CN115213920A - Cooperative robot suitable for metal plate spraying application environment - Google Patents

Cooperative robot suitable for metal plate spraying application environment Download PDF

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Publication number
CN115213920A
CN115213920A CN202210941632.2A CN202210941632A CN115213920A CN 115213920 A CN115213920 A CN 115213920A CN 202210941632 A CN202210941632 A CN 202210941632A CN 115213920 A CN115213920 A CN 115213920A
Authority
CN
China
Prior art keywords
shaft
speed reducer
synchronous belt
servo motor
axle
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.)
Pending
Application number
CN202210941632.2A
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Chinese (zh)
Inventor
周艺龙
吴礼剑
张文欣
陈东阳
陈华锦
朱荣佳
王伟
郑庆诗
袁进
王鑫
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhongminggu Intelligent Robot Guangdong Co Ltd
Original Assignee
Zhongminggu Intelligent Robot Guangdong Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Zhongminggu Intelligent Robot Guangdong Co Ltd filed Critical Zhongminggu Intelligent Robot Guangdong Co Ltd
Priority to CN202210941632.2A priority Critical patent/CN115213920A/en
Publication of CN115213920A publication Critical patent/CN115213920A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to the technical field of plate spraying robots, in particular to a cooperative robot suitable for a plate spraying application environment, which comprises an installation seat, wherein the installation seat is installed on a truss system, a first shaft is rotatably installed on the installation seat, a second shaft is rotatably installed on the side surface of the first shaft, a third shaft is rotatably installed on the side surface of the second shaft, a fourth shaft is rotatably installed on the side surface of the third shaft, a fifth shaft is movably installed at one end of the fourth shaft, a sixth shaft is rotatably installed on the side surface of the fifth shaft, and a spraying tool is movably installed on the sixth shaft.

Description

Cooperative robot suitable for metal plate spraying application environment
Technical Field
The invention relates to the technical field of plate spraying robots, in particular to a cooperative robot suitable for a plate spraying application environment.
Background
Although the plate spraying market is huge, less workers are engaged in paint spraying, and the personnel management cost is high, so the industry enters the development stage of intelligent paint spraying before industrialization. The industrial robot does not meet the safety requirement of the man-machine cooperation spraying working condition, and the specification is large and heavy; the cooperative robot is a robot for man-machine cooperation, meets the man-machine cooperation requirement, but the wrist gesture flexibility of a common cooperative robot is not enough, and the requirement of spraying on the gesture adjustment of a spray gun (the gesture of a spray gun port is kept at the position of about 200mm of the outer normal line of the curved surface of a sheet metal part) cannot be met. The 6-axis cooperation robot is provided for clamping the spray gun to increase the posture flexibility of the spray gun, and the problems are solved.
Disclosure of Invention
In order to solve the defects in the background art, the invention aims to provide a cooperative robot suitable for a plate spraying application environment, and solves the problems that the posture of a robot cooperative spraying robot in the prior art is not flexible enough and cannot meet the requirement of spraying to adjust the posture of a spray gun.
The purpose of the invention can be realized by the following technical scheme:
the utility model provides a cooperation robot suitable for metal plate spouts application environment, includes the mount pad, its characterized in that, the mount pad is installed on truss system, installs mechanical digging arm on the mount pad, and mechanical digging arm includes six pivot, rotates on the mount pad and installs the primary shaft, and the primary shaft side rotates and installs the secondary shaft, and the secondary shaft side rotates and installs the third shaft, and the third shaft side rotates and installs the fourth shaft, and fourth shaft one end movable mounting has the fifth shaft, and the fifth shaft side rotates and installs the sixth shaft, and the epaxial movable mounting of sixth has the spraying frock.
Further, be equipped with first transmission between the axle of mechanical digging arm, first transmission includes first servo motor, first speed reducer and hold-in range, first servo motor installs on the motor bedplate, first servo motor main shaft is fixed with synchronous pulley, first speed reducer main shaft is fixed with synchronous pulley, be equipped with the hold-in range between the epaxial synchronous pulley of first servo motor and the first speed reducer synchronous pulley, synchronous pulley passes through the hold-in range and drives first speed reducer rotatory, the first speed reducer other end is connected in next pivot.
Furthermore, a second transmission device is arranged between the rotating shafts and comprises a second speed reducer, a second servo motor and a rotating gear, the second servo motor is installed on the last flange, a main shaft of the second servo motor drives the second speed reducer to rotate through the rotating gear, and the other end of the second speed reducer is connected to the next rotating shaft.
Furthermore, a second transmission device is arranged between the sixth shaft and the spraying tool, between the sixth shaft and the fifth shaft, between the fifth shaft and the fourth shaft, between the third shaft and the second shaft, between the second shaft and the first shaft, and between the first shaft and the mounting seat.
Furthermore, the first speed reducer is an RV speed reducer, and the second speed reducer is a large-aperture harmonic speed reducer.
Further, the first transmission device and the pulley structure do not need to be sealed.
Further, the third shaft is installed on the side surface of the second shaft close to the first shaft, and the fourth shaft is installed on the side surface of the third shaft close to the first shaft.
Further, a large arm connecting rod is arranged on the second shaft, a third shaft is arranged on the side surface of the large arm connecting rod, a small arm connecting rod is arranged on the third shaft, a fourth shaft is arranged on the side surface of the small arm connecting rod, and a motor for driving the fourth shaft to rotate is arranged on the small arm connecting rod.
Furthermore, the connecting arms with different lengths can be arranged on the rotating shaft according to requirements.
The invention has the beneficial effects that:
according to the invention, the six-axis cooperative robot is adopted to clamp the spray gun, so that the posture flexibility of the spray gun can be increased, various automobile sheet metal parts can be sprayed, and the spray gun can be used in an intelligent scene of automatically planning tracks; the robot additional shaft can be used for light transferring, so that the flexible spraying operation range of the cooperative robot is enlarged, and the plate spraying of the automobile rear market can realize intelligent operation.
Drawings
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without creative efforts;
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of another perspective of the overall structure of the present invention;
FIG. 3 is a schematic view of a first transmission of the present invention;
fig. 4 is a schematic diagram of a second transmission of the present invention.
The reference numbers are as follows:
the device comprises a first shaft 1, a second shaft 2, a third shaft 3, a fourth shaft 4, a fifth shaft 5, a sixth shaft 6, a first transmission device 7, a second transmission device 8, a mounting seat 9, a large arm connecting rod 11, a small arm connecting rod 12, a first speed reducer 71, a synchronous belt 72, a first servo motor 73, a second speed reducer 81, a second servo motor 82 and a transmission gear group 83.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1: as shown in fig. 1-3, a cooperative robot suitable for a metal plate spraying application environment includes a sixth shaft 6, a fifth shaft 5, a fourth shaft 4, a third shaft 3, a second shaft 2, a first shaft 1 and a mounting seat 9, where the mounting seat 9 is mounted on a truss system, a mechanical arm is mounted on the mounting seat 9, six rotating shafts, namely the first shaft 1, the second shaft 2, the third shaft 3, the fourth shaft 4, the fifth shaft 5 and the sixth shaft 6, are sequentially mounted on the mounting seat 9, two adjacent rotating shafts are rotatably connected, a first transmission device 7 is disposed between the rotating shafts, the first transmission device 7 includes a first servo motor 73, a first speed reducer 71 and a synchronous belt 72, the first servo motor 73 is mounted on an upper flange, a synchronous belt pulley is fixed to a main shaft of the first servo motor 73, a synchronous belt pulley is fixed to a main shaft of the first speed reducer 71, a synchronous belt 72 is disposed between the synchronous belt pulley on the main shaft of the first servo motor 73 and the synchronous belt pulley 71 of the first speed reducer 71, the synchronous belt 72 drives the first speed reducer 71 to rotate through the synchronous belt 72, and the other end of the first speed reducer 71 is connected to a next rotating shaft.
The lower end of the first shaft 1 is movably arranged on the mounting seat 9, a first servo motor 73 is arranged on the first shaft 1, and the first servo motor 73 and the synchronizing wheel driving wheel are locked and then arranged on a motor seat plate of the first shaft 1; the synchronous pulley driven wheel is connected with a first speed reducer 71 with a large aperture through a synchronous belt 72; a first speed reducer 71 is arranged on a joint on the first shaft 1, and the initial tension of a synchronous belt 72 is adjusted; the lower end of the first speed reducer 71 is connected to the mounting base 9, and the first shaft 1 and the mounting base 9 are driven to rotate through the synchronous belt 72 by the rotation of the first servo motor 73 on the first shaft 1.
The second shaft 2 is movably arranged on the side surface of the first shaft 1, a first servo motor 73 is arranged on the second shaft 2, and the first servo motor 73 and the synchronizing wheel driving wheel are locked and then arranged on a motor seat plate of the second shaft 2; the synchronous pulley driven wheel is connected with a first speed reducer 71 with a large aperture through a synchronous belt 72; the first speed reducer 71 is mounted on the first servo motor 73, and adjusts the initial tension of the synchronous belt 72; the lower end of the first speed reducer 71 is connected to the side surface of the first shaft 1, and the second shaft 2 and the first shaft 1 are driven to rotate through the synchronous belt 72 by the rotation of a first servo motor 73 on the second shaft 2.
The third shaft 3 is movably arranged on the side surface of the second shaft 2, a first servo motor 73 is arranged on the third shaft 3, and the first servo motor 73 and a synchronizing wheel driving wheel are locked and then arranged on a motor seat plate of the third shaft 3; the synchronous pulley driven wheel is connected with a first speed reducer 71 with a large aperture through a synchronous belt 72; the first speed reducer 71 is arranged on the third shaft 3, and the initial tension of the synchronous belt 72 is adjusted; the other end of the first speed reducer 71 is connected to the second shaft 2, and the third shaft 3 and the second shaft 2 are driven to rotate through the synchronous belt 72 by the rotation of a first servo motor 73 on the third shaft 3.
The fourth shaft 4 is movably arranged on the side surface of the third shaft 3, a first servo motor 73 is arranged on the third shaft 3, and the first servo motor 73 and a synchronizing wheel driving wheel are locked and then arranged on a motor seat plate of the third shaft 3; the synchronous pulley driven wheel is connected with a first speed reducer 71 with a large aperture through a synchronous belt 72; the first speed reducer 71 is arranged on a joint on the third shaft 3, and the initial tension of the synchronous belt 72 is adjusted; the lower end of the first speed reducer 71 is connected to the third shaft 3, and the first servo motor 73 on the fourth shaft 4 rotates to drive the fourth shaft 4 and the third shaft 3 to rotate through the synchronous belt 72.
The fifth shaft 5 is movably arranged on the end surface of the fourth shaft 4, the fourth shaft 4 is provided with a first servo motor 73, and the first servo motor 73 and a synchronizing wheel driving wheel are locked and then arranged on a motor seat plate of the fourth shaft 4; the synchronous pulley driven wheel is connected with a first speed reducer 71 with a large aperture through a synchronous belt 72; the first speed reducer 71 is arranged on a joint on the fourth shaft 4, and the initial tension of the synchronous belt 72 is adjusted; the lower end of the first speed reducer 71 is connected to the fourth shaft 4, and the first servo motor 73 on the fourth shaft 4 rotates to drive the fifth shaft 5 and the fourth shaft 4 to rotate through the synchronous belt 72.
The side surface of the sixth shaft 6 is movably arranged on a fifth shaft 5, a first servo motor 73 is arranged on the fifth shaft 5, and the first servo motor 73 and a driving wheel of a synchronizing wheel are locked and then arranged on a motor base plate of the fifth shaft 5; the synchronous pulley driven wheel is connected with a first speed reducer 71 with a large aperture through a synchronous belt 72; the first speed reducer 71 is arranged on a joint on the fifth shaft 5, and the initial tension of the synchronous belt 72 is adjusted; the lower end of the first speed reducer 71 is connected to the fifth shaft 5, the first servo motor 73 on the fifth shaft 5 rotates to drive the sixth shaft 6 and the fifth shaft 5 to rotate through the synchronous belt 72, and the other end of the sixth shaft 6 is provided with a spraying tool.
Further, the first speed reducer 71 is a large-aperture harmonic speed reducer, the large-aperture speed reducer and a synchronous belt pulley are matched through the design to facilitate maintenance, the large-aperture harmonic speed reducer and a gear or a synchronous belt drive mode replaces a joint module of an existing cooperative robot, and the large-aperture harmonic speed reducer and the gear or the synchronous belt drive mode have advantages in overall size, cost and large inner hole of the speed reducer compared with the joint module, so that the cooperative robot has the advantages of facilitating enterprise cost reduction.
Example 2: as shown in fig. 1, 2 and 4, a cooperative robot suitable for a plate spraying application environment comprises a sixth shaft 6, a fifth shaft 5, a fourth shaft 4, a third shaft 3, a second shaft 2, a first shaft 1 and a mounting seat 9, wherein the mounting seat 9 is mounted on a truss system, the fifth shaft 5, the fourth shaft 4, the third shaft 3, the second shaft 2 and the first shaft 1 are sequentially arranged on the sixth shaft 6, two adjacent rotating shafts are rotatably connected, a first transmission device 7 is arranged between the rotating shafts, the first transmission device 7 comprises a first servo motor 73, a first speed reducer 71 and a first servo motor 73, the first servo motor 73 is arranged on the upper rotating shaft, a synchronous belt pulley is fixed on a main shaft of the first servo motor 73, a first speed reducer 71 is mounted on the rotating shaft on which the first servo motor 73 is mounted, a synchronous belt 72 is arranged between the synchronous belt pulley on the main shaft of the first servo motor 73 and the first speed reducer 71, the synchronous belt pulley drives the first speed reducer 71 to rotate through the synchronous belt 72, and the other end of the first speed reducer 71 is connected to the next rotating shaft.
The transmission scheme of the third shaft 3, the second shaft 2 and the rotating shaft of the first shaft 1 is a first transmission device 7, the first transmission device 7 comprises a first speed reducer 71, a synchronous belt 72 and a first servo motor 73, the first servo motor 73 is installed on the last rotating shaft, a synchronous belt pulley is fixed on the main shaft of the first servo motor 73, the first speed reducer 71 is installed on the rotating shaft on which the first servo motor 73 is installed, the synchronous belt 72 is arranged between the synchronous belt pulley on the main shaft of the first servo motor 73 and the first speed reducer 71, the synchronous belt pulley drives the first speed reducer 71 to rotate through the synchronous belt 72, and the other end of the first speed reducer 71 is connected to the next rotating shaft; by the design, the sealing is not needed, and the maintenance is convenient;
the transmission scheme of the rotating shafts of the sixth shaft 6, the fifth shaft 5 and the fourth shaft 4 is a second transmission device 8, the second transmission device 8 comprises a second servo motor 82, a rotating gear fork 83 and a second speed reducer 81, the second servo motor 82 is installed on the last rotating shaft, a main shaft of the second servo motor 82 drives the second speed reducer 81 to rotate through the rotating gear fork 83, and the other end of the second speed reducer 81 is connected to the next rotating shaft; through such design, the advantage that concrete space is compact can realize the nimble collaborative robot structural layout of wrist gesture of sixth axle 6, fifth axle 5 and the 4 fourth axle high integrations of 4 pivots, and the adaptation robot does not interfere the use in the uncontrollable orbit of automatic generation.
Further, the third shaft is installed on the side surface of the second shaft close to the first shaft, and the fourth shaft is installed on the side surface of the third shaft close to the first shaft; so can guarantee that the robot motion is that required space is littleer, and is more nimble, and further, be equipped with big arm connecting rod 11 on the secondary shaft, third axle 3 is installed in the side of big arm connecting rod 11, is equipped with forearm connecting rod 12 on third axle 3, and fourth axle 4 is installed in the side of forearm connecting rod 12, drives fourth axle 4 pivoted motor and installs on forearm connecting rod 12, and further, the pivot can set up the linking arm of different length as required. Therefore, the working radius of the robot can be enlarged without influencing the flexibility of the end joint rotating shaft.
Furthermore, the first speed reducer is an RV speed reducer, and the second speed reducer is a large-aperture harmonic speed reducer.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed.
The foregoing shows and describes the general principles, principal features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, and such changes and modifications are within the scope of the invention as claimed.

Claims (8)

1. The utility model provides a cooperation robot suitable for metal plate spouts application environment, includes mount pad (9), its characterized in that, mount pad (9) are installed on truss system, install mechanical digging arm on mount pad (9), mechanical digging arm includes six axles, rotate on mount pad (9) and install primary shaft (1), primary shaft (1) side is rotated and is installed secondary shaft (2), secondary shaft (2) side is rotated and is installed third axle (3), third axle (3) side is rotated and is installed fourth axle (4), fourth axle (4) one end movable mounting has fifth axle (5), fifth axle (5) side is rotated and is installed sixth axle (6), movable mounting has the spraying frock on sixth axle (6).
2. The cooperative robot suitable for the plate spraying application environment is characterized in that a first transmission device (7) is arranged between shafts of the mechanical movable arms, the first transmission device (7) comprises a first servo motor (73), a first speed reducer (71) and a synchronous belt (72), the first servo motor (73) is installed on the motor seat plate, a synchronous belt pulley is fixed to a main shaft of the first servo motor (73), a synchronous belt pulley is fixed to a main shaft of the first speed reducer (71), the synchronous belt (72) is arranged between the synchronous belt pulley on the main shaft of the first servo motor (73) and the synchronous belt pulley of the first speed reducer (71), the synchronous belt pulley drives the first speed reducer (71) to rotate through the synchronous belt (72), and the other end of the first speed reducer (71) is connected to the next rotating shaft.
3. The cooperative robot suitable for the plate spraying application environment is characterized in that a second transmission device (8) is arranged between the rotating shafts, the second transmission device (8) comprises a second speed reducer (81), a second servo motor (82) and a rotating gear holder (83), the second servo motor (82) is mounted on the upper flange, a main shaft of the second servo motor (82) drives the second speed reducer (81) to rotate through the rotating gear holder (83), and the other end of the second speed reducer (81) is connected to the next rotating shaft.
4. A cooperating robot adapted for use in a plate spraying environment, according to claim 3, characterised in that a second transmission means (8) is arranged between the sixth shaft (6) and the spraying tool, between the sixth shaft (6) and the fifth shaft (5), between the fifth shaft (5) and the fourth shaft (4), between the third shaft (3) and the second shaft (2), between the second shaft (2) and the first shaft (1), and between the first shaft (1) and the mounting seat (9), a first transmission means (7) is arranged.
5. The cooperative robot suitable for the plate spraying application environment as claimed in claim 4, wherein the first speed reducer (71) is an RV speed reducer, and the second speed reducer (81) is a large-aperture harmonic speed reducer.
6. A cooperative robot adapted for use in a sheet metal spray application environment according to claim 5, wherein the first transmission (7) does not require a sealing with a pulley arrangement.
7. A cooperative robot adapted for use in a plate spraying application environment according to claim 6, wherein the third shaft (3) is mounted on the side of the second shaft (2) on the side close to the first shaft (1), and the fourth shaft (4) is mounted on the side of the third shaft (3) on the side close to the first shaft (1).
8. The cooperative robot suitable for the plate spraying application environment as claimed in claim 1, wherein the second shaft is provided with a large arm connecting rod (11), the third shaft (3) is arranged on the side surface of the large arm connecting rod (11), the third shaft (3) is provided with a small arm connecting rod (12), the fourth shaft (4) is arranged on the side surface of the small arm connecting rod (12), and a motor for driving the fourth shaft (4) to rotate is arranged on the small arm connecting rod (12).
CN202210941632.2A 2022-08-08 2022-08-08 Cooperative robot suitable for metal plate spraying application environment Pending CN115213920A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210941632.2A CN115213920A (en) 2022-08-08 2022-08-08 Cooperative robot suitable for metal plate spraying application environment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210941632.2A CN115213920A (en) 2022-08-08 2022-08-08 Cooperative robot suitable for metal plate spraying application environment

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Publication Number Publication Date
CN115213920A true CN115213920A (en) 2022-10-21

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Application Number Title Priority Date Filing Date
CN202210941632.2A Pending CN115213920A (en) 2022-08-08 2022-08-08 Cooperative robot suitable for metal plate spraying application environment

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116099692A (en) * 2023-02-27 2023-05-12 山东泰沃昆智能装备有限公司 Multipurpose intelligent robot based on 3D visual navigation and spraying method thereof

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116099692A (en) * 2023-02-27 2023-05-12 山东泰沃昆智能装备有限公司 Multipurpose intelligent robot based on 3D visual navigation and spraying method thereof

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