KR20050039363A - Painting robot of can be control and that of operating method - Google Patents

Painting robot of can be control and that of operating method Download PDF

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Publication number
KR20050039363A
KR20050039363A KR1020030074802A KR20030074802A KR20050039363A KR 20050039363 A KR20050039363 A KR 20050039363A KR 1020030074802 A KR1020030074802 A KR 1020030074802A KR 20030074802 A KR20030074802 A KR 20030074802A KR 20050039363 A KR20050039363 A KR 20050039363A
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South Korea
Prior art keywords
painting
bar
sensor
camera
traveling device
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KR1020030074802A
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Korean (ko)
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KR100505465B1 (en
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권오준
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대우조선해양 주식회사
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Priority to KR10-2003-0074802A priority Critical patent/KR100505465B1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • 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
    • B05B13/0405—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 reciprocating or oscillating spray heads
    • B05B13/041—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 reciprocating or oscillating spray heads with spray heads reciprocating along a straight line
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0075—Manipulators for painting or coating
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B71/00—Designing vessels; Predicting their performance

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Spray Control Apparatus (AREA)

Abstract

본 발명은 제어가 가능한 페인팅로봇 및 자동페인팅 방법에 관한 것으로, 더욱 상세하게는 도장셀 기둥(10)에 슬라이딩 가능하게 부착된 센서부착 주행장치(20)와, 상기 센서부착 주행장치(20)에 일측이 연결되며 타측의 말단부에 페인트 분사구(326)와 카메라(327)가 장착된 다관절 페인팅장치(30)와, 상기 카메라(327)의 정보를 입력하여 정보를 저장하는 메인서버(40)와, 단말기(50)를 포함하여 구성된 것을 특징으로 하며, 상기 발명은 사람이 작업하기에 취약한 도장셀을 간편하게 무인으로 작업할 수 있으며, 페인팅 대상물이 대형이거나 구석구석 페인팅을 필요로 할 경우에 특히 유용하게 된다. The present invention relates to a painting robot that can be controlled and an automatic painting method, and more particularly, to a traveling device with a sensor 20 slidably attached to the painting cell pillar 10, and to the traveling device with a sensor 20. One side is connected to the articulated painting apparatus 30, the paint injection port 326 and the camera 327 is mounted on the other end portion, the main server 40 for storing information by inputting the information of the camera 327 and , Characterized in that it comprises a terminal 50, the invention can easily work unmanned painting cells vulnerable to work, and is particularly useful when painting objects are large or need painting every corner. Done.

Description

제어가 가능한 페인팅로봇 및 자동페인팅 방법{Painting robot of can be control and that of operating method}Painting robot of can be control and that of operating method}

본 발명은 제어가 가능한 페인팅로봇 및 자동페인팅 방법에 관한 것으로, 보다 구체적으로는 메인서버와 단말기와 연결된 센서부착장치와 다관절 페인팅장치로 구성된 페인팅로봇으로 사람이 작업하기 힘든 페인팅작업을 자동으로 할 수 있는 장치와 방법에 관한 것이다.The present invention relates to a painting robot that can be controlled and an automatic painting method, and more specifically, to a painting robot composed of a sensor attachment device and an articulated painting device connected to a main server and a terminal, to automatically perform painting work that is difficult for a person to work with. It relates to a device and a method that can be.

일반적으로 지금까지 물체의 입체표면에 대한 페인팅 작업은 자동화의 어려움으로 말미암아 거의 인간의 손에 의한 수동작업에 의존함으로서, 생산성의 저하는 물론 생산품질의 저하의 원인이 되어왔다.In general, the painting work on the three-dimensional surface of the object until now, due to the difficulty of the automation almost rely on manual work by the human hand, has been a cause of degradation of the production quality as well as decrease in productivity.

즉, 스프레이 페인팅을 하거나 붓과 같은 도구를 이용하여 사용자가 페인팅을 하게 되면 표면이 미려하지 않고 특히, 자연건조에 의존할 수밖에 없으므로 페인트층의 강도가 매우 취약함은 당연한 결과였다.In other words, when a user paints using a tool such as spray painting or a brush, the surface is not beautiful and inevitably relies on natural drying, so the strength of the paint layer is very weak.

따라서 가벼운 충격이나 마찰에도 페인트층이 쉽게 벗겨짐으로써 내부식성과 외관을 미려하게 하기 위한 본래의 목적을 충족시키지 못하였다Therefore, the paint layer peels off easily even under light impact or friction, which does not meet the original purpose for beautiful corrosion resistance and appearance.

상기와 같은 문제점들을 해결하기 위하여, 자동용접장치에 관한 발명들이 출현하였는 바, In order to solve the above problems, the inventions related to the automatic welding apparatus have appeared,

대한민국 공개번호 제 특2002-0025111호는 파이프를 자동으로 페인팅하기 위한 장치에 관한것으로, 좀 더 상세하게는 길이가 긴 파이프를 세정, 건조, 외부페인팅, 열처리, 내부페인팅을 자동으로 할 수 있고, 특히 파이프를 페인팅장치에 적절하게 이송시키면서 내외부를 효과적으로 페인팅할 수 있게하는 장치에 관하여 소개하고 있으며, 실용신안 출원번호 제20-2003-000747호는 저면 중앙이 회전구동되도록 지지되고 상면에 램프쉐이드를 홀딩하기 위한 홀딩지그가 일정 각도 간격으로 복수개가 배치되어 각기 회전구동 가능하게 장치되며 각 홀딩지그의 일측에 상하로 관통구멍이 형성되는 테이블과, 상기 테이블의 일측에 설치되는 기둥에 페인팅용 페인트스프레이가 종방향과 횡방향 이동 및 경사각 조절이 가능하도록 장치되며 페인트스프레이를 통해 일정량의 페인트를 램프쉐이드에 스프레이할 수 있도록 되는 페인팅머신과, 상기 페인팅머신이 위치되는 테이블의 저면부에서 관통구멍과 연통 가능하도록 흡입덕트 선단이 상하로 이동 가능하게 설치되고 흡입덕트 후단이 후앙에 연통되게 장치되어 페인트를 스프레이할 때 홀딩지그의 주위에 흡입력이 생기도록 하는 흡입장치에 관하여 소개하고 있다.Republic of Korea Publication No. 2002-0025111 relates to a device for automatically painting a pipe, more specifically, it can automatically clean, dry, external painting, heat treatment, internal painting of long pipe, In particular, it introduces a device that can effectively paint the inside and outside while the pipe is properly transferred to the painting apparatus, Utility Model Application No. 20-2003-000747 is supported so that the center of the bottom rotational rotation and the lamp shade on the upper surface The holding jig for holding is arranged in a plurality of angular intervals so that each can be rotated and driven, the table is formed with a through hole on one side of each holding jig, and paint spray for painting on a column installed on one side of the table Is installed to allow longitudinal and transverse movement and tilt angle adjustment. A painting machine that can spray a certain amount of paint onto the lampshade, and a suction duct tip is installed to move up and down to communicate with the through-hole at the bottom of the table where the painting machine is located. The suction device is introduced in communication with the suction jig to create a suction force around the holding jig when spraying the paint.

그러나 상기와 같은 장치들은 자동으로 용접함으로써 기존의 수동작업때 보다는 편리함이 있으나, 페인팅 대상물이 대형일 경우는 작업이 어려운점이 있는 것이 현실이다.However, the above devices are automatically welded, but more convenient than conventional manual work, but the reality is that the work is difficult when the painting object is large.

따라서, 상기와 같은 문제점을 해결하기 위한 본 발명은 사람이 작업하기에 취약한 도장셀을 간편하게 무인으로 작업할 수 있으며, 페인팅 대상물이 대형이거나 구석구석 페인팅을 필요로 할 경우 유용한 페인팅로봇을 제공하는 것을 목적으로 한다.Therefore, the present invention for solving the above problems can easily work unmanned painting cells vulnerable to work, and to provide a painting robot useful when painting objects are large or need to paint every corner. The purpose.

상기 기술한 목적을 달성하기 위하여, 물체의 입체표면의 원하는 영역을 자동으로 페인팅하는 방법에 있어서, 페인팅 대상물을 센서와 연결된 카메라로 인식하는 단계와, 상기 인식된 대상물의 부분 입체형상을 센서부착 주행장치의 센서신호를 이용하여 복원하는 단계와, 상기 복원된 입체형상 테이터 및 물체표면에 대한 페인팅정보를 단말기를 통해 메인서버의 데이터베이스에 입력하여 저장하는 단계와, 상기의 저장정보에 따라 대상물을 페인팅하는 단계가 순차적으로 이루어지는 것을 특징으로 하는 제어가 가능한 페인팅로봇을 이용한 페인팅방법과, 도장셀 기둥에 슬라이딩 가능하게 부착된 센서부착 주행장치와, 상기 센서부착 주행장치에 일측이 연결되며 타측의 말단부는 페인트 분사구와 카메라가 장착된 다관절 페인팅장치와, 상기 카메라의 정보를 입력하여 정보를 저장하는 메인서버와, 단말기를 포함하여 구성된 것을 특징으로 하는 제어가 가능한 페인팅로봇을 제공하는 것을 목적으로 한다.In order to achieve the above object, a method for automatically painting a desired area of the three-dimensional surface of the object, the method comprising the steps of recognizing the object to be painted with a camera connected to the sensor, and the driving of the sensor with the partial solid shape of the recognized object Restoring using a sensor signal of a device, inputting and restoring painting information on the restored three-dimensional data and object surface to a database of a main server through a terminal, and painting an object according to the storage information Painting method using a controllable painting robot, characterized in that the step is performed sequentially, a traveling device with a sensor slidably attached to the painting cell pillar, and one side is connected to the traveling device with a sensor, the other end portion Articulated painting device with paint nozzle and camera, and the camera It is an object of the present invention to provide a controllable painting robot, characterized in that the main server for storing information by inputting the information and storing the information.

이하 첨부된 도면을 참고하여 본 발명의 구성과 그 일 실시예를 구체적으로 설명하면 다음과 같다.Hereinafter, the configuration and one embodiment of the present invention will be described in detail with reference to the accompanying drawings.

우선, 첨부된 도면을 설명하면 도 1은 본 발명의 제어가 가능한 페인팅로봇의 일 실시예를 개략적으로 도시한 도면이고, 도 2는 본 발명의 다관절 페인팅장치의 구조를 개략적으로 도시한 도면이며, 도 3은 본 발명의 실시에 따른 흐름을 도시한 플로우 차트이다.First, referring to the accompanying drawings, FIG. 1 is a view schematically showing an embodiment of a painting robot capable of controlling the present invention, and FIG. 2 is a view schematically showing the structure of an articulated painting device of the present invention. 3 is a flow chart illustrating a flow in accordance with an embodiment of the present invention.

상기 본 발명의 실시에 따른 흐름을 도시한 플로우 차트인 도3을 살펴보면, 물체의 입체표면의 원하는 영역을 자동으로 페인팅하는 방법에 있어서, 페인팅 대상물을 센서와 연결된 카메라(327)로 인식하는 단계(S10)와, 상기 인식된 대상물의 부분 입체형상을 센서부착 주행장치(20)의 센서신호를 이용하여 복원하는 단계(S20)와, 상기 복원된 입체형상 테이터 및 물체표면에 대한 페인팅정보를 단말기(50)를 통해 메인서버(40)의 데이터베이스에 입력하여 저장하는 단계(S30)와, 상기의 저장정보에 따라 대상물을 페인팅하는 단계(S40)가 순차적으로 이루어지는 짐을 알 수 있다.Referring to FIG. 3, which is a flow chart illustrating a flow according to an embodiment of the present invention, in the method of automatically painting a desired area of a three-dimensional surface of an object, recognizing a painting object with a camera 327 connected to a sensor ( S10, restoring the partial three-dimensional shape of the recognized object using a sensor signal of the traveling device 20 with a sensor (S20), and painting information on the restored three-dimensional data and the object surface. It can be seen that the step S30 of inputting and storing in the database of the main server 40 through 50) and the step S40 of painting the object according to the storage information are sequentially performed.

즉, 페인팅작업을 할 대상물의 상태를 카메라(327)와 센서부착 주행장치(20)를 이용하여 인식한 후 상기 단말기(50)와 연결되어 있는 메인서버(40)의 데이터베이스에 저장을 하고, 상기 저장된 내용에 따라 단말기(50)로 다관절 페인팅장치(30)를 작동하게 되는 것이다. That is, after recognizing the state of the object to be painted by using the camera 327 and the traveling device 20 with a sensor, the object is stored in the database of the main server 40 connected with the terminal 50, and The articulated painting device 30 is operated by the terminal 50 according to the stored contents.

그리고 본 발명의 제어가 가능한 페인팅로봇의 일 실시예를 도시한 도1에서 알 수 있듯이, 도장셀 기둥(10)에 슬라이딩 가능하게 부착된 센서부착 주행장치(20)와, 상기 센서부착 주행장치(20)에 일측이 연결되며 타측의 말단부는 페인트 분사구(326)와 카메라(327)가 장착된 다관절 페인팅장치(30)와, 상기 카메라(327)의 정보를 입력하여 정보를 저장하는 메인서버(40)와, 단말기(50)를 포함하여 구성되어 있으며, 상기 센서부착 주행장치(20)는 페인트 펌핑장치(60)와 노즐(70)로 연결장착 되어 있다.And as can be seen in Figure 1 showing an embodiment of the painting robot controllable of the present invention, the traveling device with a sensor 20 is slidably attached to the painting cell pillar 10, and the traveling device with a sensor ( 20 is connected to one side and the other end is a multi-joint painting apparatus 30 equipped with a paint injection hole 326 and a camera 327, and a main server for storing information by inputting the information of the camera 327 ( 40 and the terminal 50, the traveling device 20 with a sensor is connected to the paint pumping device 60 and the nozzle (70).

그리고 상기 다관절 페인팅장치(30)는 회전축(311)과 연결되어 회전이 이루어지는 회전아암(31)과; 중앙브라켓(321)의 좌우로 대칭되게 제1바(322) 및 제2바(323)가 배치되고 상기 제1바(322) 및 제2바(323)의 일측의 단부는 상기 회전아암(31)과 제1보조브라켓(324)으로 연결되고 타측의 단부는 제2보조브라켓(325)에 의해 상단에 카메라(327)가 장착된 분사구(326)와 결합되는 접철아암(32)과; 상기 제1보조브라켓(324)과 제2바(323)가 제1실린더(328)로 연결되며, 중앙브라켓(325)의 일측이 제2바(323)와 제2실린더(329)로 연결되고, 상기 제1바(322)의 내측으로 관통하고 상기 분사구(326)와 연결되는 노즐(70)을 포함하여 구성되게 된다.  And the articulated painting device 30 is connected to the rotating shaft 311 and the rotating arm 31 is rotated; The first bar 322 and the second bar 323 are disposed symmetrically to the left and right of the center bracket 321, and the end of one side of the first bar 322 and the second bar 323 is the rotary arm 31 And a folding arm 32 connected to the first auxiliary bracket 324 and the other end of which is coupled to the injection hole 326 on which the camera 327 is mounted on the upper end by the second auxiliary bracket 325; The first auxiliary bracket 324 and the second bar 323 is connected to the first cylinder 328, one side of the central bracket 325 is connected to the second bar 323 and the second cylinder 329 The nozzle 70 penetrates into the first bar 322 and is connected to the injection hole 326.

상술한 바와 같은 구성에 의한 제어가 가능한 페인팅로봇의 사용으로 선박의 대형블록과 같은 굴곡이 많고 크기가 큰 제품에 대한 전체에 걸쳐 다관절 페인팅장치의 간단한 위치이동으로 원하는 위치에 정확하고도 신속하게 페인팅작업을 할 수 있다는 효과가 있으며, 그리고 사람이 작업하기에 취약한 도장셀을 간편하게 무인으로 작업할 수 있으며, 페인팅 대상물이 대형이거나 구석구석 페인팅을 필요로 할 경우에 특히 유용하게 된다. By using the painting robot which can be controlled by the above-mentioned configuration, the articulated painting device can be moved precisely and quickly to the desired position through the simple movement of the articulated painting device over the curved and large products such as the large block of the ship. It has the effect of painting work, and can easily work unmanned painting cells that are vulnerable to human work, and is particularly useful when the object to be painted is large or needs to be painted in every corner.

도 1은 본 발명의 제어가 가능한 페인팅로봇의 일 실시예를 개략적으로 도시한 도면.1 is a view schematically showing an embodiment of a painting robot capable of controlling the present invention.

도 2는 본 발명의 다관절 페인팅장치의 구조를 개략적으로 도시한 도면.2 is a view schematically showing the structure of the articulated painting device of the present invention.

도 3은 본 발명의 실시에 따른 흐름을 도시한 플로우 차트.3 is a flow chart illustrating a flow in accordance with an embodiment of the present invention.

<도면에 사용된 주요부호에 대한 설명><Description of Major Symbols Used in Drawings>

10 : 도장셀 기둥 20 : 센서부착 주행장치10: paint cell pillar 20: traveling device with sensor

30 : 다관절 페인팅장치 31 : 회전아암30: articulated painting device 31: rotating arm

32 : 접철아암 40 : 메인서버32: folding arm 40: main server

50 : 단말기 60 : 페인트 펌핑장치50: terminal 60: paint pumping device

70 : 노즐 311 : 회전축 70: nozzle 311: rotation axis

321 : 중앙브라켓 322 : 제1바 321: center bracket 322: first bar

323 : 제2바 324 : 제1보조브라켓323: second bar 324: first auxiliary bracket

325 : 제2보조브라켓 326 : 분사구 325: second auxiliary bracket 326: injection hole

327 : 카메라 328 : 제1실린더327 Camera 328 First cylinder

329 : 제2실린더329: second cylinder

Claims (3)

물체의 입체표면의 원하는 영역을 자동으로 페인팅하는 방법에 있어서, 페인팅 대상물을 센서와 연결된 카메라(327)로 인식하는 단계(S10)와, 상기 인식된 대상물의 부분 입체형상을 센서부착 주행장치(20)의 센서신호를 이용하여 복원하는 단계(S20)와, 상기 복원된 입체형상 테이터 및 물체표면에 대한 페인팅정보를 단말기(50)를 통해 메인서버(40)의 데이터베이스에 입력하여 저장하는 단계(S30)와, 상기의 저장정보에 따라 대상물을 페인팅하는 단계(S40)가 순차적으로 이루어지는 것을 특징으로 하는 제어가 가능한 페인팅로봇을 이용한 자동페인팅방법.In the method of automatically painting a desired area of the three-dimensional surface of the object, the step of recognizing the object to be painted by the camera 327 connected to the sensor (S10), and the three-dimensional shape of the recognized object of the traveling device with a sensor 20 Restoring by using the sensor signal (S20) and painting information on the restored three-dimensional shape data and the object surface through the terminal 50 and storing them in a database of the main server 40 (S30). And, the automatic painting method using a controllable painting robot, characterized in that the step (S40) of painting the object in accordance with the stored information is made sequentially. 도장셀 기둥(10)에 슬라이딩 가능하게 부착된 센서부착 주행장치(20)와, 상기 센서부착 주행장치(20)에 일측이 연결되며 타측의 말단부는 페인트 분사구(326)와 카메라(327)가 장착된 다관절 페인팅장치(30)와, 상기 카메라(327)의 정보를 입력하여 정보를 저장하는 메인서버(40)와, 단말기(50)를 포함하여 구성된 것을 특징으로 하는 제어가 가능한 페인팅로봇. One side is connected to the traveling device 20 with a sensor slidably attached to the painting cell pillar 10 and the traveling device 20 with the sensor, and the other end is equipped with a paint spraying hole 326 and a camera 327. The articulated painting apparatus 30 includes a main server 40 for storing information by inputting information of the camera 327 and a terminal 50, and a painting robot capable of controlling the painting robot. 제2항에 있어서, 상기 다관절 페인팅장치(30)는 회전축(311)과 연결되어 회전이 이루어지는 회전아암(31)과; 중앙브라켓(321)의 좌우로 대칭되게 제1바(322) 및 제2바(323)가 배치되고 상기 제1바(322) 및 제2바(323)의 일측의 단부는 상기 회전아암(31)과 제1보조브라켓(324)으로 연결되고 타측의 단부는 제2보조브라켓(325)에 의해 상단에 카메라(327)가 장착된 분사구(326)와 결합되는 접철아암(32)과; 상기 제1보조브라켓(324)과 제2바(323)가 제1실린더(328)로 연결되며, 중앙브라켓(325)의 일측이 제2바(323)와 제2실린더(329)로 연결되고, 상기 제1바(322)의 내측으로 관통하고 상기 분사구(326)와 연결되는 노즐(70)을 포함하여 구성되어 이루어짐을 특징으로 하는 제어가 가능한 페인팅로봇. According to claim 2, The articulated art painting device (30) is connected to the rotating shaft 311 and the rotating arm 31 is rotated; The first bar 322 and the second bar 323 are disposed symmetrically to the left and right of the center bracket 321, and the end of one side of the first bar 322 and the second bar 323 is the rotary arm 31 And a folding arm 32 connected to the first auxiliary bracket 324 and the other end of which is coupled to the injection hole 326 on which the camera 327 is mounted on the upper end by the second auxiliary bracket 325; The first auxiliary bracket 324 and the second bar 323 is connected to the first cylinder 328, one side of the central bracket 325 is connected to the second bar 323 and the second cylinder 329 , The painting robot penetrates into the first bar 322 and comprises a nozzle 70 connected to the injection hole 326.
KR10-2003-0074802A 2003-10-24 2003-10-24 Painting robot of can be control KR100505465B1 (en)

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KR100964333B1 (en) * 2008-04-22 2010-06-17 에스티엑스조선해양 주식회사 The self-control movable type painting system for longe
KR101154093B1 (en) * 2011-02-14 2012-06-11 에스티엑스조선해양 주식회사 The Painting System for back??side of Longitudinal Stiffener Using the painting machine
KR101360286B1 (en) * 2012-03-13 2014-02-12 윤성진 Automatic planting systems for vehicle
KR102264432B1 (en) * 2019-12-24 2021-06-15 (주)맨앤로봇 High safety hot melt coating apparatus for vwhicle interior material
KR102657373B1 (en) * 2023-09-14 2024-04-12 민성환 Automated circuit design for driving industrial manufacturing equipment, and methods, devices, and systems for control thereof

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KR102341480B1 (en) * 2016-03-29 2021-12-22 엘리드 테크놀로지 인터네셔널 피티이 엘티디 Systems and methods for spray painting exterior walls of buildings
CN106733346B (en) * 2016-12-22 2019-01-25 奉节县祥海汽车维修有限责任公司 A kind of quick spray-painting plant of automobile

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100964333B1 (en) * 2008-04-22 2010-06-17 에스티엑스조선해양 주식회사 The self-control movable type painting system for longe
KR101154093B1 (en) * 2011-02-14 2012-06-11 에스티엑스조선해양 주식회사 The Painting System for back??side of Longitudinal Stiffener Using the painting machine
KR101360286B1 (en) * 2012-03-13 2014-02-12 윤성진 Automatic planting systems for vehicle
KR102264432B1 (en) * 2019-12-24 2021-06-15 (주)맨앤로봇 High safety hot melt coating apparatus for vwhicle interior material
KR102657373B1 (en) * 2023-09-14 2024-04-12 민성환 Automated circuit design for driving industrial manufacturing equipment, and methods, devices, and systems for control thereof

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