CN107262321A - A kind of spraying method and spray equipment for automatically generating spraying profile - Google Patents
A kind of spraying method and spray equipment for automatically generating spraying profile Download PDFInfo
- Publication number
- CN107262321A CN107262321A CN201710520772.1A CN201710520772A CN107262321A CN 107262321 A CN107262321 A CN 107262321A CN 201710520772 A CN201710520772 A CN 201710520772A CN 107262321 A CN107262321 A CN 107262321A
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- Prior art keywords
- spraying
- axis
- robot
- spray
- workpiece
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- 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
- B05B12/12—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 responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/122—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 responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to presence or shape of target
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses a kind of spraying method for automatically generating spraying profile, comprise the following steps；The workpiece for needing to spray is put onto a tooling platform provided with lateral coordinates chi X-axis and longitudinal coordinate chi Y-axis；The maximum in X-axis and Y-axis is read, the two value input system program parameters are inputted into table, and sets spraying rate and fan breadth degree, spraying profile program is automatically generated；The starting point of the spray gun of robot control is located at the origin of coordinates, then runs spray procedure, and robot carries out spraying operation；After the completion of spraying operation, spray gun comes back to position of readiness.The invention also discloses a kind of device of this spraying method of application, only need to read in the coordinate value input spray painting control program of workpiece, spray gun spraying track can be automatically generated and complete spraying operation, greatly save cost of labor, and sprayed by the spray range of input, ensure coating quality, it is to avoid waste spray paint.
Description
Technical field
The invention belongs to paint film spraying equipment technical field, and in particular to a kind of spraying side for automatically generating spraying profile
Method and spray equipment.
Background technology
Many daily necessitiess and industrial goods, using being preceding required for being painted, spray painting mainly play protection or
Decoration function, some operations even want spary priming paint, finish paint etc. several all over just completing, and paint have it is volatile it is chemical into
Point, so artificial mopping has certain toxic action to human body.Also occur in that in the market and carry out spraying work using robot
The technology of industry.Because the shape of the workpiece of spraying is different, and robot is intelligent limited, thus every time spraying when first need to
The workpiece to be sprayed is positioned on tooling platform, then the artificial size that workpiece is measured by ruler, by manually programming or
Teaching programming edits spray gun run trace, and spraying operation is then carried out again.Once program is completed, its working range and track
Just it is fixed up, as long as spraying workpiece shapes change, will be reprogramed, workload is big before spraying, and programming operation is to behaviour
The technical merit for making personnel requires higher, if programming is unreasonable, spray gun run trace is too small or excessive, will result in spraying
The problem of of poor quality or waste paint vehicle.
In view of the above-mentioned problems, proposing the present invention.
The content of the invention
It is an object of the invention to provide a kind of spraying method and spray equipment for automatically generating spraying profile,.
For achieving the above object, the technical scheme is that：A kind of spraying side for automatically generating spraying profile
Method, it is characterised in that comprise the following steps；
Step one, it would be desirable to which the workpiece of spraying is put to a work provided with lateral coordinates chi X-axis and longitudinal coordinate chi Y-axis
On assembling platform, workpiece is put close to the origin of coordinates and reference axis when putting；
Step 2, reads maximum of the workpiece in X-axis and Y-axis, and control cabinet (5) transfers the system program of robot (3),
And the two value input system program parameters are inputted into table, and set spraying rate and fan breadth degree, that is, generate spraying profile journey
Sequence；
Step 3, the starting point of the spray gun of robot control is located at the origin of coordinates, the spraying rail then generated with step 2
Mark program carries out spraying operation to run robot；
After the completion of step 4, spraying operation, spray gun returns position of readiness and completed again.
Further, when the workpiece in the step one is plurality of workpieces, plurality of workpieces is closely stitched together, and as far as possible will
Workpiece splicing is rectangular, and adjacent one of rectangle is long and wide close to X-axis and Y-axis.
Further, robot is provided with several working shafts, and working shaft is used for increasing the working range of robot.
Further, it is by vision that maximum of the workpiece in the maximum and Y-axis in X-axis is read in the step 2
Identifying system is read.
Put down the invention also discloses a kind of spray equipment for realizing above-mentioned spraying method, including for the frock for putting workpiece
Platform, the top of tooling platform, which is provided with robot, the artificial six-joint robot of machine, the 6th axle wrist of robot, is provided with spray gun,
Robot is also associated with robot control cabinet, in addition to control cabinet, and control cabinet is provided with touch-screen, and control cabinet is controlled with robot
Cabinet signal is connected；
Tooling platform, including lathe bed, lathe bed are provided with level on detent mechanism and ground-engaging element, tooling platform and are provided with laterally
The intersection point of coordinatometer X-axis and longitudinal coordinate chi Y-axis, X-axis and Y-axis is the origin of coordinates；
Robot, robot is fixed on the wall in the external world or support provided with walking axle, walking axle, the axle hand of robot the 6th
The spraying starting point of spray gun at wrist is at the origin of coordinates.
Further, tooling platform uses cell structure, and grill width is 40mm, and grizzly bar spacing is not more than 80mm, grizzly bar
Silicagel pad is provided with work piece interface.
Further, walking is located on support, and support is portal frame, and portal frame includes column and the weighing apparatus on column
Beam, Heng Liang is provided with electrical driving unit provided with walking axle and robot base, walking axle.
Further, portal frame includes four root posts, and each two column is connected by top end Heng Liang, Heng Liang two ends point
Not She Yu two end Heng Liang centre position.
Further, the slide block mechanism that walking axle is included on guide rail and pinion and rack, guide rail is moved along X-axis, guide rail
Load pass through FEM calculation.
Further, coordinatometer X-axis and coordinatometer Y-axis are provided with protective cover.
The beneficial effects of the invention are as follows：
The spraying method of the spraying profile automatically generated of the present invention, because coordinatometer can directly be read on tooling platform
The size of workpiece is taken, and spray gun starting point is located at the origin of coordinates, so only needing to read the coordinate value input spraying control of workpiece
In processing procedure sequence, you can automatically generate spray gun spraying track and complete spraying operation, cost of labor is greatlyd save, and by the spray of input
Apply scope to be sprayed, it is ensured that coating quality, it is to avoid waste spray paint.
Brief description of the drawings
When considered in conjunction with the accompanying drawings, by referring to following detailed description, can more completely more fully understand the present invention with
And the adjoint advantage of many of which is easily learnt, but accompanying drawing described herein is used for providing a further understanding of the present invention,
The part of the present invention is constituted, schematic description and description of the invention is used to explain the present invention, do not constituted to this hair
Bright improper restriction, wherein：
Fig. 1 is a kind of structural representation of spray equipment for automatically generating spraying profile of the present invention；
Fig. 2 is a kind of overlooking the structure diagram of spray equipment for automatically generating spraying profile of the present invention；
Fig. 3 is a kind of spraying flow chart of spraying method for automatically generating spraying profile of the present invention；
Fig. 4 is a kind of spraying profile signal of the system program of spraying method for automatically generating spraying profile of the present invention
Figure；
In figure：1- tooling platforms, 2- end floor beams, 3- robots, 4- touch-screens, 5- control cabinets, 6- robot control cabinets, 7-
Heng Liang, 8- column, 9- lathe beds, 11- spray guns, 12- robot bases.
Embodiment
Below in conjunction with accompanying drawing to the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described.
A kind of spraying method for automatically generating spraying profile, comprises the following steps；
Step one, it would be desirable to which the workpiece of spraying is put to a work provided with lateral coordinates chi X-axis and longitudinal coordinate chi Y-axis
On assembling platform, workpiece is put close to the origin of coordinates and reference axis when putting；
Step 2, reads maximum of the workpiece in the maximum and Y-axis of X-axis, the system that control cabinet 5 transfers robot 3
Program, and the two value input system program parameters are inputted into table, and set spraying Su Sudu and fan breadth degree, i.e. generation spraying
Track program；
Step 3, the starting point for the spray gun 11 that robot 3 is controlled is located at the origin of coordinates, the spraying then generated with step 2
Track program carries out spraying operation to run robot 3；
After the completion of step 4, spraying operation, spray gun 11 comes back to position of readiness and completed.
In order to further illustrate the spraying method of the present invention, Fig. 3 gives host computer in spraying flow chart, figure and refers to master
Cabinet is controlled, the system program of robotic spray gun set in advance is stored in robot control cabinet, system program is horizontal or vertical
To arc type spraying profile, as shown in figure 4, system program can be sprayed laterally and longitudinal direction spraying, the length and fan breadth of spraying
Degree can be set, it is necessary to transfer system program from the switch board being connected with robot control cabinet when spraying, then in control cabinet 5
Spraying profile program will be generated in the parameter input table of the length and width of spraying and fan breadth degree input system program.
When workpiece in preferred scheme, step one is plurality of workpieces, plurality of workpieces is closely stitched together.As far as possible will
Workpiece splicing is rectangular, and adjacent one of rectangle is long and wide close to X-axis and Y-axis.Plurality of workpieces can be so sprayed simultaneously, and
And paint vehicle can be saved.
More excellent technical scheme, in step 3, if workpiece area is big, robot can be increased by increasing working shaft
Working range, so robot can set the 7th axle, the 8th axle, for increasing working range.
It is by visual identifying system that maximum of the workpiece in X-axis and Y-axis is read in more excellent technical scheme, step 2
To read.Existing visual identifying system can read the numerical value in reference axis, then convey signal to tooling platform, directly defeated
Enter in parameter list.
Put down the invention also discloses a kind of spray equipment for realizing above-mentioned spraying method, including for the frock for putting workpiece
Platform, the top of tooling platform is provided with robot 3, the artificial six-joint robot of machine, the 6th axle wrist of robot 3 provided with spray
Rifle, robot 3 is also associated with robot control cabinet 6, in addition to control cabinet 5, and control cabinet is provided with touch-screen 4, control cabinet 5 and machine
The signal of device people switch board 6 is connected；
Tooling platform, including lathe bed 9, lathe bed 9 are provided with level on detent mechanism and ground-engaging element, tooling platform and are provided with horizontal stroke
To coordinatometer X-axis and longitudinal coordinate chi Y-axis, the intersection point of X-axis and Y-axis is the origin of coordinates；
Robot 3, robot 3 is fixed on the wall in the external world or support provided with walking axle, walking axle, robot 3 the 6th
The spraying starting point of spray gun 11 at axle wrist is at the origin of coordinates.
When needing to carry out spraying operation, now the workpiece for needing to spray is placed on tooling platform, in order to save paint vehicle,
Preferably prevent, put together if plurality of workpieces then closely spells plurality of workpieces close to the origin of coordinates and reference axis, as far as possible
It is combined into a rectangle, adjacent one long and wide respectively close to X-axis and Y-axis of rectangle, summit is close to origin, and so putting can be big
It is big to avoid wasting paint vehicle.
More excellent technical scheme, tooling platform uses cell structure, and grill width is 40mm, and grizzly bar spacing is not more than
80mm, grizzly bar is provided with silicagel pad with work piece interface.Cell structure is more directly perceived when reading the numerical value of X-axis and Y-axis, on grizzly bar
Silicagel pad play a part of protective grille structure, reduce mutually damage.
More excellent technical scheme, walking is located on support, and support is portal frame, and portal frame includes column 8 and located at vertical
Weighing apparatus beam 7 on post 8, weighing apparatus beam 7 is provided with walking axle and robot base, and walking axle is provided with electrical driving unit, and weighing apparatus beam 7 is along frock
Platform X-axis be arranged in parallel.
More excellent technical scheme, portal frame includes four root posts 8, and each two column 8 is connected by top end weighing apparatus beam 2, held
The weighing apparatus restocking of beam 2 has weighing apparatus beam 7, and the two ends of weighing apparatus beam 7 are respectively arranged on the centre position of two end weighing apparatus beams 2.Such structure is more stable, machine
The device popular feeling is walked more steady.
More excellent technical scheme, the slide block mechanism that walking axle is included on guide rail and pinion and rack, guide rail is transported along X-axis
Dynamic, the load of guide rail passes through FEM calculation, it is ensured that its stability.
More excellent technical scheme, coordinatometer X-axis and coordinatometer Y-axis are provided with protective cover, prevent the coordinate in spraying process
Chi is polluted by paint vehicle.
In summary, the spraying method of the spraying profile automatically generated of the invention, due to coordinatometer on tooling platform
The size of workpiece can be directly read, and spray gun starting point is located at the origin of coordinates, so only needing to read the coordinate value of workpiece
Input in spray painting control program, you can automatically generate spray gun spraying track and complete spraying operation, greatly save cost of labor, and
Sprayed by the spray range of input, it is ensured that coating quality, it is to avoid waste spray paint.
Claims (10)
1. a kind of spraying method for automatically generating spraying profile, it is characterised in that comprise the following steps；
Step one, it would be desirable to which the workpiece of spraying is put to a frock provided with lateral coordinates chi X-axis and longitudinal coordinate chi Y-axis and put down
On platform, workpiece is put close to the origin of coordinates and reference axis when putting；
Step 2, reads maximum of the workpiece in the maximum and Y-axis in X-axis, and what control cabinet (5) transferred robot (3) is
System program, and the two value input system program parameters are inputted in table, and set spraying rate and fan breadth degree, i.e. generation spray
Apply track program；
Step 3, the starting point of the spray gun (11) of robot (3) control is located at the origin of coordinates, the spraying then generated with step 2
Track program carries out spraying operation to run robot (3)；
After the completion of step 4, spraying operation, spray gun (11) comes back to position of readiness.
2. a kind of spraying method for automatically generating spraying profile according to claim 1, it is characterised in that the step
When workpiece in one is plurality of workpieces, plurality of workpieces is closely stitched together.
3. a kind of spraying method for automatically generating spraying profile according to claim 2, it is characterised in that the step
Robot in three is provided with several working shafts, and the working shaft is used for increasing the working range of robot.
4. a kind of spraying method for automatically generating spraying profile according to claim 1, it is characterised in that the step
Maximum of the workpiece in X-axis and Y-axis is read in two to be read by visual identifying system.
5. a kind of a kind of spray equipment for the spraying method for automatically generating spraying profile realized described in claim 1 or 2, bag
The tooling platform for putting workpiece is included, the top of tooling platform is provided with robot (3), the artificial six-joint robot of machine, machine
Spray gun is provided with the 6th axle wrist of people (3), robot (3) is also associated with robot control cabinet (6), in addition to control cabinet (5),
Control cabinet is provided with touch-screen (4), and control cabinet (5) is connected with robot control cabinet (6) signal, it is characterised in that
Tooling platform, including lathe bed (9), lathe bed (9) are provided with level on detent mechanism and ground-engaging element, tooling platform and are provided with horizontal stroke
To coordinatometer X-axis and longitudinal coordinate chi Y-axis, the intersection point of X-axis and Y-axis is the origin of coordinates；
Robot (3), robot (3) is fixed on the wall in the external world or support provided with walking axle, walking axle, robot (3) the
The spraying starting point of spray gun (11) at six axle wrists is at the origin of coordinates.
6. a kind of spray equipment according to claim 5, it is characterised in that tooling platform uses cell structure, grizzly bar is wide
Spend for 40mm, grizzly bar spacing is not more than 80mm, grizzly bar is provided with silicagel pad with work piece interface.
7. a kind of spray equipment according to claim 5, it is characterised in that walking is located on support, and support is gantry
Frame, portal frame includes column and the Heng Liang (7) on column, Heng Liang (7) are provided with walking axle and robot base (12), OK
Axle is walked provided with electrical driving unit.
8. a kind of spray equipment according to claim 7, it is characterised in that portal frame includes four root posts (8), each two
Column (8) is by top end Heng Liang (2) connections, and Heng Liang (7) two ends are respectively arranged on the centre position of two end Heng Liang (2).
9. a kind of spray equipment according to claim 8, it is characterised in that walking axle includes guide rail and rack-and-pinion machine
Slide block mechanism on structure, guide rail is moved along X-axis, and the load of guide rail passes through FEM calculation.
10. a kind of spray equipment according to claim 9, it is characterised in that coordinatometer X-axis and coordinatometer Y-axis are provided with
Protective cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710520772.1A CN107262321A (en) | 2017-06-30 | 2017-06-30 | A kind of spraying method and spray equipment for automatically generating spraying profile |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710520772.1A CN107262321A (en) | 2017-06-30 | 2017-06-30 | A kind of spraying method and spray equipment for automatically generating spraying profile |
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| CN107262321A true CN107262321A (en) | 2017-10-20 |
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| CN201710520772.1A Pending CN107262321A (en) | 2017-06-30 | 2017-06-30 | A kind of spraying method and spray equipment for automatically generating spraying profile |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107825436A (en) * | 2017-11-28 | 2018-03-23 | 北京科技大学 | A kind of intelligent lacquer painting nursing robot and its method for lacquer painting nursing |
| CN108303448A (en) * | 2018-02-28 | 2018-07-20 | 上海发那科机器人有限公司 | A kind of spraying ground detection device and its application |
| CN108714514A (en) * | 2018-06-24 | 2018-10-30 | 田秀丽 | A kind of automatic automobile spray painting instrument |
| CN110280413A (en) * | 2019-07-16 | 2019-09-27 | 华中科技大学无锡研究院 | A kind of spray painting control method, control device and the control system of high-speed rail car body |
| CN110449328A (en) * | 2019-07-02 | 2019-11-15 | 佛山汉龙智能科技有限公司 | A kind of robot lacquer spraying technique for car repair |
| CN111299035A (en) * | 2020-02-20 | 2020-06-19 | 上海航天精密机械研究所 | Automatic spraying method and device for melon petal part surface chemical milling protective glue |
| CN112403746A (en) * | 2019-08-21 | 2021-02-26 | 成都飞机工业（集团）有限责任公司 | Spraying process method of multi-frame groove part |
| CN112427243A (en) * | 2020-11-24 | 2021-03-02 | 东风本田汽车有限公司 | Multi-layer repeated gluing device and gluing method |
| CN112497223A (en) * | 2020-11-18 | 2021-03-16 | 广东博智林机器人有限公司 | Method and device for generating coating process parameters of coating robot |
| CN112791885A (en) * | 2021-04-07 | 2021-05-14 | 广东博硕涂装技术有限公司 | Spraying mechanical equipment with manipulator and reciprocating function and control method thereof |
| CN112827772A (en) * | 2021-02-08 | 2021-05-25 | 湖州洛博特机械科技有限公司 | Workpiece identification automatic spraying control method and system |
| CN113245094A (en) * | 2021-03-22 | 2021-08-13 | 福建金泰机械制造有限公司 | Robot spraying system and method for automobile brake drum |
| CN114460911A (en) * | 2022-02-09 | 2022-05-10 | 北京安达维尔智能技术有限公司 | Helicopter rotor intelligent spraying control system and method |
| CN115155884A (en) * | 2022-06-24 | 2022-10-11 | 深圳市华众远科技有限公司 | Automatic spraying method and automatic spraying robot |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107825436A (en) * | 2017-11-28 | 2018-03-23 | 北京科技大学 | A kind of intelligent lacquer painting nursing robot and its method for lacquer painting nursing |
| CN107825436B (en) * | 2017-11-28 | 2021-02-12 | 北京科技大学 | Intelligent paint nursing robot and method for paint nursing by using same |
| CN108303448A (en) * | 2018-02-28 | 2018-07-20 | 上海发那科机器人有限公司 | A kind of spraying ground detection device and its application |
| CN108714514A (en) * | 2018-06-24 | 2018-10-30 | 田秀丽 | A kind of automatic automobile spray painting instrument |
| CN108714514B (en) * | 2018-06-24 | 2021-01-12 | 盐城市盐南高新区都市产业发展有限公司 | Automatic change car appearance that sprays paint |
| CN110449328A (en) * | 2019-07-02 | 2019-11-15 | 佛山汉龙智能科技有限公司 | A kind of robot lacquer spraying technique for car repair |
| CN110280413A (en) * | 2019-07-16 | 2019-09-27 | 华中科技大学无锡研究院 | A kind of spray painting control method, control device and the control system of high-speed rail car body |
| CN112403746A (en) * | 2019-08-21 | 2021-02-26 | 成都飞机工业（集团）有限责任公司 | Spraying process method of multi-frame groove part |
| CN111299035A (en) * | 2020-02-20 | 2020-06-19 | 上海航天精密机械研究所 | Automatic spraying method and device for melon petal part surface chemical milling protective glue |
| CN112497223A (en) * | 2020-11-18 | 2021-03-16 | 广东博智林机器人有限公司 | Method and device for generating coating process parameters of coating robot |
| CN112497223B (en) * | 2020-11-18 | 2022-03-08 | 广东博智林机器人有限公司 | Method and device for generating coating process parameters of coating robot |
| CN112427243A (en) * | 2020-11-24 | 2021-03-02 | 东风本田汽车有限公司 | Multi-layer repeated gluing device and gluing method |
| CN112427243B (en) * | 2020-11-24 | 2022-04-29 | 东风本田汽车有限公司 | Multi-layer repeated gluing device and gluing method |
| CN112827772A (en) * | 2021-02-08 | 2021-05-25 | 湖州洛博特机械科技有限公司 | Workpiece identification automatic spraying control method and system |
| CN113245094A (en) * | 2021-03-22 | 2021-08-13 | 福建金泰机械制造有限公司 | Robot spraying system and method for automobile brake drum |
| CN113245094B (en) * | 2021-03-22 | 2022-08-05 | 福建金泰机械制造有限公司 | Robot spraying system and method for automobile brake drum |
| CN112791885A (en) * | 2021-04-07 | 2021-05-14 | 广东博硕涂装技术有限公司 | Spraying mechanical equipment with manipulator and reciprocating function and control method thereof |
| CN114460911A (en) * | 2022-02-09 | 2022-05-10 | 北京安达维尔智能技术有限公司 | Helicopter rotor intelligent spraying control system and method |
| CN114460911B (en) * | 2022-02-09 | 2024-06-07 | 北京天普思拓智能技术有限公司 | Intelligent spraying control system and method for helicopter rotor wing |
| CN115155884A (en) * | 2022-06-24 | 2022-10-11 | 深圳市华众远科技有限公司 | Automatic spraying method and automatic spraying robot |
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Application publication date: 20171020 |