CN112354763B - Spraying robot based on visual identification location - Google Patents
Spraying robot based on visual identification location Download PDFInfo
- Publication number
- CN112354763B CN112354763B CN202011239810.4A CN202011239810A CN112354763B CN 112354763 B CN112354763 B CN 112354763B CN 202011239810 A CN202011239810 A CN 202011239810A CN 112354763 B CN112354763 B CN 112354763B
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- section mechanical
- probe
- lens
- visual identification
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/50—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a spraying robot based on visual identification and positioning, which comprises a main section mechanical arm, a second section mechanical arm movably connected to the top of the main section mechanical arm, a rotating arm rotatably connected to the front end of the second section mechanical arm and a third section mechanical arm movably connected to the front end of the rotating arm, wherein a monitoring probe is arranged at the top of the third section mechanical arm and movably connected with the third section mechanical arm through a probe supporting frame, a camera lens is inserted into the front end of the monitoring probe, a lens cleaning structure is arranged at the front end of the camera lens, an adjustable nozzle structure is arranged in the third section mechanical arm and comprises an electric telescopic rod fixedly connected to the interior of the third section mechanical arm. According to the invention, the three sections of mechanical arms are arranged, so that the thinner spray head can be controlled to adjust the angle, the spray head can move in the small hole more easily, and the problem that the robot wrist cannot rotate to spray the inside of the small-hole workpiece well is solved.
Description
Technical Field
The invention relates to spraying equipment, in particular to a spraying robot based on visual identification and positioning.
Background
The painting robot is also called painting robot, it is an industrial robot that can automatically paint or paint, the painting robot is mainly composed of robot body, computer and corresponding control system, the hydraulically driven painting robot also includes hydraulic oil source, such as oil pump, oil tank and motor, it mostly adopts 5 or 6 degree of freedom joint type structure, the arm has larger movement space and can do complex track movement, its wrist generally has 2-3 degrees of freedom, it can move flexibly, the more advanced painting robot wrist adopts flexible wrist, it can be bent to all directions, it can rotate, its action is similar to human wrist, it can conveniently extend into the workpiece through smaller hole, paint its inner surface, the painting robot based on visual identification positioning can automatically identify the workpiece through monitoring probe to spray. .
However, in practical implementation, the wrist of the robot is relatively thick, and the inside of a small-hole workpiece cannot be well sprayed only by rotating the wrist of the robot. Therefore, the spraying robot based on visual identification positioning is provided.
Disclosure of Invention
In order to solve the technical problems, the invention provides the following technical scheme:
the invention relates to a spraying robot based on visual identification and positioning, which comprises a main section mechanical arm, a second section mechanical arm movably connected to the top of the main section mechanical arm, a rotating arm rotatably connected to the front end of the second section mechanical arm and a third section mechanical arm movably connected to the front end of the rotating arm, wherein a monitoring probe is arranged at the top of the third section mechanical arm and is movably connected with the third section mechanical arm through a probe supporting frame, a camera lens is inserted into the front end of the monitoring probe, a lens cleaning structure is arranged at the front end of the camera lens, an adjustable spray head structure is arranged in the third section mechanical arm and comprises an electric telescopic rod fixedly connected to the interior of the third section mechanical arm, an adjusting motor is fixedly connected to a push rod of the electric telescopic rod, an adjusting rod is hinged to a rotating shaft of the adjusting motor, and a spray head is movably arranged at the end of the adjusting rod through a spherical shaft, the fixed cover in the circumference side of shower nozzle sprays paint is equipped with the spiral hose, the front end middle part of three-section arm is located to hemisphere axle inlays, the shower nozzle avris intercommunication that sprays paint is equipped with the spiral hose.
As a preferred technical scheme of the present invention, the lens cleaning structure includes a cleaning solution bottle fixedly connected to a bottom end of the monitoring probe, a semicircular cover fixedly connected to a front end of the monitoring probe, and a rotating motor fixedly connected to an interior of the monitoring probe, the semicircular cover is communicated with the cleaning solution bottle through a connecting pipe, a water absorbent cotton core is disposed inside the connecting pipe, a bottom end of the water absorbent cotton core contacts with a bottom end of the interior of the cleaning solution bottle, a water absorbent sponge sleeve and a hard sponge fixedly connected to a top end of the water absorbent sponge sleeve are disposed inside the semicircular cover, a probe lens is disposed inside the water absorbent sponge sleeve, the probe lens penetrates through the hard sponge, the probe lens contacts with a front end of the camera lens, an extension rod is fixedly disposed on a rotating shaft of the rotating motor, and the extension rod is fixedly inserted in a middle portion of the probe lens.
According to a preferred technical scheme of the invention, a liquid adding hole is formed in the side of the cleaning liquid bottle, a liquid adding cover is connected to the inner portion of the liquid adding hole in a threaded mode, and anti-skid threads are arranged on the circumferential side of the liquid adding cover.
As a preferred technical scheme of the invention, nozzles are inserted into four corners of the front end of the monitoring probe.
As a preferred technical scheme of the invention, the middle part of the semicircular cover is fixedly provided with a bearing, and the extension rod is movably connected with the middle part of the semicircular cover through the bearing.
In a preferred embodiment of the present invention, a soft pad is adhered to a circumferential side of a front end of the imaging lens.
According to the technical scheme, the spraying robot based on visual identification and positioning provided by the invention comprises the following components:
1. the three sections of mechanical arms are arranged, so that the thinner spray head can be controlled to adjust the angle, the spray head can move in the small hole more easily relative to the rotation of the mechanical wrist, and the problem that the rotation of the robot wrist cannot well spray the inside of a workpiece with the small hole is solved;
2. through the lens cleaning structure, the paint sprayed by the spray head is in an atomized state and easily dispersed in the air, and the lens cleaning structure cleans the probe lens to clear away paint spots on the surface of the lens, so that the probe is positioned more accurately
Additional features and advantages of the invention will be set forth in the detailed description which follows; and the parts not involved in the invention are the same as or can be realized by the prior art.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural diagram of a spraying robot based on visual identification and positioning according to the present invention;
FIG. 2 is a schematic structural diagram of three sections of mechanical arms in the spraying robot based on visual identification and positioning according to the invention;
FIG. 3 is a schematic structural diagram of a lens cleaning structure in a spraying robot based on visual identification and positioning according to the present invention;
fig. 4 is a schematic cross-sectional structure diagram of a lens cleaning structure in a spraying robot based on visual identification and positioning according to the invention.
Description of the reference numerals
In the figure: 1. a main section mechanical arm; 2. a second section of mechanical arm; 3. a rotating arm; 4. three sections of mechanical arms; 5. a probe support frame; 6. monitoring the probe; 7. a camera lens; 8. a lens cleaning structure; 81. cleaning solution bottles; 82. a connecting pipe; 83. a water absorbent cotton core; 84. a semicircular cover; 85. a probe lens; 86. a water-absorbing sponge sleeve; 87. a hard sponge; 88. a rotating electric machine; 89. an extension pole; 9. the nozzle structure can be adjusted; 91. an electric telescopic rod; 92. adjusting the motor; 93. adjusting a rod; 94. a spray nozzle; 95. a spiral hose; 96. a hemispherical shaft; 10. and a liquid adding cover.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
In the present invention, unless otherwise specified, the directional words "upper, lower, inner, outer" and the like included in the terms merely represent the orientation of the terms in a conventional use state or are colloquially understood by those skilled in the art, and should not be construed as limiting the terms.
Example (b): as shown in fig. 1, 2, 3 and 4, the spraying robot based on visual identification positioning of the present invention comprises a main section mechanical arm 1, a second section mechanical arm 2 movably connected to the top of the main section mechanical arm 1, a rotating arm 3 rotatably connected to the front end of the second section mechanical arm 2, and a third section mechanical arm 4 movably connected to the front end of the rotating arm 3, wherein the top of the third section mechanical arm 4 is provided with a monitoring probe 6, the monitoring probe 6 is movably connected to the third section mechanical arm 4 through a probe support frame 5, the front end of the monitoring probe 6 is inserted with a camera lens 7, the front end of the camera lens 7 is provided with a lens cleaning structure 8, the interior of the third section mechanical arm 4 is provided with an adjustable nozzle structure 9, the adjustable nozzle structure 9 comprises an electric telescopic rod 91 fixedly connected to the interior of the third section mechanical arm 4, a push rod of the electric telescopic rod 91 is fixedly connected with an adjusting motor 92, a rotating shaft of the adjusting motor 92 is hinged with an adjusting rod 93, the end of the adjusting rod 93 is movably provided with a paint spray nozzle 94 through a spherical shaft, the circumferential side of the paint spray nozzle 94 is fixedly sleeved with a spiral hose 95, the hemispherical shaft 96 is embedded in the middle of the front end of the three segments of mechanical arms 4, and the side of the paint spray nozzle 94 is communicated with the spiral hose 95.
Wherein, lens cleaning structure 8 includes cleaning solution bottle 81 of fixed connection in monitor 6 bottom, fixed connection is in the semicircle cover 84 and the rotating electrical machines 88 of fixed connection in the inside of monitor 6 front end of monitor 6, semicircle cover 84 passes through the connecting pipe 82 intercommunication in cleaning solution bottle 81, the inside of connecting pipe 82 is equipped with the cotton core 83 that absorbs water, the bottom of cotton core 83 that absorbs water is in the inside bottom contact of cleaning solution bottle 81, the inside of semicircle cover 84 is equipped with the sponge cover 86 that absorbs water and fixed connection is in the hard sponge 87 that absorbs water on sponge cover 86 top, the inside of sponge cover 86 that absorbs water is equipped with probe lens 85, probe lens 85 passes hard sponge 87, probe lens 85 and camera lens 7's front end contact, the fixed extension rod 89 that is equipped with of rotating electrical machines 88's pivot, extension rod 89 is fixed to be worn to insert in probe lens 85's middle part.
Wherein, the avris of washing liquid bottle 81 has seted up and has added the liquid hole, adds the internal thread connection in liquid hole and has added liquid lid 10, and the circumference side of adding liquid lid 10 is equipped with anti-skidding line, conveniently adds the washing liquid to washing liquid bottle 81.
Wherein, the four corners of the front end of the monitoring probe 6 are provided with nozzles in an inserting way, so as to blow away the fogging and reduce the paint stained on the surface of the probe lens 85.
Wherein, the fixed bearing that is equipped with in middle part of half-round cover 84, extension rod 89 passes through the middle part swing joint of bearing and half-round cover 84, is favorable to extension rod 89's stability.
Wherein, the periphery of the front end of the camera lens 7 is adhered with a soft cushion to avoid the probe lens 85 from being worn.
When the device works, firstly, the nozzle is communicated with the air pump, the spiral hose 95 is communicated with the paint box through the infusion pump, the monitoring probe 6 positions a workpiece through shooting of the camera lens 7, then the infusion pump conveys the paint in the paint box to the paint spraying nozzle 94 through the spiral hose 95, the paint is sprayed out to the surface of the workpiece through the paint spraying nozzle 94, when the interior of a small-hole workpiece needs to be painted, the nozzle extends into the small hole, the adjusting motor 92 drives the adjusting rod 93 to rotate, the adjusting rod 93 drives the rear end of the paint spraying nozzle 94 to rotate, so that the nozzle of the hemispherical shaft 96 is controlled to rotate, the paint spraying nozzle 94 cannot rotate due to the existence of the spherical shaft, the electric telescopic rod 91 controls the front and back displacement of the adjusting motor 92, the angle between the paint spraying nozzle 94 and the three sections of mechanical arms 4 is adjusted through changing the angle between the adjusting rod 93 and the paint spraying nozzle 94, and the angle adjustment of the thinner nozzle can be controlled, for the rotation of mechanical wrist, the shower nozzle is more easily at the aperture internalization, the problem of the rotation of robot wrist can not be fine to carrying out the spraying to aperture work piece inside has been solved, shower nozzle spun lacquer is in atomizing state, disperse in the air easily, then be infected with the surface of probe lens 85, the inside washing liquid of washing liquid bottle 81 absorbs the top of cotton core 83 that absorbs water through cotton core 83 that absorbs water, then absorbed by sponge cover 86 that absorbs water, rotating electrical machines 88 drives probe lens 85 through extension rod 89 and rotates, the paint point on probe lens 85 surface is dissolved by the washing liquid in the sponge cover 86 that absorbs water, then wipe off by hard sponge 87, thereby keep probe lens 85's clarity all the time, the mode of absorbing water of utilizing cotton core 83 and sponge cover 86 that absorbs water, can reduce the use amount of washing liquid in a large number, make the probe location more accurate.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.
It should be noted that the various technical features described in the above embodiments can be combined in any suitable manner without contradiction, and the invention is not described in any way for the possible combinations in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
Claims (5)
1. A spraying robot based on visual identification positioning comprises a main section mechanical arm (1), a second section mechanical arm (2) movably connected to the top of the main section mechanical arm (1), a rotating arm (3) rotatably connected to the front end of the second section mechanical arm (2) and a third section mechanical arm (4) movably connected to the front end of the rotating arm (3), and is characterized in that a monitoring probe (6) is arranged at the top of the third section mechanical arm (4), the monitoring probe (6) is movably connected with the third section mechanical arm (4) through a probe supporting frame (5), a camera lens (7) is inserted into the front end of the monitoring probe (6), a lens cleaning structure (8) is arranged at the front end of the camera lens (7), an adjustable nozzle structure (9) is arranged inside the third section mechanical arm (4), the adjustable nozzle structure (9) comprises an electric telescopic rod (91) fixedly connected to the inside of the third section mechanical arm (4), an adjusting motor (92) is fixedly connected to a push rod of the electric telescopic rod (91), an adjusting rod (93) is hinged to a rotating shaft of the adjusting motor (92), a paint spraying nozzle (94) is movably arranged at the end of the adjusting rod (93) through a spherical shaft, a spiral hose (95) is fixedly sleeved on the circumferential side of the paint spraying nozzle (94), a hemispherical shaft (96) is embedded in the middle of the front end of the three sections of mechanical arms (4), and the spiral hose (95) is communicated with the lateral side of the paint spraying nozzle (94);
the lens cleaning structure (8) comprises a cleaning liquid bottle (81) fixedly connected to the bottom end of the monitoring probe (6), a semicircular cover (84) fixedly connected to the front end of the monitoring probe (6) and a rotating motor (88) fixedly connected to the inside of the monitoring probe (6), wherein the semicircular cover (84) is communicated with the cleaning liquid bottle (81) through a connecting pipe (82), a water absorption cotton core (83) is arranged inside the connecting pipe (82), the bottom end of the water absorption cotton core (83) is contacted with the bottom end inside the cleaning liquid bottle (81), a water absorption sponge sleeve (86) and a hard sponge (87) fixedly connected to the top end of the water absorption sponge sleeve (86) are arranged inside the water absorption sponge sleeve (86), a probe lens (85) is arranged inside the water absorption sponge sleeve (86), the probe lens (85) penetrates through the hard sponge (87), and the probe lens (85) is contacted with the front end of the camera lens (7), an extension rod (89) is fixedly arranged on a rotating shaft of the rotating motor (88), and the extension rod (89) is fixedly inserted in the middle of the probe lens (85).
2. The spraying robot based on visual identification location as claimed in claim 1, wherein a liquid adding hole is formed in the side of the cleaning liquid bottle (81), a liquid adding cover (10) is connected to the inner portion of the liquid adding hole through threads, and anti-skid threads are arranged on the circumferential side of the liquid adding cover (10).
3. The spraying robot based on visual identification and positioning as claimed in claim 1, characterized in that nozzles are inserted in four corners of the front end of the monitoring probe (6).
4. The spraying robot based on the visual identification and positioning as claimed in claim 1, wherein a bearing is fixedly arranged in the middle of the semicircular cover (84), and the extension rod (89) is movably connected with the middle of the semicircular cover (84) through the bearing.
5. The spraying robot based on visual identification and positioning as claimed in claim 1, wherein a soft cushion is adhered to the periphery of the front end of the camera lens (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011239810.4A CN112354763B (en) | 2020-11-09 | 2020-11-09 | Spraying robot based on visual identification location |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011239810.4A CN112354763B (en) | 2020-11-09 | 2020-11-09 | Spraying robot based on visual identification location |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112354763A CN112354763A (en) | 2021-02-12 |
| CN112354763B true CN112354763B (en) | 2021-12-10 |
Family
ID=74509902
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011239810.4A Active CN112354763B (en) | 2020-11-09 | 2020-11-09 | Spraying robot based on visual identification location |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112354763B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113531304A (en) * | 2021-06-11 | 2021-10-22 | 南京昱晟机器人科技有限公司 | Automatic path correction system and method for industrial robot |
| CN113578647B (en) * | 2021-08-23 | 2023-03-10 | 张家港市光学仪器有限公司 | Lens blacking equipment capable of limiting range |
| CN115415087A (en) * | 2022-10-01 | 2022-12-02 | 众智机械(临沂)有限公司 | Automatic spraying robot for aluminum special-shaped plate |
| CN117139014A (en) * | 2023-10-18 | 2023-12-01 | 河北仁良实业有限公司 | OMSA intelligent remolding robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207026062U (en) * | 2017-04-28 | 2018-02-23 | 南京第一建设事务所有限责任公司 | A kind of building engineering construction Schedule monitoring device |
| CN207533438U (en) * | 2017-08-16 | 2018-06-26 | 车急修汽车科技有限公司 | A kind of Multifunctional spraying machine people |
| CN209069430U (en) * | 2018-12-21 | 2019-07-05 | 杭州远博科技有限公司 | A kind of infrared radiation thermometer |
| CN209608742U (en) * | 2019-03-13 | 2019-11-08 | 姜磊 | Security protection network monitoring device |
| CN111330778A (en) * | 2020-04-23 | 2020-06-26 | 合肥毅佰汽车部件有限公司 | Robot and spraying system for spraying automobile sheet metal shell |
| EP3693092A1 (en) * | 2019-02-06 | 2020-08-12 | Sugino Machine Limited | Cleaning machine |
-
2020
- 2020-11-09 CN CN202011239810.4A patent/CN112354763B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207026062U (en) * | 2017-04-28 | 2018-02-23 | 南京第一建设事务所有限责任公司 | A kind of building engineering construction Schedule monitoring device |
| CN207533438U (en) * | 2017-08-16 | 2018-06-26 | 车急修汽车科技有限公司 | A kind of Multifunctional spraying machine people |
| CN209069430U (en) * | 2018-12-21 | 2019-07-05 | 杭州远博科技有限公司 | A kind of infrared radiation thermometer |
| EP3693092A1 (en) * | 2019-02-06 | 2020-08-12 | Sugino Machine Limited | Cleaning machine |
| CN209608742U (en) * | 2019-03-13 | 2019-11-08 | 姜磊 | Security protection network monitoring device |
| CN111330778A (en) * | 2020-04-23 | 2020-06-26 | 合肥毅佰汽车部件有限公司 | Robot and spraying system for spraying automobile sheet metal shell |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112354763A (en) | 2021-02-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112354763B (en) | Spraying robot based on visual identification location | |
| CN112354720A (en) | Spraying thickness automatic control's spraying robot control system | |
| KR102141318B1 (en) | Apparatus for washing tumblr | |
| EP3199079B1 (en) | Body cleaning head and body cleaning tool | |
| CN207725369U (en) | A kind of hub brush mechanism of car washer | |
| CN105882614B (en) | A kind of automatic car washing machine | |
| CN108094383A (en) | A kind of sprayer nozzle regulating device | |
| CN210586088U (en) | Surgical medical instrument cleaning device | |
| CN209644223U (en) | Electric toilet seat brush | |
| CN206168635U (en) | Buoy rotary supporting means | |
| CN110614180A (en) | Special mechanical arm for coating robot | |
| CN211303540U (en) | Special mechanical arm for coating robot | |
| CN209076939U (en) | Handheld paint spraying device with steering function | |
| CN208363210U (en) | A kind of Quick disinfecting device based on public restroom closestool | |
| CN216256928U (en) | Wall cleaning device and wall cleaning vehicle | |
| ATE235321T1 (en) | CLEANING DEVICE FOR A RUBBER DEVICE | |
| CN207356803U (en) | A kind of environmental purification rotating spraying shower device | |
| CN109865491A (en) | Cleaning device for reaction kettle and the reaction kettle including the cleaning device | |
| CN217664919U (en) | Scope cleaning machine that sprays is adjusted to multistation | |
| CN216102037U (en) | High-pressure cleaning machine that water yield can be regulated and control car was used | |
| CN208912369U (en) | A kind of Furniture manufacture paint spray is with being adjusted by rotation angle fixing device | |
| CN214155955U (en) | Rotary spraying device and spraying robot | |
| CN214864602U (en) | Test agent production is with having splashproof structure and being convenient for even metal spraying machine who sprays | |
| CN207971138U (en) | A kind of universal conduit washes pipe device | |
| CN214859127U (en) | Ophthalmic nursing belt cleaning device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |