19 two sides of opening and closing bracket, opening and closing bracket are separately positioned on
19 are drivingly connected with rotation drive rod 18, and folding guide part 22 connects with folding drivig cylinder 20, the driving of jig lifting apparatus 7 respectively
It connecing, folding guide part 22 drives fixture 7 open-close type of lifting device by folding drivig cylinder 20 and slides in 19 two sides of opening and closing bracket,
Coating door leaf 11 is treated to drive fixture 1 and carries out folding operation of feeding and discharging.
Further speaking, fixture closing device 8 further includes door leaf size detector 9, and fixture closing device 8 passes through door leaf ruler
Very little detector 9 detects the size to coating door leaf 11, and controls fixture 1 and treat coating door leaf 11 and carry out folding loading and unloading behaviour
Make.
Further speaking, jig lifting apparatus 7 includes at least lifting drivig cylinder 23 and lifting drive rod 24；Wherein, it rises
It drops drivig cylinder 23 to be arranged in opening and closing bracket 19 and be drivingly connected with lifting 24 one end of drive rod, lifting drive rod 24 is another
End is drivingly connected with folding guide part 22, and for the setting of fixture 1 on lifting drive rod 24, lifting drive rod 24 passes through lifting driving cylinder
Body 23 drive fixture 1 lift sliding in opening and closing bracket 19, with drive fixture 1 treat coating door leaf 11 carry out lifting conveying behaviour
Make.
Further speaking, fixture 1, fixture rotating device 4, fixture closing device 8, jig lifting apparatus 7 and fixture are reciprocal
Device 2 is respectively positioned in protective fence 12；The watch window for observing inner case is additionally provided on the protective fence 12.
Its course of work is as follows:
One, after 11 feeding of coating door leaf, the previous station of automation linking equipment can treat coating door leaf 11 and carry out cross
Longitudinal direction (X to) is detected to (Y-direction) or longitudinal (X to) transmission, while in transmit process, according to longitudinal direction (X to) detection
Information treat again coating door leaf 11 carry out point in positioning.
Two, after positioning in coating door leaf 11, which continues to carry out coating door leaf 11 longitudinal direction (X to) transmission, according to
Longitudinal (X to) detection information treats coating door leaf 11 again and carries out front end positioning, is subsequently delivered in automation linking equipment.
Three, after coating door leaf 11 reaches automation linking equipment, automation linking equipment can utilize door leaf size detection
The length and width size that device 9 treats coating door leaf 11 carries out intelligent measurement, detection data feedback control system.
Four, control system controls fixture 1 and passes through fixture closing device 8, jig lifting apparatus 7 according to detection data information
Cooperation clamping to coating door leaf 11, fixture 1 is then treated coating door leaf 11 by fixture rotating device 4 again and is rotated by 90 °.
Five, after coating door leaf 11 is rotated by 90 °, the matching by jig lifting apparatus 7 and fixture reciprocating apparatus 2 again of fixture 1
Conjunction will be sent to coating door leaf 11 to next station.
Six, after coating door leaf 11 reaches next station, fixture 1 is unclamped by fixture closing device 8 to coating door leaf 11,
Coating station is subsequently entered to coating door leaf 11.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of this field
Personnel should be recognized that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this hairs
Bright principle, various changes and improvements may be made to the invention without departing from the spirit and scope of the present invention, these variations
It all fall within the protetion scope of the claimed invention with improvement.The claimed scope of the invention is by appended claims and its waits
Jljl is defined.
Claims (9)
1. a kind of automation for door leaf coating is connected equipment, including to coating door leaf (11), rack (10) and is arranged in machine
Protective fence (12) on frame (10), it is characterised in that: further include fixture (1), fixture rotating device (4), fixture closing device
(8), jig lifting apparatus (7) and fixture reciprocating apparatus (2)；Wherein, fixture (1) suspension is arranged on jig lifting apparatus (7),
Jig lifting apparatus (7) lifting is arranged on fixture closing device (8), and fixture closing device (8) folding setting is rotated in fixture
On device (4), fixture rotating device (4) is rotatably arranged on fixture reciprocating apparatus (2), fixture reciprocating apparatus (2) reciprocating cunning
It is dynamic to be arranged on rack (10)；The fixture (1) passes through fixture closing device (8), jig lifting apparatus (7), fixture respectively
Rotating device (4), fixture reciprocating apparatus (2) treat coating door leaf (11) carry out folding loading and unloading, lifting conveying, rotation adjust,
Reciprocal transportation operation.
2. being connected equipment for the automation of door leaf coating according to claim 1, it is characterised in that: the fixture is past to be reassembled
(2) are set including at least reciprocating carriage (12), reciprocal drivig cylinder (13), reciprocal drive rod (14), reciprocal guide rail (15)；Wherein,
There are two reciprocal guide rail (15) settings and is separately positioned on rack (10) two sides, and reciprocal drive rod (14) is arranged in reciprocating carriage
(12) it is drivingly connected on and with reciprocal drivig cylinder (13), reciprocal drive rod (14) is driven past by reciprocal drivig cylinder (13)
Multiple bracket (12) reciprocating sliding treats coating door leaf (11) progress reciprocal transportation behaviour on rack (10), to drive fixture (1)
Make.
3. being connected equipment for the automation of door leaf coating according to claim 2, it is characterised in that: the fixture is past to be reassembled
Setting (2) further includes that fixture reciprocating apparatus (2), which passes through, to be detected toward complex detector (6) to coating door leaf (11) toward complex detector (6)
Reciprocal position, and control fixture (1) and treat coating door leaf (11) progress reciprocal transportation operation.
4. being connected equipment for the automation of door leaf coating according to claim 3, it is characterised in that: the fixture rotating dress
(4) are set including at least rotating electric machine (16), rotary drive gear (17) and rotation drive rod (18)；Wherein, rotating electric machine (16)
It is arranged on reciprocating carriage (12) and is drivingly connected with rotary drive gear (17) side, rotary drive gear (17) other side
It is drivingly connected with rotation drive rod (18) one end, rotation drive rod (18) other end and fixture closing device (8) are drivingly connected, rotation
Turn drive rod (18) by the cooperation of rotating electric machine (16) and rotary drive gear (17) drive fixture closing device (8) rotation exist
On reciprocating carriage (12), with drive fixture (1) treat coating door leaf (11) carry out rotation adjust operation.
5. being connected equipment for the automation of door leaf coating according to claim 4, it is characterised in that: the fixture rotating dress
Setting (4) further includes rotation detector (5), and fixture rotating device (4) is detected by rotation detector (5) to coating door leaf (11)
Rotation position, and control rotation drive rod (18) and drive fixture closing device (8) rotation on reciprocating carriage (12), to drive folder
Tool (1) treats coating door leaf (11) and carries out rotation adjusting operation.
6. being connected equipment for the automation of door leaf coating according to claim 5, it is characterised in that: the fixture folding dress
(8) are set including at least opening and closing bracket (19), folding drivig cylinder (20), folding guide rail (21) and folding guide part (22)；Wherein,
There are two folding guide rail (21) settings and is separately positioned on opening and closing bracket (19) two sides, opening and closing bracket (19) and rotation drive rod
(18) it is drivingly connected, folding guide part (22) is drivingly connected with folding drivig cylinder (20), jig lifting apparatus (7) respectively, is opened
It closes guide part (22) and drives fixture the sliding of lifting device (7) open-close type in opening and closing bracket (19) two by opening and closing drivig cylinder (20)
Side treats coating door leaf (11) to drive fixture (1) and carries out folding operation of feeding and discharging.
7. being connected equipment for the automation of door leaf coating according to claim 6, it is characterised in that: the fixture folding dress
Setting (8) further includes door leaf size detector (9), and fixture closing device (8) is detected by door leaf size detector (9) to coating door
The size of (11) is fanned, and controls fixture (1) and treats coating door leaf (11) and carry out folding operation of feeding and discharging.
8. being connected equipment for the automation of door leaf coating according to claim 7, it is characterised in that: the fixture lifting dress
It sets (7) and includes at least lifting drivig cylinder (23) and lifting drive rod (24)；Wherein, lifting drivig cylinder (23) setting is opening and closing
It is drivingly connected on bracket (19) and with lifting drive rod (24) one end, lifting drive rod (24) other end and folding guide part
(22) it is drivingly connected, in lifting drive rod (24), lifting drive rod (24) passes through lifting drivig cylinder (23) for fixture (1) setting
Drive fixture (1) lift sliding on opening and closing bracket (19), with drive fixture (1) treat coating door leaf (11) go up and down it is defeated
Send operation.
9. being connected equipment for the automation of door leaf coating described in -8 any one according to claim 1, it is characterised in that: the folder
Tool (1), fixture rotating device (4), fixture closing device (8), jig lifting apparatus (7) and fixture reciprocating apparatus (2) are respectively positioned on
In protective fence (12)；The watch window for observing inner case is additionally provided on the protective fence (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810653064.XA CN108940656B (en) | 2018-06-22 | 2018-06-22 | Automatic connection equipment for door leaf coating |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810653064.XA CN108940656B (en) | 2018-06-22 | 2018-06-22 | Automatic connection equipment for door leaf coating |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108940656A true CN108940656A (en) | 2018-12-07 |
| CN108940656B CN108940656B (en) | 2020-10-30 |
Family
ID=64486138
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810653064.XA Active CN108940656B (en) | 2018-06-22 | 2018-06-22 | Automatic connection equipment for door leaf coating |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108940656B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5164011A (en) * | 1990-12-28 | 1992-11-17 | Ray David D | Door painting fixture |
| CN105665213A (en) * | 2016-04-05 | 2016-06-15 | 广东顺德迪峰机械有限公司 | Fully automatic coating equipment |
| CN105834038A (en) * | 2016-06-07 | 2016-08-10 | 东莞市顺林模型礼品股份有限公司 | Automatic conveying production line applied to part spraying |
| CN106042082A (en) * | 2016-07-08 | 2016-10-26 | 梦天木门集团有限公司 | Transverse tappet production device |
| CN106311522A (en) * | 2015-06-17 | 2017-01-11 | 广西南宁桂淼节能环保科技有限公司 | Large board part oiling device |
| CN108145335A (en) * | 2018-01-20 | 2018-06-12 | 李大德 | The quarter bend catching robot and loader of adaptive-length |
-
2018
- 2018-06-22 CN CN201810653064.XA patent/CN108940656B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5164011A (en) * | 1990-12-28 | 1992-11-17 | Ray David D | Door painting fixture |
| CN106311522A (en) * | 2015-06-17 | 2017-01-11 | 广西南宁桂淼节能环保科技有限公司 | Large board part oiling device |
| CN105665213A (en) * | 2016-04-05 | 2016-06-15 | 广东顺德迪峰机械有限公司 | Fully automatic coating equipment |
| CN105834038A (en) * | 2016-06-07 | 2016-08-10 | 东莞市顺林模型礼品股份有限公司 | Automatic conveying production line applied to part spraying |
| CN106042082A (en) * | 2016-07-08 | 2016-10-26 | 梦天木门集团有限公司 | Transverse tappet production device |
| CN108145335A (en) * | 2018-01-20 | 2018-06-12 | 李大德 | The quarter bend catching robot and loader of adaptive-length |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108940656B (en) | 2020-10-30 |
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