CN101974971A - Full automatic wall facing concrete injection system - Google Patents

Full automatic wall facing concrete injection system Download PDF

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Publication number
CN101974971A
CN101974971A CN 201010526441 CN201010526441A CN101974971A CN 101974971 A CN101974971 A CN 101974971A CN 201010526441 CN201010526441 CN 201010526441 CN 201010526441 A CN201010526441 A CN 201010526441A CN 101974971 A CN101974971 A CN 101974971A
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concrete
module
lifting
automatic
facing
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CN 201010526441
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CN101974971B (en
Inventor
陈达
廖迎娣
何良德
杨正
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Nanjing Hehai Technology Co Ltd
Hohai University HHU
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Nanjing Hehai Technology Co Ltd
Hohai University HHU
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Publication of CN101974971A publication Critical patent/CN101974971A/en
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Publication of CN101974971B publication Critical patent/CN101974971B/en
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Abstract

The invention discloses a full automatic wall facing concrete injection system belonging to the field of automatic construction control on constructional engineering. The system comprises a signal analysis and processing module, a man-machine interface, a laser sensor detection module, a translation module, a lifting module, a concrete injection and processing module, a fed-back concrete collection and processing module and a power supply module. The invention can realize the full automatic injection and the smooth processing of the wall facing concrete, can realize the automatic collection and transmission of the fed-back concrete and has a friendly man-machine interface by which the working mode and parameters of the system can be selected and set. Thus, the invention not only improves the construction efficiency of concrete injection and the utilization ratio of the concrete, but also has the advantages of high automation degree and simple and convenient operation, thereby being widely applicable to concrete injection construction of various wall facings.

Description

Full-automatic body of wall facing concrete spraying system
Technical field:
The present invention relates to a kind of full-automatic body of wall facing concrete spraying system, belong to the building engineering construction automation field.
Background technology:
Concrete-spraying technology is convenient and practical and effective construction technology as one, has at home and abroad obtained widely using, and is mainly used in that subterranean railway, highway are domatic, the aspects such as supporting in tunnel, and the use in the body of wall facing concrete sprays is less.Present construction technology is by artificial hand-held shower operation, and inefficiency not only, and be difficult to guarantee that the body of wall facing concrete sprays evenly influences the use of body of wall mask and attractive in appearance; Course of injection can produce the concrete that drops in a large number on ground on the other hand, not only causes great waste, and deals with also cumbersome; In addition, artificial hand-held shower operation also has certain difficulty for the bigger body of wall of jetting height.
Summary of the invention
Technical problem to be solved by this invention is at the defective in the above-mentioned background technology, and a kind of full-automatic body of wall facing concrete spraying system is provided, and improves construction quality, efficiency of construction, stock utilization and construction ability.
The present invention adopts following technical scheme for solving the problems of the technologies described above:
Full-automatic body of wall facing concrete spraying system comprises:
Be used to realize that concrete moves in the horizontal direction the translation module of injection;
Be used to realize the lifting module of concrete at the vertical direction movable spray;
The laser sensor detection module that is used for realization system location and system and the distance measurement of injection body of wall;
Be used for that body of wall is carried out concrete and spray, simultaneously the body of wall facing concrete after spraying is carried out the concrete injection and the processing module of smoothing processing;
Be used for concrete feed back Collecting and dealing module that the concrete feed back that concrete sprays and the smoothing processing process produces is collected and handled;
Be used to provide keyboard input and liquid crystal display, realize the man-machine interface that system works pattern and running parameter are provided with;
Be used to receive and handle the signal of man-machine interface and the output of laser sensor detection module, and the signal analysis and processing module of control lifting module, translation module, concrete injection and processing module and the work of concrete feed back Collecting and dealing module;
The system each several part of being used to provides the power module of power supply;
Wherein the output of the output of man-machine interface and laser sensor detection module is connected with the input of signal analysis and processing module respectively; The output of signal analysis and processing module is connected with the input of lifting module, input, concrete injection and the input of processing module of translation module and the input of concrete feed back Collecting and dealing module respectively.
Further, above-mentioned translation module comprises horizontal rail, main movable stand, traversing carriage and pan drive motor; Horizontal rail is mainly used in to system a basis that can move horizontally is provided, main movable stand and traversing carriage are at the horizontal rail apparent motion, traversing carriage plays the firm effect to main movable stand, and the power that provides main movable stand and traversing carriage to move horizontally is provided pan drive motor.
Further, above-mentioned lifting module comprises lifting panel and lifting drive motors; The lifting drive motors is fixed in the lifting panel surface, is used to the lifting panel that lifting power is provided.
Further, above-mentioned concrete injection and processing module comprise concrete shotcrete machine, concrete shower nozzle, floating plate, polishing plate and 3 adjustable expansion links that are used for fixing and regulate concrete shower nozzle, floating plate and polishing plate position respectively; Concrete shotcrete machine provides sprayable concrete and sprays power for system, and the concrete shower nozzle is fixed in the lifting panel surface by adjustable expansion link, and the delivery outlet of concrete shotcrete machine is connected with the concrete shower nozzle; Floating plate is fixed in the lifting panel surface by adjustable expansion link, is used for carrying out smooth to the body of wall facing concrete after spraying; Polishing plate is fixed in the lifting panel surface by adjustable expansion link, is used for the concrete wall mask after smooth is carried out smoothing processing.
Further, above-mentioned concrete shotcrete machine is made up of charging aperture, air compression chamber, controller and delivery outlet; Charging aperture is used to import concrete, and air compression chamber is used to produce pressure-air provides power, delivery outlet to be used to export concrete for concrete sprays, and controller is regulated concrete injection dynamics and efficient by the work of control air compression chamber.
Further, above-mentioned concrete feed back Collecting and dealing module is used for collection and the transmission to feed back, comprises frame, screen cloth, end bucket and transmission pipeline; Frame is fixed in the lifting panel surface by adjustable expansion link, and screen cloth is connected in the frame bottom, and end bucket is installed in the screen cloth bottom; Transmission pipeline one end is connected with end bucket, and the other end is connected with the air compression chamber of concrete shotcrete machine, the feed back of collecting is transported to the delivery outlet of pulp shooting machine by the negative pressure of air compression chamber generation.
Further, above-mentioned laser sensor detection module is made up of two laser sensors that are individually fixed in lifting panel dual-side edge; In to body of wall sprayed mortar process with concavity and convexity, distance signal by timely acquisition system of laser sensor and body of wall also is transferred to the signal analysis and processing module, and it is fixed value with the distance that guarantees concrete shower nozzle, trowelling machine, sanding machine and frame and body of wall that the signal analysis and processing module analysis is handled the back adjustable expansion link of control.
Further, above-mentioned man-machine interface comprises Keyboard Control module and LCD MODULE; The Keyboard Control module is used for the selection of pattern and the input of parameter; LCD MODULE is used for the state of the mode of operation and the system of display keyboard control module.
Further, above-mentioned signal analysis and processing module mainly is made up of single-chip microcomputer and corresponding control circuit; The signal analysis and processing module is used to receive the signal of man-machine interface and the input of laser sensor detection module, after analyzing and processing, realizes the control to lifting module, translation module, concrete injection and processing module and concrete feed back Collecting and dealing module.
Further, above-mentioned power module is used to system's each several part that power supply is provided.
The present invention adopts above technical scheme to have following technique effect:
1, automation mechanized operation high efficiency of the present invention is avoided the danger of artificial hand-held shower operation, guarantees that simultaneously the body of wall facing concrete sprays evenly.
2, the present invention makes system be applicable to that various concrete with concavo-convex characteristic body of wall spray by real-time signal acquisition and the respective handling of adjusting the distance.
3, the present invention makes system be applicable to the injection situation of various requirement by the setting to pattern and parameter.
4, the present invention uses the smooth and smoothing processing of body of wall mask and the collection of concrete feed back, reduces construction in later period and maintenance workload and improves concrete utilization rate.
Description of drawings:
Fig. 1 system framework figure of the present invention.
Fig. 2 part-structure schematic diagram of the present invention.
Fig. 3 concrete feed back of the present invention Collecting and dealing module dependency structure frame diagram.
Fig. 4 concrete feed back of the present invention Collecting and dealing modular structure schematic diagram.
Label among Fig. 2 is explained: 1, signal analysis and processing module, 2-1, Keyboard Control module, 2-2, LCD MODULE, 3-1, lifting panel, 3-2, lifting drive motors, 4-1, horizontal rail, 4-2, main movable stand, 4-3, traversing carriage, 4-4, pan drive motor, 5-1, concrete shotcrete machine, 5-1-1, charging aperture, 5-1-2, air compression chamber, 5-1-3, controller, 5-1-4, delivery outlet, 5-2, adjustable expansion link, 5-3, concrete shower nozzle, 5-4, floating plate, 5-5, polishing plate, 6-4, transmission pipeline, 7-1, laser sensor.
Label among Fig. 4 is explained: 6-1, frame, 6-2, screen cloth, 6-3, end bucket, 6-4, transmission pipeline.
Specific embodiments:
Be described in further detail below in conjunction with the enforcement of accompanying drawing technical scheme:
As shown in Figure 1, the full-automatic body of wall facing concrete of the present invention spraying system is characterized in that:
One is used to realize that concrete moves in the horizontal direction the translation module 4 of injection; One is used to the lifting module 3 that realizes that concrete moves at vertical direction; A laser sensor detection module 7 that is used for realization system location and system and the distance measurement of injection body of wall; One is used for body of wall is carried out the concrete injection, simultaneously the body of wall facing concrete after spraying is carried out the concrete injection and the processing module 5 of smoothing processing; One is used for concrete feed back Collecting and dealing module 6 that the concrete feed back that concrete sprays and the smoothing processing process produces is collected and handled; One is used to provide keyboard input and liquid crystal display, realizes the man-machine interface 2 that system works pattern and running parameter are provided with; A power module 8 that is used to system's each several part that power supply is provided; A signal that is used to receive and handle man-machine interface 2 and 7 outputs of laser sensor detection module, and the signal analysis and processing module 1 of control lifting module 3, translation module 4, concrete injection and processing module 5 and 6 work of concrete feed back Collecting and dealing module.
As shown in Figure 2, translation module 4 comprises horizontal rail 4-1, main movable stand 4-2, traversing carriage 4-3 and horizontal drive motor 4-4; Horizontal rail 4-1 is fixed in ground; Main movable stand 4-2 is connected on the horizontal rail 4-1 of I shape by roller; Traversing carriage 4-3 one end is fixed in the middle part of main movable stand 4-2, and the other end is connected to Baltimore groove horizontal rail 4-1 inside; Main movable stand 4-2, traversing carriage 4-3 and ground constitute the three-legged structure with stability, can either tension also can resistance to compression, guaranteed the stability on the vertical direction of main movable stand 4-2; Main movable stand 4-2 and traversing carriage 4-3 can be along horizontal rail 4-1 translational motions under the effect of horizontal drive motor 4-4.
Lifting module 3 mainly comprises lifting panel 3-1 and lifting drive motors 3-2; Lifting drive motors 3-2 is fixed in lifting panel 3-1 surface; Lifting panel 3-1 is fixed on the main movable stand 4-2, can be along main movable stand 4-2 elevating movement under the effect of lifting drive motors 3-2.
Translation module 4 can realize the automatic injection of concrete at whole body of wall mask with the acting in conjunction of lifting module 3.
Concrete sprays and processing module 5 comprises concrete shotcrete machine 5-1, adjustable expansion link 5-2, concrete shower nozzle 5-3, floating plate 5-4 and polishing plate 5-5; Concrete shotcrete machine 5-1 is mainly system and sprayable concrete is provided and sprays power; Concrete shower nozzle 5-3 is fixed in lifting panel 3-1 surface by adjustable expansion link 5-2; The delivery outlet 5-1-4 of concrete shotcrete machine 5-1 is connected with concrete shower nozzle 5-3; Floating plate 5-4 is fixed in lifting panel 3-1 surface by adjustable expansion link 5-2, is used for carrying out smooth to the body of wall facing concrete that has sprayed; Polishing plate 5-5 is fixed in lifting panel 3-1 surface by adjustable boom 5-2, is used for the body of wall facing concrete that has sprayed is carried out smoothing processing; Adjustable expansion link 5-2 carries out corresponding stretching motion under the control of signal analysis and processing module 1, guarantee the distance of concrete shower nozzle 5-3, floating plate 5-4 and polishing plate 5-5 and body of wall.
Concrete shotcrete machine 5-1 mainly is made up of charging aperture 5-1-1, air compression chamber 5-1-2, controller 5-1-3 and delivery outlet 5-1-4; Charging aperture 5-1-1 is used to import concrete; Air compression chamber 5-1-2 is used to produce pressure-air provides power for concrete sprays; Delivery outlet 5-1-4 is used to export concrete; Controller 5-1-3 regulates concrete injection dynamics and efficient by the work of control air compression chamber.
Laser sensor detection module 7 mainly is made up of two laser sensor 7-1; Laser sensor 7-1 is fixed in lifting panel 3-1 dual-side edge, in to walls concrete course of injection with concavity and convexity, distance signal by timely acquisition system of laser sensor 7-1 and body of wall also is transferred to signal analysis and processing module 1, and the adjustable expansion link 5-2 of control is a fixed value with the distance that guarantees concrete shower nozzle 5-3, trowelling machine 5-4, sanding machine 5-5 and frame 6-1 and body of wall after signal analysis and processing module 1 analyzing and processing.
Signal analysis and processing module 1 mainly is made up of single-chip microcomputer and corresponding control circuit, signal analysis and processing module 1 is mainly used in the signal that receives man-machine interface 2 and 7 inputs of laser sensor detection module, by realizing the control to lifting module 4, translation module 3, concrete injection and processing module 5 and concrete feed back Collecting and dealing module 6 after the analyzing and processing.
Man-machine interface 2 comprises Keyboard Control module 2-1 and LCD MODULE 2-2, and Keyboard Control module 2-1 is mainly used in the selection of pattern and the input of parameter; LCD MODULE 2-2 is mainly used in the mode of operation of display keyboard control module 2-1 and the state of system.
As shown in Figure 3 and Figure 4, collection and transmission that concrete feed back Collecting and dealing module 6 is mainly used in feed back comprise frame 6-1, screen cloth 6-2, end bucket 6-3 and transmission pipeline 6-4; Frame 6-1 is fixed in lifting panel 3-1 surface by adjustable expansion link 5-2; Screen cloth 6-2 is connected in frame 6-1 bottom; End bucket 6-3 is installed in screen cloth 6-2 bottom; Transmission pipeline 6-4 one end is connected with end bucket 6-3, the other end is connected with the air compression chamber 5-1-2 of concrete shotcrete machine 5-1, the negative pressure that produces by air compression chamber 5-1-2 is transported to the delivery outlet 5-1-4 of pulp shooting machine 5-1 with the feed back of collecting, and wherein the input of transmission pipeline 6-4 is connected with the output of signal analysis and processing module 1.
Working condition after present embodiment is set with the partial parameters of system is as follows for specifying:
Needing to spray a segment length in the engineering is a=50m, highly be b=10m, thickness is the concrete wall mask of c=0.05m, and existing known concrete shower nozzle 5-3 adopts square radial shower nozzle, and length of side d1 that it sprays at body of wall and shower nozzle apart from the pass of the distance L 1 of body of wall are: d1=0.1L1.
After system installed, set by man-machine interface 2: length was a=50m, highly is b=10m, and thickness is c=0.05m, and concrete shower nozzle 5-3 is L apart from the distance of body of wall 1=2m, the ejection efficiency of concrete shotcrete machine 5-1 are q=0.001m 3/ s.
Then system calculates the mobile stepping q of vertical direction automatically 1For:
q 1=d 1=0.1L 1= =0.2m。
Initial lifting height is:
h=b-q 1=10-0.2=9.8m。
Horizontal movement speed is:
v= = =1m/s。
After entering the initialization interface by man-machine interface 2, the fluctuating orbit 9.8m that at first raises, then by carry out the level check and correction of starting point by laser sensor detection module 7, after the level check and correction is finished, adjustment concrete shower nozzle 5-3 is 2m apart from the distance of body of wall, floating plate 5-4, the part-structure of polishing plate 5-5 and concrete feed back Collecting and dealing module 6 moves to correct position.
After entering duty by man-machine interface 2, the concrete spraying system begins sprayed mortar, horizontal direction is constantly passed through the distance signal of laser sensor 7-1 acquisition system and body of wall, distance by adjustment concrete shower nozzle 5-3, trowelling machine 5-4, sanding machine 5-5 and frame 6-1 and body of wall after signal analysis and processing module 1 analyzing and processing is a fixed value, with 1m/s uniform motion 50m, the vertical decline 0.2m in back begins the horizontal-jet of a new round then simultaneously.
Obviously, the structure of each parts, the position is set and connects and all can change to some extent, on technical foundation of the present invention,, should not get rid of outside protection scope of the present invention improvement and the equivalent variations that individual component is carried out.

Claims (10)

1. full-automatic body of wall facing concrete spraying system is characterized in that, comprising:
Be used to realize that concrete moves in the horizontal direction the translation module of injection;
Be used to realize the lifting module of concrete at the vertical direction movable spray;
The laser sensor detection module that is used for realization system location and system and the distance measurement of injection body of wall;
Be used for that body of wall is carried out concrete and spray, simultaneously the body of wall facing concrete after spraying is carried out the concrete injection and the processing module of smoothing processing;
Be used for concrete feed back Collecting and dealing module that the concrete feed back that concrete sprays and the smoothing processing process produces is collected and handled;
Be used to provide keyboard input and liquid crystal display, realize the man-machine interface that system works pattern and running parameter are provided with;
Be used to receive and handle the signal of man-machine interface and the output of laser sensor detection module, and the signal analysis and processing module of control lifting module, translation module, concrete injection and processing module and the work of concrete feed back Collecting and dealing module;
The system each several part of being used to provides the power module of power supply;
Wherein the output of the output of man-machine interface and laser sensor detection module is connected with the input of signal analysis and processing module respectively; The output of signal analysis and processing module is connected with the input of lifting module, input, concrete injection and the input of processing module of translation module and the input of concrete feed back Collecting and dealing module respectively.
2. full-automatic body of wall facing concrete spraying system according to claim 1, it is characterized in that: described translation module comprises horizontal rail, main movable stand, traversing carriage and pan drive motor; Horizontal rail is used to system that a basis that can move horizontally is provided, main movable stand and traversing carriage are at the horizontal rail apparent motion, traversing carriage plays the firm effect to main movable stand, and the power that provides main movable stand and traversing carriage to move horizontally is provided pan drive motor.
3. full-automatic body of wall facing concrete spraying system according to claim 1, it is characterized in that: described lifting module comprises lifting panel and lifting drive motors; The lifting drive motors is fixed in the lifting panel surface, is used to the lifting panel that lifting power is provided.
4. according to claim 1 or 3 described full-automatic body of wall facing concrete spraying systems, it is characterized in that: described concrete sprays and processing module comprises concrete shotcrete machine, concrete shower nozzle, floating plate, polishing plate and 3 adjustable expansion links that are used for fixing and regulate concrete shower nozzle, floating plate and polishing plate position respectively; Concrete shotcrete machine provides sprayable concrete and sprays power for system, and the concrete shower nozzle is fixed in the lifting panel surface by adjustable expansion link, and the delivery outlet of concrete shotcrete machine is connected with the concrete shower nozzle; Floating plate is fixed in the lifting panel surface by adjustable expansion link, is used for carrying out smooth to the body of wall facing concrete after spraying; Polishing plate is fixed in the lifting panel surface by adjustable expansion link, is used for the concrete wall mask after smooth is carried out smoothing processing.
5. full-automatic body of wall facing concrete spraying system according to claim 4, it is characterized in that: described concrete shotcrete machine is made up of charging aperture, air compression chamber, controller and delivery outlet; Charging aperture is used to import concrete, and air compression chamber is used to produce pressure-air provides power, delivery outlet to be used to export concrete for concrete sprays, and controller is regulated concrete injection dynamics and efficient by the work of control air compression chamber.
6. according to claim 1,3 or 4 described full-automatic body of wall facing concrete spraying systems, it is characterized in that: described concrete feed back Collecting and dealing module is used for collection and the transmission to feed back, comprises frame, screen cloth, end bucket and transmission pipeline; Frame is fixed in the lifting panel surface by adjustable expansion link, and screen cloth is connected in the frame bottom, and end bucket is installed in the screen cloth bottom; Transmission pipeline one end is connected with end bucket, and the other end is connected with the air compression chamber of concrete shotcrete machine, the feed back of collecting is transported to the delivery outlet of pulp shooting machine by the negative pressure of air compression chamber generation.
7. according to claim 1,3 or 4 described full-automatic body of wall facing concrete spraying systems, it is characterized in that: described laser sensor detection module is made up of two laser sensors that are individually fixed in lifting panel dual-side edge; In to body of wall sprayed mortar process with concavity and convexity, distance signal by timely acquisition system of laser sensor and body of wall also is transferred to the signal analysis and processing module, and it is fixed value with the distance that guarantees concrete shower nozzle, trowelling machine, sanding machine and frame and body of wall that the signal analysis and processing module analysis is handled the back adjustable expansion link of control.
8. full-automatic body of wall facing concrete spraying system according to claim 1, it is characterized in that: described man-machine interface comprises Keyboard Control module and LCD MODULE; The Keyboard Control module is used for the selection of pattern and the input of parameter; LCD MODULE is used for the state of the mode of operation and the system of display keyboard control module.
9. full-automatic body of wall facing concrete spraying system according to claim 1, it is characterized in that: described signal analysis and processing module is made up of single-chip microcomputer and corresponding control circuit; The signal analysis and processing module is used to receive the signal of man-machine interface and the input of laser sensor detection module, after analyzing and processing, realizes the control to lifting module, translation module, concrete injection and processing module and concrete feed back Collecting and dealing module.
10. full-automatic body of wall facing concrete spraying system according to claim 1, it is characterized in that: described power module is used to system's each several part that power supply is provided.
CN 201010526441 2010-11-01 2010-11-01 Full automatic wall facing concrete injection system Expired - Fee Related CN101974971B (en)

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CN102434173A (en) * 2011-12-21 2012-05-02 孙有芳 Concrete flinger
CN102861689A (en) * 2012-09-07 2013-01-09 中联重科股份有限公司 Method, device and system for controlling injection pressure of injection machine and injection machine
CN102979537A (en) * 2012-12-06 2013-03-20 中联重科股份有限公司 Nozzle control device, method and system for injection machine and engineering machinery
CN103670445A (en) * 2013-11-19 2014-03-26 中国矿业大学 Monitoring system and method for wet-type concrete spraying machine in coal mine
CN103906552A (en) * 2011-10-28 2014-07-02 江原大学校产学协力团 Method for constructing a bobsleigh course using a high-performance wet-type shotcrete composition
CN104264949A (en) * 2014-08-21 2015-01-07 四川金锋建设有限公司 Mortar spraying device
CN104989080A (en) * 2015-07-13 2015-10-21 马鞍山市志诚科技有限公司 Wall spraying device achieving pressure load feedback
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CN102434173A (en) * 2011-12-21 2012-05-02 孙有芳 Concrete flinger
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CN102979537A (en) * 2012-12-06 2013-03-20 中联重科股份有限公司 Nozzle control device, method and system for injection machine and engineering machinery
CN103670445A (en) * 2013-11-19 2014-03-26 中国矿业大学 Monitoring system and method for wet-type concrete spraying machine in coal mine
CN104264949A (en) * 2014-08-21 2015-01-07 四川金锋建设有限公司 Mortar spraying device
CN104989082B (en) * 2015-07-13 2017-11-07 马鞍山市志诚科技有限公司 A kind of Multifunctional spraying machine people
CN104989082A (en) * 2015-07-13 2015-10-21 马鞍山市志诚科技有限公司 Multifunctional spray coating robot
CN104989081A (en) * 2015-07-13 2015-10-21 马鞍山市志诚科技有限公司 Remote control spraying device
CN104989080A (en) * 2015-07-13 2015-10-21 马鞍山市志诚科技有限公司 Wall spraying device achieving pressure load feedback
CN104989084A (en) * 2015-07-13 2015-10-21 马鞍山市志诚科技有限公司 Multifunctional environment-friendly spraying robot
CN104989079A (en) * 2015-07-13 2015-10-21 马鞍山市志诚科技有限公司 Spraying device achieving remote video manipulation
CN105672628A (en) * 2016-01-08 2016-06-15 李姬蓉 Automatic mortar spraying coater
CN105908952A (en) * 2016-04-02 2016-08-31 淮南师范学院 Scissor type upper wall processing robot and electrical system thereof
CN105908952B (en) * 2016-04-02 2017-12-29 淮南师范学院 A kind of scissor-type roof machining robot and its electricity system
CN106437772A (en) * 2016-11-21 2017-02-22 长安大学 Full-automatic intelligent wet-spraying concrete sprayer and method
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CN111255199A (en) * 2020-03-25 2020-06-09 珠海心怡科技有限公司 Roller coating method for completing operation by combining automatic spray gun of robot and roller
CN112012514A (en) * 2020-09-01 2020-12-01 福州市连江县利凯科技有限公司 Wall crack detects patching device

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