CN110026309B - Post insulator RTV coating intelligence spraying robot for transformer substation - Google Patents
Post insulator RTV coating intelligence spraying robot for transformer substation Download PDFInfo
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- CN110026309B CN110026309B CN201910184304.0A CN201910184304A CN110026309B CN 110026309 B CN110026309 B CN 110026309B CN 201910184304 A CN201910184304 A CN 201910184304A CN 110026309 B CN110026309 B CN 110026309B
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- transformer substation
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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
- B05B13/0278—Arrangement or mounting of spray heads
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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
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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
- B05B14/00—Arrangements for collecting, re-using or eliminating excess spraying material
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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
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/62—Arrangements for supporting spraying apparatus, e.g. suction cups
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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
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/68—Arrangements for adjusting the position of spray heads
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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
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/70—Arrangements for moving spray heads automatically to or from the working position
- B05B15/72—Arrangements for moving spray heads automatically to or from the working position using hydraulic or pneumatic means
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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
- B05B16/00—Spray booths
- B05B16/20—Arrangements for spraying in combination with other operations, e.g. drying; Arrangements enabling a combination of spraying operations
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Spray Control Apparatus (AREA)
- Electric Cable Installation (AREA)
Abstract
The invention discloses an intelligent spraying robot for RTV coating of a post insulator for a transformer substation. And three spray guns are arranged on each semicircular ring spraying device and are respectively aligned to carry out cleaning, blow-drying and spraying operations on the cylindrical surface, the conical surface and the bottom surface of the insulator. The two semicircular ring spraying devices can realize 360-degree spraying on the post insulator together, and the spraying height is changed through the scissor-type lifting platform, so that the outer surface of the whole insulator can be sprayed. Meanwhile, a bulk material suction port is formed in the protective cover of each semicircular spraying device and is connected with a bulk material recovery device, and bulk materials generated in the spraying process are timely recovered.
Description
Technical Field
The invention relates to spraying equipment, in particular to an intelligent spraying robot for RTV coating of a post insulator for a transformer substation.
Background
In the long-term use process of the transformer substation insulator, the outer surface of the transformer substation insulator is gradually polluted, and flashover is easy to happen in the weather of fog, dew, rain, snow and the like, so that pollution flashover accidents are caused. In order to prevent pollution flashover accidents, the mode of manually spraying room temperature vulcanized silicone Rubber (RTV) on the outer surface of the insulator is generally adopted at present to improve the pollution flashover resistance of the insulator. However, due to the non-standard manual operation, the spraying quality is difficult to guarantee, and various problems such as uneven coating thickness, sagging, scratches, defects and the like can be caused, so that the RTV coating is aged, scrapped and retired in advance, and hidden troubles are caused on the safe operation and the service life of a power grid. Meanwhile, the manual spraying has the problems of low efficiency, high labor intensity of personnel, bulk material pollution and the like. With the expansion of the scale of power systems and the increase of voltage classes, the safe, reliable and economical operation of the external insulation of high-voltage equipment becomes more and more important. Therefore, an intelligent automatic spraying system which can be used for a main power transformation device of a high-voltage transformer substation (converter station) is urgently needed to perform the work.
SUMMARY OF THE PATENT FOR INVENTION
The invention aims to provide an intelligent spraying robot for RTV coating of a post insulator for a transformer substation, which can effectively ensure the spraying quality, prevent insulator faults caused by uneven spraying, reduce manual operation and improve the spraying efficiency.
In order to achieve the above purpose, the invention provides the following technical scheme:
the utility model provides a post insulator RTV coating intelligence spraying robot for transformer substation, is including cutting fork lift platform, it is provided with X to robotic arm to cut fork lift platform on, X is provided with two mutually vertically Y to robotic arm on, Y can to robotic arm X moves on to robotic arm, two Y are provided with semicircle ring spraying device on to robotic arm respectively, semicircle ring spraying device can Y moves on to robotic arm, semicircle ring spraying device connects material system, two semicircle ring spraying device carry out 180 spraying respectively to post insulator, and two semicircle ring spraying devices are put together and are accomplished 360 rotatory spraying to post insulator.
The material system comprises a coating supply device, a cleaning water supply device, a compressed air device, a bulk material recovery device and a ground equipment electric cabinet.
Furthermore, because the number of post insulators to be sprayed in the transformer substation is large, and the ground condition is complex, the scissor-type lifting platform is installed on the crawler-type electric trolley and used for realizing flexible transfer of spraying equipment in the transformer substation.
Furthermore, in order to adapt to the condition of uneven ground of the transformer substation and ensure the accuracy of the horizontal reference of the lifting of the scissor-type lifting platform and the movement of the mechanical arm, the crawler-type electric trolley is provided with frog-type hydraulic support legs and a horizontal detector, so that the automatic leveling of the table top of the crawler-type electric trolley is realized.
Furthermore, X-direction and Y-direction distance measuring sensors are mounted on the two semicircular spraying devices, the positions of the spraying devices are sensed through the sensors, the moving amount of the X-direction mechanical arm and the moving amount of the Y-direction mechanical arm are controlled, and the semicircular spraying devices can move and be accurately positioned in the horizontal direction relative to the insulator.
Further, the semicircular ring spraying device comprises a bulk material baffle plate, an annular slide rail, a sliding table, a slide rail protective cover, a rubber coating wheel, a motor and a support frame, wherein the annular slide rail is fixed on the slide rail protective cover through a slide rail support, the slide rail protective cover is fixedly connected with the support frame, the support frame is further connected with the Y-direction mechanical arm, the sliding table is movably arranged on the slide rail, an L-shaped connecting plate is installed on the upper end surface of the sliding table, a fan-shaped connecting plate is installed on the L-shaped connecting plate, a plurality of spray guns with adjustable angles are installed on the fan-shaped connecting plate, the spray guns are connected with the material system, the bulk material baffle plate covers the spray guns, the rubber coating wheel is tightly attached to the outer side surface of the slide rail support, the motor is installed on the sliding table, and the rubber coating wheel is driven, the sliding table and a spray gun arranged on the sliding table are driven to move along the annular slide rail, and 180-degree spraying on the outer surface of the insulator with a certain height is achieved.
Furthermore, the number of the spray guns is three, the spray guns are fixed on the fan-shaped connecting plate through spray gun bases respectively, and the three spray guns are aligned to the cylindrical surface, the conical surface and the bottom surface of the post insulator respectively, so that the spraying of the outer surface of the insulator without dead angles is realized.
Furthermore, the bulk cargo baffle is provided with a bulk cargo suction port which is connected with a bulk cargo recovery device, so that the bulk cargo generated in the spraying process can be timely recovered.
Furthermore, the fan-shaped connecting plates are provided with a plurality of specifications, and the semi-circular spraying device can be suitable for spraying the outer surfaces of the post insulators with different diameters by installing the fan-shaped connecting plates with corresponding specifications.
Further, in order to realize that the spray guns on each semicircular spraying device can rotate 180 degrees without mutual interference, the annular slide rails on the two semicircular spraying devices are arranged in a vertically staggered manner, one of the annular slide rails is arranged below the bulk material baffle, and the other annular slide rail is arranged above the bulk material baffle.
Furthermore, the spray gun rotationally sprays the insulator along the annular slide rail along with the sliding table, and the spraying amount can be accurately controlled by adjusting the rotating speed, so that the thickness of the RTV coating on the outer surface of the insulator is controlled within the range of 0.4-0.6 mm.
Further, for the convenience to carry out automatic control to the lift of cutting fork lift platform, among the hydraulic system of cutting fork lift platform, jacking cylinder adopts double-acting cylinder, and hydraulic pump motor adopts servo motor, installs vertical direction's range sensor and image transmission device simultaneously on lift platform to realize spraying device at ascending accurate removal and the location of vertical side.
Furthermore, in order to meet the requirements of outdoor operation and intellectualization, the invention uses a PLC which can prevent moisture and is convenient to wire for programming and automatic control.
Furthermore, in order to prevent the vibration generated in the operation process of the material system from influencing the spraying equipment, the special transportation trolley is arranged on the material system, so that the material system is separated from the spraying equipment and is manually connected with the spraying device during operation.
The invention has the beneficial effects that:
the intelligent spraying robot for RTV coating of the post insulator for the transformer substation is provided with two semicircular spraying devices, 180-degree spraying is respectively carried out on the insulator, the two semicircular spraying devices are combined to complete 360-degree spraying on the insulator, and the spraying height is changed through the scissor-type lifting platform, so that the outer surface of the whole insulator can be sprayed. The spraying robot integrates four functions of cleaning, blow-drying, spraying and bulk material recovery, and realizes the automatic cleaning, blow-drying and RTV coating spraying operation of the outer surface of the post insulator for the transformer substation under the condition of not being detached. Meanwhile, the spraying device is provided with fan-shaped connecting plates of various specifications, and insulators of different specifications can be sprayed only by replacing the fan-shaped connecting plates of different specifications. The spraying robot has the advantages that the automation degree is high, manual operation is not needed, the problem of unqualified product quality caused by errors of operators is solved, the spraying is uniform, the quality of the insulator is improved, the problems of advanced aging, scrapping and decommissioning of the RTV coating caused by low surface spraying quality of the insulator are solved, the safe operation of a power grid is enhanced, and potential safety hazards in use are reduced.
Drawings
Fig. 1 is a schematic structural view of an intelligent spraying robot for RTV coating of a post insulator for a transformer substation.
Fig. 2 is a schematic view of a semi-circular ring spraying device.
Fig. 3 is a schematic view of another perspective of the semicircular ring spraying device.
Fig. 4 is a schematic structural view of a sector connecting plate.
Fig. 5 is a diagram showing the spraying state of the insulator.
Fig. 6 is a schematic structural view of a scissor lift platform.
Reference numerals:
10-material system, 20-carrying trolley, 30-crawler electric trolley, 31-frog hydraulic support legs, 40-scissor type lifting platform, 41-scissor fork structure, 42-lifting platform, 43-distance measuring sensor, 50-X direction mechanical arm, 60-electric control box for high-altitude equipment, 70-Y direction mechanical arm, 80-semicircular ring spraying device, 81-support frame, 82-rubber coated wheel, 83-annular sliding rail, 831-sliding rail support frame, 832-sliding rail protective cover, 84-sliding table, 841-motor, 85-L type connecting plate, 86-sector connecting plate, 87-bulk material baffle, 871-bulk material suction port, 88-spray gun seat, 89-spray gun and 90-pillar insulator.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and detailed description.
As shown in fig. 1, an intelligent spraying robot for RTV paint of post insulators for transformer substations includes a crawler-type electric trolley 30, a scissor-type lifting platform 40, an X-direction mechanical arm 50, two Y-direction mechanical arms 70, two semicircular spraying devices 80, a set of material system 10 and a carrying trolley 20 thereof, wherein the material system 10 includes five parts, namely a paint supply device, a cleaning water supply device, a compressed air device, a bulk material recovery device and a ground equipment electric cabinet. The scissor type lifting platform 40, the X-direction mechanical arm 50, the Y-direction mechanical arm 70 and the semicircular ring spraying device 80 are controlled by the high-altitude equipment electric control box 60 to work.
The scissor-type lifting platform 40 is arranged on the crawler-type electric trolley 30 and can freely move along with the crawler-type electric trolley 30, so that the spraying equipment is transferred in a transformer substation. The crawler-type electric trolley 30 is provided with a frog hydraulic support leg 31, an inclination angle sensor (not shown) and an automatic leveling module (not shown), so that not only can the equipment be flexibly transferred, but also the automatic leveling of the table top of the crawler-type electric trolley 30 is realized, and an accurate horizontal reference is provided for the scissor-type lifting platform 40.
As shown in fig. 6, the scissor type lifting platform 40 includes a telescopic scissor structure 41 and a lifting platform 42 disposed at the top end of the scissor structure, and the scissor structure is driven by a hydraulic system to extend and retract up and down. In order to realize automatic speed regulation of ascending and descending, a jacking oil cylinder of a hydraulic system uses a double-acting oil cylinder, and a motor for a hydraulic oil pump uses a servo motor. Meanwhile, in order to realize accurate movement and positioning of the lifting platform in the vertical direction, the scissor-type lifting platform is provided with a distance measuring sensor 43, so that the displacement in the vertical direction can be accurately measured.
An X-direction robot arm 50 is mounted to scissor lift platform 40 and can be raised and lowered with scissor lift platform 40. Two sides of the X-direction robot 50 are respectively provided with a guide rail, each guide rail is provided with a Y-direction robot 70, and the Y-direction robot 70 can move along the guide rails in the X-direction.
The two Y-direction mechanical arms 70 are respectively provided with a semicircular ring spraying device 80, the semicircular ring spraying devices 80 can move on the Y-direction mechanical arms 70 along the Y direction, the Y-direction mechanical arms 70 can move on the X-direction mechanical arms in the X direction, the two semicircular ring spraying devices 80 are provided with X-direction and Y-direction distance measuring sensors, and the semicircular ring spraying devices 80 can move and accurately position in the horizontal direction relative to the insulator through the X-direction mechanical arms 50 and the Y-direction mechanical arms 70 and are driven by the scissor type lifting platform 40 to move and position in the vertical direction relative to the post insulator.
As shown in fig. 2 to 5, each semicircular spraying device 80 includes three spray guns 89 and spray gun seats 88, a sector-shaped connecting plate 86, an L-shaped connecting plate 85, a sliding table 84, an annular slide rail 83, a slide rail bracket 831, a bulk material baffle 87, a motor 841, a rubber covered wheel 82, a supporting frame 81, and a slide rail protective cover 832.
The annular slide rail 83 is fixedly mounted on the slide rail shield 832 through the slide rail bracket 831, the back of the slide rail shield 832 is fixedly connected with the support frame 81, and the support frame 81 is connected with the Y-directional manipulator 70 through the connecting frame. The sliding table 84 is matched with the annular sliding rail 83, the sliding table 84 can move on the annular sliding rail 83, an L-shaped connecting plate 85 is fixedly installed on the upper end face of the sliding table 84, a fan-shaped connecting plate 86 is installed on the L-shaped connecting plate 85, the three spray gun seats 88 are respectively and fixedly arranged on the fan-shaped connecting plate 86, and the three spray guns 89 are respectively and correspondingly installed on the spray gun seats 88. The motor 841 is installed on the sliding table 84, the rubber-coated wheel 82 is tightly attached to the outer side surface of the sliding rail support 831, and the motor 841 drives the rubber-coated wheel 82 to roll along the outer side surface of the sliding rail support 831, so as to drive the sliding table 84 to move on the annular sliding rail 83. The three spray guns 89 are connected to a paint supply unit, a cleaning water supply unit, and a compressed air unit. The angle of the spray gun 89 can be adjusted, the spray gun respectively aims at the cylindrical surface, the conical surface and the bottom surface of the insulator 90, and rotates 180 degrees around the insulator 90 along with the sliding table 84, so that 180-degree cleaning, blow-drying and spraying of the outer surface of the insulator 90 with a certain height are realized. The two semicircular ring spraying devices 80 can realize 360-degree spraying together, and the spraying height is changed through the scissor-type lifting platform 40, so that the outer surface of the whole insulator 90 can be sprayed.
In order to realize that the spray guns 89 on each semicircular spraying device 80 can rotate 180 degrees without mutual interference, the annular slide rails 83 of the two semicircular spraying devices 80 are arranged in a vertically staggered manner, namely the annular slide rail 83 on one semicircular spraying device 80 is arranged below the bulk material baffle 87, and the annular slide rail 83 of the other semicircular spraying device 80 is arranged above the bulk material baffle 87.
The sector-shaped connecting plate 86 is provided with a plurality of specifications, each specification is suitable for spraying of post insulators with different diameters, and the semicircular ring spraying device 80 can be suitable for spraying of the outer surfaces of all post insulators within a certain diameter range by switching and installing the sector-shaped connecting plates 86 with different specifications.
The above detailed description is specific to possible embodiments of the present invention, and the embodiments are not intended to limit the scope of the present invention, and all equivalent implementations or modifications that do not depart from the scope of the present invention are intended to be included within the scope of the present invention.
Claims (9)
1. The utility model provides a post insulator RTV coating intelligence spraying machine people for transformer substation which characterized in that: the device comprises a scissor type lifting platform, wherein an X-direction mechanical arm is arranged on the scissor type lifting platform, two Y-direction mechanical arms perpendicular to the X-direction mechanical arm are arranged on the X-direction mechanical arm, the Y-direction mechanical arm can move on the X-direction mechanical arm, semicircular ring spraying devices are respectively arranged on the two Y-direction mechanical arms, the semicircular ring spraying devices can move on the Y-direction mechanical arm, the semicircular ring spraying devices are connected with a material system, the two semicircular ring spraying devices respectively spray post insulators for 180 degrees, and the two semicircular ring spraying devices are combined to finish 360-degree rotary spraying of the post insulators; the semicircular ring spraying device comprises a bulk material baffle, an annular slide rail, a sliding table, a slide rail protective cover, a rubber coating wheel, a motor and a support frame, wherein the annular slide rail is fixed on the slide rail protective cover through a slide rail support, the slide rail protective cover is fixedly connected with the support frame, the support frame is further connected with the Y-direction mechanical arm, the sliding table is movably arranged on the slide rail, an L-shaped connecting plate is installed on the upper end surface of the sliding table, a fan-shaped connecting plate is installed on the L-shaped connecting plate, a plurality of angularly adjustable spray guns are installed on the fan-shaped connecting plate, the spray guns are connected with the material system, the bulk material baffle is covered above the spray guns, the rubber coating wheel is tightly attached to the outer side surface of the slide rail support, the motor is installed on the sliding table, and the rubber coating wheel is, the sliding table is driven to move along the annular sliding rail, and 180-degree spraying of the outer surface of the insulator with a certain height is achieved.
2. The post insulator RTV coating intelligent spraying robot for the transformer substation of claim 1, characterized in that: the scissor type lifting platform is arranged on the crawler type electric trolley.
3. The post insulator RTV coating intelligent spraying robot for the transformer substation of claim 2, characterized in that: the crawler-type electric trolley is provided with frog hydraulic support legs and a level detector, and the automatic level adjustment of the table top of the crawler-type electric trolley is realized.
4. The post insulator RTV coating intelligent spraying robot for the transformer substation of claim 1, characterized in that: the spray guns are three and are respectively fixed on the fan-shaped connecting plate through spray gun bases, and the three spray guns are respectively aligned to the cylindrical surface, the conical surface and the bottom surface of the post insulator.
5. The post insulator RTV coating intelligent spraying robot for the transformer substation of claim 1, characterized in that: the bulk cargo baffle is provided with a bulk cargo suction port, and the bulk cargo suction port is connected with a bulk cargo recovery device to timely recover bulk cargo generated in the spraying process.
6. The post insulator RTV coating intelligent spraying robot for the transformer substation of claim 1, characterized in that: the fan-shaped connecting plates are provided with a plurality of specifications, and the semi-circular spraying device can be suitable for spraying the outer surfaces of the post insulators with different diameters by installing the fan-shaped connecting plates with corresponding specifications.
7. The post insulator RTV coating intelligent spraying robot for the transformer substation of claim 1, characterized in that: two the semicircle ring spraying device on the annular slide rail be upper and lower dislocation arrangement, one of them annular slide rail is installed in the below of bulk cargo baffle, another annular slide rail is installed in the top of bulk cargo baffle.
8. The post insulator RTV coating intelligent spraying robot for the transformer substation of claim 1, characterized in that: the scissor-type lifting platform comprises a double-acting oil cylinder for jacking, a motor for a hydraulic pump is a servo motor, a distance measuring sensor and an image transmission device in the vertical direction are installed on the lifting platform, and accurate movement and positioning of the spraying device in the vertical direction are achieved.
9. The post insulator RTV coating intelligent spraying robot for the transformer substation of claim 1, characterized in that: the material system is arranged on a special transport trolley, and the separation of the material system and the spraying device is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910184304.0A CN110026309B (en) | 2019-03-12 | 2019-03-12 | Post insulator RTV coating intelligence spraying robot for transformer substation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910184304.0A CN110026309B (en) | 2019-03-12 | 2019-03-12 | Post insulator RTV coating intelligence spraying robot for transformer substation |
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| CN110026309A CN110026309A (en) | 2019-07-19 |
| CN110026309B true CN110026309B (en) | 2021-06-29 |
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| CN205361764U (en) * | 2016-03-09 | 2016-07-06 | 华北电力大学（保定） | Movable substation post insulators RTV paint spraying equipment |
| CN205550650U (en) * | 2016-04-27 | 2016-09-07 | 南方电网科学研究院有限责任公司 | A automatic spraying device for spraying RTV coating |
| CN106391373A (en) * | 2016-10-18 | 2017-02-15 | 国网山东省电力公司电力科学研究院 | Online spray control system for insulator, and robot |
| CN206242036U (en) * | 2016-11-14 | 2017-06-13 | 华北电力大学（保定） | A kind of Substation Insulator string cleaning robot |
| CN107282548A (en) * | 2017-07-18 | 2017-10-24 | 中原工学院 | Adaptive surface cleaning device and its application method for tall and big pillar type column |
| CN107691056A (en) * | 2017-11-16 | 2018-02-16 | 范琴 | A kind of trunk whitewashes car automatically |
| CN108787263A (en) * | 2018-09-06 | 2018-11-13 | 华北电力大学（保定） | A kind of on-line automatic paint finishing of insulator |
| CN109317486A (en) * | 2018-11-21 | 2019-02-12 | 李宏伟 | A kind of Multi-function semi-automatic porcelain vase cleaner |
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