CN100434241C - Dual-purpose robot for derusting and painting oil tank in cavity and storeroom - Google Patents
Dual-purpose robot for derusting and painting oil tank in cavity and storeroom Download PDFInfo
- Publication number
- CN100434241C CN100434241C CNB2006100699774A CN200610069977A CN100434241C CN 100434241 C CN100434241 C CN 100434241C CN B2006100699774 A CNB2006100699774 A CN B2006100699774A CN 200610069977 A CN200610069977 A CN 200610069977A CN 100434241 C CN100434241 C CN 100434241C
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- oil tank
- gate
- dual
- truss
- type truss
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Abstract
The invention relates to a double-function robot used to scale and paint. Wherein, it comprises a door truss formed by segment support arms; a rotational platform which fixes the rotation center of base via adjusting the length of leg; two four-freedom mechanical hands; the drier of door truss; mechanical hand lifter; and a movable hydraulic station outside the pot. The invention can eject sand to scale and paint, and it can receive sensor signal to automatically adjust state and direction. The detector mounted on the flexible arm of robot will periodically transmit the image via optical cable to the display outside oil pot, to detect the work condition. The invention is powered by outside hydraulic station.
Description
Affiliated technical field
The present invention relates to large oil tank surface automatic spraying apparatus field, the especially a kind of autonomous type cave depot inner wall of oil tank rust cleaning and the dual-purpose robot that sprays paint.
Background technology
At present, the rust cleaning of cave depot large oil tank, spray paint etc. adopts tradition to rely on the manual work mode of scaffold always, and not only efficient and quality are low, and work under bad environment, and workmen's physical and mental health in serious threat.For addressing these problems, since 1988, colleges and universities such as Harbin Institute of Technology and some scientific research institutions have developed magnetic-type and climbing robot aspirated-air type respectively under the supporting of " 863 ".Since be subjected to the restriction of multiple technologies and condition, their complex structures, performance is also not really stable, and it is actual to fail to be advantageously applied to production.
Summary of the invention
The objective of the invention is to design an equipment that is suitable for AUTONOMOUS TASK in the cave depot large oil tank, it not only can derusting by sandblasting, also can carry out spray painting operation, when detection receives sensor signal, can also regulate the attitude and the direction of motion automatically simultaneously, so it possess certain intelligence.In operation process, the monitor that is installed on the robot telescopic arm regularly is transferred to the image of its shooting on the display of oil tank outside, so that the operating personnel outside oil tank check the operation situation by optical cable.The power of entire equipment is provided by the Hydraulic Station outside jar.
Its technical solution is:
A kind of cave depot oil tank rust cleaning and the dual-purpose robot that sprays paint, it comprises:
The one door type truss according to oil tank vertical section profile, designs the gate-type truss of a profiling, its outer surface is made the guide rail of manipulator, and, it being divided into two semi-frame parts of complete symmetry from the centre of gyration at top, each semi-frame part is made of the detachable boom of more piece again;
A revolving dial, revoliving arm is inverted isosceles triangle, its summit is connected on the rotary table, the end points of two symmetries connects with two medial surfaces of gate-type truss respectively, and base has three retractable supports legs of even layout, and extend to the tank skin bottom, determine the centre of gyration of base by the length of adjusting shank;
Two identical four-degree-of-freedom manipulators are installed in them respectively on the guide rail of gate-type truss; That manipulator has is flexible, pitching, to draw circular pendulum moving and along the function that guide rail moves, and is driven by hydraulic motor and elevator respectively; The transverse arm of each manipulator is provided with the spray gun sectional fixture, and a video camera is installed; Two arms of manipulator are fixed on the coaster, and arse is equipped with wheels, rely on wheels to move along guide rail;
The driving mechanism of gate-type truss comprises the road wheel that is installed in its bottom, and it is linked in truss by fluid motor-driven by one-way flexible, only for truss provides driving torque, does not bear its gravity, and adhesive force is over the ground provided by its deadweight;
One is positioned at a jar outer movably Hydraulic Station, for whole equipment provides power; Fuel tank, motor, oil pump etc. and all valve bodies all are installed on the mobile vehicle, and the oil cylinder that the oil circuit of deriving from Hydraulic Station is directly gone into by high-pressure oil pipe and machine, motor etc. are connected;
One manipulator hoisting mechanism, it is passed to moment on two rotating speeds cylinder identical with size through shaft coupling, gearbox by a fluid motor-driven with auto-lock function, comes the elevating mechanism hand by cable wire again, for avoiding cable wire and gate-type joist body to rub, roller is housed in truss.
Above-mentioned dual-purpose robot also comprises electric cabinet, and this electric cabinet also is installed on the mobile vehicle; Operator is independent one, hand-holdable operation; Simultaneously, monitor also is independently, is controlled by a microcomputer; Above-mentioned these devices or parts are placed on outside the oil tank.
In the top center connection place of above-mentioned gate-type truss, design can be adjusted the governor motion of two parts symmetry size, and governor motion is connected on the universal joint that keeps flexibly connecting with oil tank top jar mouth.
The multiple parts of above-mentioned gate-type truss or revolving dial all can be taked modularized design, can assemble as required or disassemble.
Above-mentioned dual-purpose robot also comprises deviation correcting device, and deviation correcting device is arranged between revoliving arm and the truss top, adjusts to keep gate-type truss and ground to be in plumbness.
Above-mentioned driving mechanism, its fairlead (401) is bonded to gate-type truss bottom with bolt, and the axis of guide (402) passes fairlead (401), and its upper end is fixed with a ring flange, and pack into and be fixed on the support behind the spring in the lower end; Hydraulic motor (403) also is bonded on the support by adpting flange, at its axle head profile of tooth belt wheel and cog belt (404) is installed; Another profile of tooth belt wheel is installed in the left end of wheel shaft (405), and wheel shaft is connected with support by bearing, and a wheel (406) is installed thereon, by sleeve and wheel shaft slit bundle of planes it fix.
Above-mentioned revolving dial, be consolidated into by bolt by lateral frame (201), carriage (202), stand (203) and be inverted triangle form structure, its bottom is installed on the main shaft end face of rotary table (204), and two ends are affixed to gate-type truss medial surface in addition, and hoisting mechanism (5) is installed in the stand upper end; Main shaft links to each other with base with radial thrust bearing by taper roll bearing; Three joint faces of equal portion are used for installing three supporting legs (205) on the base periphery, and each supporting leg comprises that pole, little bearing, adjusting screw(rod), transition connect dish.
Above-mentioned manipulator and hoisting mechanism thereof, the telescopic arm of manipulator (303) are limited at by pressing plate on the trapezoidal rails of gate-type truss both sides, and the outer end links to each other with the piston rod thread of telescopic oil cylinder, and move at its driving lower edge guide rail; The ear end of pitching oil cylinder (307) is articulated on the casing of travelling car, and piston-rod end is articulated in frame bottom; Spray gun folder (309) is made up of leading screw, nut seat and the swing mechanism of energy self-locking, and the lower end is fixed on the front end of telescopic arm, and its swinging axle is articulated on the rotating disk that is fixed on hydraulic motor (301) output shaft; Video camera (302) connects by support and telescopic arm, himself has the function that swings up and down with left-right rotation, and can be by instruction control; Wheels (305) are equipped with in the travelling car bottom, and its wheel is stuck between the guide rail; Steel wire rope (304) one ends are cemented in dolly casing top, and the other end is on the reel (504) of hoisting mechanism; In addition, photoelectricity also is housed near switch on little box body.
The invention has the beneficial effects as follows: it not only can derusting by sandblasting, also can carry out spray painting operation, can also regulate the attitude and the direction of motion automatically simultaneously when detection receives sensor signal, so it possesses certain intelligence.In operation process, the monitor that is installed on the robot telescopic arm regularly is transferred to the image of its shooting on the display of oil tank outside, so that the operating personnel outside oil tank check the operation situation by optical cable.The power of entire equipment is provided by the Hydraulic Station outside jar.The said structure design not only is applicable to the large oil tank of plurality of specifications, and is convenient to operating type novelty, efficient work, not only economy but also environmental protection are installed and motor-driven transportation.
Description of drawings
Fig. 1 is the overall structure principle schematic of one embodiment of the present invention.
Fig. 2 is the partial structurtes principle schematic of Fig. 1, mainly shows gate-type truss part.
Fig. 3 is the partial structurtes principle schematic of Fig. 1, mainly shows the revolving dial part.
Fig. 4 is the partial structurtes principle schematic of Fig. 1, mainly shows the manipulator part.
Fig. 5 is the partial structurtes principle schematic of Fig. 1, mainly shows manipulator hoisting mechanism part.
Fig. 6 is the partial structurtes principle schematic of Fig. 1, mainly shows the driving mechanism part of gate-type truss.
Fig. 7 is the partial structurtes principle schematic of Fig. 1, mainly shows the governor motion part.
Reference numeral:
1. gate-type truss 2. revolving dials 3. manipulators 4. driving mechanisms 5. hoisting mechanisms 6. governor motions 7. oil tank walls 201. lateral frames 202. carriages 203. stands 204. bases 205. supporting legs 301. motors 302. video cameras 303. telescopic arms 304. steel wire ropes 305. wheels 306. travelling cars 307. pitching oil cylinders 308. telescopic oil cylinders 309. spray guns press from both sides 310. guide rails, 401. fairleads, 402. axis of guides, 403. hydraulic motors, 404. cog belts, 405. wheel shafts, 406. wheels, 501. self-locking motors, 502. power shafts, 503. decelerators, 504. reels, 601. rotating shafts, 602. universal joints, 603. adjusting brackets, 604. adjusting cable wires
The specific embodiment
As shown in Figure 1, a kind of cave depot oil tank rust cleaning and the dual-purpose robot that sprays paint, it comprises:
One door type truss 1 according to oil tank vertical section profile, designs the gate-type truss of a profiling, its outer surface is made the guide rail of manipulator, and, it being divided into two semi-frames of complete symmetry from the centre of gyration at top, each semi-frame part is made of the detachable boom 101 of more piece again.
A revolving dial 2, revoliving arm is inverted isosceles triangle, its summit is connected on the rotary table, the end points of two symmetries connects with two medial surfaces of gate-type truss respectively, and base has three retractable supports legs of even layout, and extend to the tank skin bottom, determine the centre of gyration of base by the length of adjusting shank.
Two identical four-degree-of-freedom manipulators 3 are installed in them respectively on the guide rail of gate-type truss; That manipulator has is flexible, pitching, to draw circular pendulum moving and along the function that guide rail moves, and is driven by hydraulic motor and elevator respectively; The transverse arm of each manipulator is provided with the spray gun sectional fixture, and a video camera is installed; Two arms of manipulator are fixed on the coaster, and arse is equipped with wheels, rely on wheels to move along guide rail.
The driving mechanism 4 of gate-type truss comprises the road wheel that is installed in its bottom, and it is linked in truss by fluid motor-driven by one-way flexible, only for truss provides driving torque, does not bear its gravity, and adhesive force is over the ground provided by its deadweight.
One is positioned at a jar outer movably Hydraulic Station (not shown), for whole equipment provides power; Fuel tank, motor, oil pump etc. and all valve bodies all are installed on the mobile vehicle, and the oil circuit of deriving from the Hydraulic Station directly oil cylinder by high-pressure oil pipe and robot, motor etc. is connected.
One manipulator hoisting mechanism 5, it is passed to moment on two rotating speeds cylinder identical with size through shaft coupling, gearbox by a fluid motor-driven with auto-lock function, comes the elevating mechanism hand by cable wire again, for avoiding cable wire and gate-type joist body to rub, roller is housed in truss.
Below relative section is specified as follows:
Gate-type truss 1 and driving mechanism 4 thereof, in conjunction with Fig. 2, Fig. 6, its fairlead 401 usefulness bolts are bonded to gate-type truss bottom, and the axis of guide 402 passes fairlead 401, and its upper end is fixed with a ring flange, and pack into and be fixed on the support behind the spring in the lower end; Hydraulic motor 403 also is bonded on the support by adpting flange, at its axle head profile of tooth belt wheel and cog belt 404 is installed; Another profile of tooth belt wheel is installed in the left end of wheel shaft 405, and wheel shaft is connected with support by bearing, and a wheel 406 is installed thereon, by sleeve and wheel shaft slit bundle of planes it fix.When motion, the injustice on road surface, force the axis of guide to slide with respect to fairlead, and under the effect of spring, reset, as seen wheel does not bear the gravity effect from gate-type truss 1 in rotation process, its adhesive force is over the ground provided by its deadweight and counterweight, and the motion of direction of motion suspension truss forces conversion.For controlling its stroke, photoelectricity also is housed near switch on support, when detecting sign, system can allow it stop automatically or turn to.
Revolving dial 2, in conjunction with Fig. 3, be consolidated into by bolt by lateral frame 201, carriage 202, stand 203 and be inverted triangle form structure, its bottom is installed on the main shaft end face of rotary table 204, two ends are affixed to gate-type truss medial surface in addition, and hoisting mechanism 5 is installed in the stand upper end; Main shaft links to each other with base with radial thrust bearing by taper roll bearing; Equal three joint faces of portion on the base periphery are used for installing three supporting legs 205, and each supporting leg again by pole, little bearing, adjusting screw(rod), excessively connect dish etc. and form, its length can be regulated as required, but must guarantee that rotating-wheel connects dish from transition and passes through.In addition, the following connective pole of deviation correction mechanism also passes from the circular hole of revolving dial bottom, and is screwed connection.
Manipulator 3 and hoisting mechanism 5 thereof, in conjunction with Fig. 4 and Fig. 5, the telescopic arm 303 of manipulator is limited at by pressing plate on the trapezoidal rails 310 of gate-type truss 1 both sides, and the outer end links to each other with the piston rod thread of telescopic oil cylinder, and moves at its driving lower edge guide rail; The ear end of pitching oil cylinder 307 is articulated on the casing of travelling car, and piston-rod end is articulated in frame bottom, is used for realizing the pitching action of manipulator; Spray gun folder 309 is made up of leading screw, nut seat and the swing mechanism of energy self-locking, and the lower end is fixed on the front end of telescopic arm, and its swinging axle is articulated on the rotating disk that is fixed on hydraulic motor 301 output shafts; Video camera 302 connects by support and telescopic arm, himself has the function that swings up and down with left-right rotation, and can be by instruction control; Wheels 305 are equipped with in the travelling car bottom, and its 12 wheels are stuck between the guide rail, move with the easy on and off that guarantees dolly; Steel wire rope 304 1 ends are cemented in dolly casing top, and the other end is on the reel 504 of hoisting mechanism 5.In addition, photoelectricity also is housed on little box body, is used for detecting stop sign near switch.
In the top center connection place of above-mentioned gate-type truss, design can be adjusted the governor motion 6 of two parts symmetry size, regulates part and is connected on the universal joint 602 that keeps flexibly connecting with oil tank top jar mouth.
Above-mentioned dual-purpose robot also can comprise electric cabinet, and this electric cabinet also is installed on the mobile vehicle; Operator is independent one, hand-holdable operation; Simultaneously, monitor also is independently, is controlled by a microcomputer; Above-mentioned these devices or parts are placed on oil tank and work outward.
Robot of the present invention can work in both automatic and manual modes by the corresponding electric-control system of configuration.Connect power supply, start Hydraulic Station, when selecting automatic mode, robot will enter the utonomous working state, detecting element, control system, monitor and each executive component all start simultaneously, the gate-type truss is slowly rotation under the promotion of driving mechanism, and the manipulator clamping spray gun and begun operation, sprays one 30 centimeters operation band; When truss rotates about 180 degree, when detecting the commutation sign, suspend, this moment, manipulator moved 30 centimeters distances on the guide rail of the driving lower edge of hoisting mechanism, robot reverse rotation then, an ejection and a parallel before this operation band again, so repeatedly, finish when instruction when receiving, robot directly turns back to the initial motion state.When selecting manual mode, hand-holdable operator, Yi Bian observe monitor picture, Yi Bian come the action that robot command is made to be needed by button.
Claims (9)
1, a kind of cave depot oil tank rust cleaning and the dual-purpose robot that sprays paint comprise:
The one door type truss according to oil tank vertical section profile, designs the gate-type truss of a profiling, its outer surface is made the guide rail of manipulator, and, it being divided into two semi-frame parts of complete symmetry from the centre of gyration at top, each semi-frame part is made of the detachable boom of more piece again;
A revolving dial, revoliving arm is inverted isosceles triangle, its summit is connected on the rotary table, the end points of two symmetries connects with two medial surfaces of gate-type truss respectively, and base has three retractable supports legs of even layout, and extend to the tank skin bottom, determine the centre of gyration of base by the length of adjusting shank;
Two identical four-degree-of-freedom manipulators are installed in them respectively on the guide rail of gate-type truss; That manipulator has is flexible, pitching, to draw circular pendulum moving and along the function that guide rail moves, and is driven by hydraulic motor and elevator respectively; The transverse arm of each manipulator is provided with the spray gun sectional fixture, and a video camera is installed; Two arms of manipulator are fixed on the coaster, and arse is equipped with wheels, rely on wheels to move along guide rail;
The driving mechanism of gate-type truss comprises the road wheel that is installed in its bottom, and it is linked in truss by fluid motor-driven by one-way flexible, only for truss provides driving torque, does not bear its gravity, and adhesive force is over the ground provided by its deadweight;
Be positioned at a jar outer Hydraulic Station, for whole equipment provides power; The oil circuit of deriving from Hydraulic Station is connected with oil cylinder, the motor of robot by high-pressure oil pipe;
The manipulator hoisting mechanism, it is passed to moment on two rotating speeds cylinder identical with size through shaft coupling, gearbox by a fluid motor-driven with auto-lock function, comes the elevating mechanism hand by steel wire rope again;
Above-mentioned driving mechanism, hydraulic motor (403) also is bonded on the support by adpting flange, at its axle head profile of tooth belt wheel and cog belt (404) is installed; Another profile of tooth belt wheel is installed in the left end of wheel shaft (405), and wheel shaft is connected with support by bearing, and a wheel (406) is installed thereon, by sleeve and wheel shaft slit bundle of planes it fix;
It is characterized in that: described actuating unit, its fairlead (401) is bonded to gate-type truss bottom with bolt, and the axis of guide (402) passes fairlead (401), and its upper end is fixed with a ring flange, and pack into and be fixed on the support behind the spring in the lower end.
2, the cave depot oil tank rust cleaning according to claim 1 and the dual-purpose robot that sprays paint, it is characterized in that: described Hydraulic Station is the movable type hydraulic station, its fuel tank, motor, oil pump and all valve bodies all are installed on the mobile vehicle.
3, the cave depot oil tank rust cleaning according to claim 1 and the dual-purpose robot that sprays paint, it is characterized in that: described dual-purpose robot also comprises electric cabinet, this electric cabinet also is installed on the mobile vehicle; Operator is independent one, hand-holdable operation; Simultaneously, monitor also is independently, is controlled by a microcomputer; Above-mentioned these devices or parts are placed on outside the oil tank.
4, the cave depot oil tank rust cleaning according to claim 1 and the dual-purpose robot that sprays paint, it is characterized in that: in the top center connection place of described gate-type truss, design can be adjusted the governor motion of two parts symmetry size, and governor motion is connected on the universal joint that keeps flexibly connecting with oil tank top jar mouth.
5, the cave depot oil tank rust cleaning according to claim 1 and the dual-purpose robot that sprays paint, it is characterized in that: the multiple parts of described gate-type truss or revolving dial all can be taked modularized design, can assemble as required or disassemble.
6, the cave depot oil tank rust cleaning according to claim 1 and the dual-purpose robot that sprays paint, it is characterized in that: described dual-purpose robot also comprises deviation correcting device, deviation correcting device is arranged between revoliving arm and the truss top, adjusts to keep gate-type truss and ground to be in plumbness.
7, the cave depot oil tank rust cleaning according to claim 1 and the dual-purpose robot that sprays paint, it is characterized in that: described revolving dial, be consolidated into by bolt by lateral frame (201), carriage (202), stand (203) and be inverted triangle form structure, its bottom is installed on the main shaft end face of rotary table (204), two ends are affixed to gate-type truss medial surface in addition, and hoisting mechanism (5) is installed in the stand upper end; Main shaft links to each other with base with radial thrust bearing by taper roll bearing; Uniform three joint faces are used for installing three supporting legs (205) on the base periphery, and each supporting leg comprises that pole, little bearing, adjusting screw(rod), transition connect dish.
8, the cave depot oil tank rust cleaning according to claim 1 and the dual-purpose robot that sprays paint, it is characterized in that: described manipulator and hoisting mechanism thereof, the telescopic arm of manipulator (303) is limited on the trapezoidal rails of gate-type truss both sides by pressing plate, the outer end links to each other with the piston rod thread of telescopic oil cylinder, and moves at its driving lower edge guide rail; The ear end of pitching oil cylinder (307) is articulated on the casing of travelling car, and piston-rod end is articulated in frame bottom; Spray gun folder (309) is made up of leading screw, nut seat and the swing mechanism of energy self-locking, and the lower end is fixed on the front end of telescopic arm, and its swinging axle is articulated on the rotating disk that is fixed on hydraulic motor (301) output shaft; Video camera (302) connects by support and telescopic arm, himself has the function that swings up and down with left-right rotation, and can be by instruction control; Wheels (305) are equipped with in the travelling car bottom, and its wheel is stuck between the guide rail; Steel wire rope (304) one ends are cemented in dolly casing top, and the other end is on the reel (504) of hoisting mechanism; In addition, photoelectricity also is housed near switch on little box body.
9, the cave depot oil tank rust cleaning according to claim 8 and the dual-purpose robot that sprays paint is characterized in that: in the gate-type truss roller is housed, steel wire rope pile warp roller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100699774A CN100434241C (en) | 2006-11-04 | 2006-11-04 | Dual-purpose robot for derusting and painting oil tank in cavity and storeroom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100699774A CN100434241C (en) | 2006-11-04 | 2006-11-04 | Dual-purpose robot for derusting and painting oil tank in cavity and storeroom |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1951641A CN1951641A (en) | 2007-04-25 |
| CN100434241C true CN100434241C (en) | 2008-11-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006100699774A Expired - Fee Related CN100434241C (en) | 2006-11-04 | 2006-11-04 | Dual-purpose robot for derusting and painting oil tank in cavity and storeroom |
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| Country | Link |
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| CN (1) | CN100434241C (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101602034B (en) * | 2009-07-13 | 2012-09-05 | 清华大学 | Inner wall spraying robot system and inner wall spraying method |
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| CN102528623B (en) * | 2012-02-15 | 2014-07-16 | 牛占华 | High-altitude rust removing robot |
| CN103263996B (en) * | 2013-05-15 | 2015-05-20 | 山东科技大学 | Waist rotating mechanism of column type oil tank spraying robot |
| CN105643630B (en) * | 2016-03-22 | 2018-04-10 | 深圳市百事达卓越科技股份有限公司 | The remodeling method of oil tank |
| CN105619420B (en) * | 2016-03-22 | 2018-02-02 | 深圳市百事达卓越科技股份有限公司 | For transforming explosion prevention robot and the oil tank retrofit work station of oil tank |
| CN106824941B (en) * | 2016-12-13 | 2019-02-12 | 浙江海洋大学 | A kind of Multifunctional oil tank rust-cleaning spraying robot |
| CN107791153A (en) * | 2017-05-11 | 2018-03-13 | 湖南六建机电安装有限责任公司 | A kind of semi-automatic live derusting by sandblasting equipment |
| CN108436564A (en) * | 2018-04-08 | 2018-08-24 | 海宁金豪机电有限公司 | Washing machine drum cuts transfer device |
| CN109129431B (en) * | 2018-10-09 | 2022-02-18 | 山东科技大学 | Large-scale coal bunker blockage cleaning robot |
| CN109821688A (en) * | 2019-03-07 | 2019-05-31 | 中国石化销售有限公司华南分公司 | A kind of multi-functional truss-like petrochemical industry storage tank paint finishing |
| CN113305864B (en) * | 2021-07-30 | 2021-11-16 | 中国矿业大学(北京) | Intelligent sand blasting robot for wind power rotor |
| CN114226298B (en) * | 2021-11-26 | 2023-06-02 | 普沃(天津)科技有限公司 | Automatic cleaning device for outer wall of oil tank truck |
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| CN2205255Y (en) * | 1994-11-25 | 1995-08-16 | 华北石油管理局第二油田建设公司 | Anti-corrosion working tool for use in vertical storage tank |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101602034B (en) * | 2009-07-13 | 2012-09-05 | 清华大学 | Inner wall spraying robot system and inner wall spraying method |
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| CN1951641A (en) | 2007-04-25 |
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