CN116175515A - Spraying type marking robot for paying off - Google Patents
Spraying type marking robot for paying off Download PDFInfo
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- CN116175515A CN116175515A CN202310286113.1A CN202310286113A CN116175515A CN 116175515 A CN116175515 A CN 116175515A CN 202310286113 A CN202310286113 A CN 202310286113A CN 116175515 A CN116175515 A CN 116175515A
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- marking
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- encoder
- spray
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H7/00—Marking-out or setting-out work
- B25H7/04—Devices, e.g. scribers, for marking
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a spray painting type marking robot for paying off, which comprises a walking module, a marking module and an electric control positioning module, wherein the walking module comprises a driving wheel, a driven wheel, an encoder, a linkage piece and a driving motor, the driving wheel and the driven wheel are arranged between mounting racks, the linkage piece is used for linking the driving wheel, the encoder and the driving motor, a wire is positioned between the driving wheel and the driven wheel when walking, the linkage piece transmits the power of the driving motor to the driving wheel and the encoder to enable the driving wheel and the encoder to rotate, and the encoder is used for recording walking data of the walking module; the marking module is connected with the walking module. This spraying formula marking robot for unwrapping wire through setting up walking module and marking module, can realize walking marking to realize accurate positioning through automatically controlled positioning module, can reach the target of quick annex installation operation, thereby realize the location marking of transmission line many split conductor spacer mounted position.
Description
Technical Field
The invention relates to a spray painting type marking robot for paying off, and belongs to the technical field of electric power technical equipment.
Background
In China, in the aspect of installation operation of accessories for overhead line construction of power transmission lines, the accessories are mostly installed by using tools in a manpower-assisted manner. The spacer is used for isolating each sub-wire due to vibration prevention and preventing whip between wires, so that the spacer is widely applied to the construction process of the power transmission line overhead wire. During the crossing construction period, the determination of the installation position of the spacer often needs to be manually measured and marked, on one hand, the operation depends on the subjective experience judgment of personnel, the high-altitude measurement and positioning operation is inaccurate, and the installation quality of the accessory is difficult to ensure to be good at one time; on the other hand, constructors are required to walk and measure on a line crossing between towers, so that the fatigue degree of the constructors is greatly increased, and hidden danger is brought to personal safety of the constructors.
Therefore, in order to reduce errors and potential safety hazards caused by manual measurement, a spraying type marking robot for paying off is needed.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a spray painting type marking robot for paying off, which can realize walking marking by arranging a walking module and a marking module, realize accurate positioning by an electric control positioning module and achieve the aim of rapid accessory installation operation, thereby realizing positioning marking of the installation position of a multi-split conductor spacer of a power transmission line.
In order to achieve the above purpose/solve the above technical problems, the present invention is realized by adopting the following technical scheme:
the spray painting type marking robot for paying off comprises a walking module, a marking module and an electric control positioning module, wherein,
the walking module comprises a driving wheel, a driven wheel, an encoder, a linkage piece and a driving motor, wherein the driving wheel and the driven wheel are arranged between the mounting frames, the linkage piece is used for linking the driving wheel, the encoder and the driving motor, a wire is positioned between the driving wheel and the driven wheel when walking, the linkage piece transmits the power of the driving motor to the driving wheel and the encoder to enable the driving wheel and the encoder to rotate, and the encoder is used for recording walking data of the walking module;
the marking module is connected with the walking module and used for spraying marking along with the movement of the walking module;
the electric control positioning module is in signal connection with the encoder and is used for performing distance positioning according to walking data fed back by the encoder.
Further, the utility model also comprises a compressing structure for compressing the lead, wherein the compressing structure comprises a compressing spring, a chromium plating telescopic rod, an aluminum alloy square tube and a compressing handle,
the aluminum alloy square tube is fixed with the mounting frame and used for supporting the chromium plating telescopic rod and the compression spring, the compression spring is sleeved on the outer side of the chromium plating telescopic rod, one end of the chromium plating telescopic rod is fixed with the aluminum alloy square tube, the other end of the chromium plating telescopic rod is fixed with the compression handle, the compression handle is arranged at one end, close to a wire, of the chromium plating telescopic rod, and two ends of the compression spring are respectively overlapped with the chromium plating telescopic rod and the compression handle.
Further, the number of the driving wheels is two, and the number of the driven wheels is three, wherein the driving wheels and the driven wheels are nylon wheels.
Further, the linkage piece comprises a chain and a chain wheel, the chain wheel is coaxial with the driving motor, the encoder and the driving wheel respectively, the chain is in transmission with the chain wheel, and when the driving motor rotates, the chain drives the chain wheel to rotate so as to realize the rotation of the driving wheel and the encoder.
Further, the marking module comprises an ink box, a code spraying diaphragm pump, a rotary joint, a motor and a mechanical arm, wherein,
the ink box and the code spraying diaphragm pump are respectively arranged in a first container and a second container on two sides of the mounting frame and are communicated through a pipeline, and the rotary joint is arranged on the outer side of the second container and is used for connecting the code spraying diaphragm pump with a spray head at the tail end of the mechanical arm so as to realize spray marking, and the rotary joint is driven to rotate by a motor arranged in the second container and is used for realizing the rotation of the mechanical arm.
Further, the device also comprises a rotary joint connecting pipe, wherein the rotary joint connecting pipe is used for connecting the rotary joint and the code spraying diaphragm pump.
Further, the mechanical arm comprises a fixed connecting plate, a spray head fixing plate, a detection head, a spray head and an electric push cylinder, wherein,
the fixed connection board is fixed with rotary joint mutually, electronic jar that pushes away is installed in the side of fixed connection board, the shower nozzle fixed plate is installed to the end that stretches out of electronic jar that pushes away, the shower nozzle fixed plate is used for fixed shower nozzle and detecting head to push away jar and rotary joint through electronic and realize the far and near flexible and the rotation of shower nozzle.
Further, the electric control positioning module comprises a direct current contactor, a lithium battery, a driving motor driver, an electric control end and a signal receiving transmitter, wherein,
the signal receiving transmitter is arranged on the outer side of the container II, the signal connection is provided with a ground remote control module for exchanging signals with the ground remote control module, the driving motor driver is connected with the driving motor signal, the electric control end is respectively connected with the driving motor driver, the marking module and the signal receiving transmitter signal for controlling the running and spraying marking of equipment, the lithium battery is arranged in the container II and used for supplying power for the electricity utilization module, and the direct current contactor is arranged between the lithium battery and the electric control end and used for protecting a circuit.
Further, still include the camera, the camera is installed in the topside of mounting bracket for with the horizontal position condition that the probe control wire was marked.
Further, the ground remote control module comprises a display screen and a manual control end, wherein the display screen is in signal connection with the camera and the detecting head and is used for receiving and displaying operation data, and the manual control end is in signal connection with the electric control positioning module and the marking module and is used for walking and marking of ground remote control equipment.
Compared with the prior art, the invention has the beneficial effects that:
according to the spray painting type marking robot for paying off, provided by the invention, the walking marking can be realized by arranging the walking module and the marking module, and the accurate positioning can be realized by the electric control positioning module, so that the goal of rapid accessory mounting operation can be reached, and the positioning marking of the mounting position of the multi-split conductor spacer of the power transmission line is realized;
according to the spray painting type marking robot for paying off, provided by the invention, the compacting structure is arranged, so that the compacting degree of the wire can be realized by adjusting the compacting handle when the wire is compacted, the wire is conveniently installed, and the stability of equipment in walking is ensured.
Drawings
Fig. 1 is a schematic structural view of a spray type marking robot for paying-off according to an embodiment;
FIG. 2 is an isometric view of the spray marking robot for pay-off shown in FIG. 1;
FIG. 3 is a schematic view of a travel module in the spray marking robot for pay-off shown in FIG. 1;
FIG. 4 is a schematic cross-sectional elevation view of the walking module of FIG. 3;
FIG. 5 is an exploded schematic view of the spray marking robot for pay-off shown in FIG. 1;
FIG. 6 is another view of the explosion schematic of FIG. 5;
FIG. 7 is an internal schematic view of a second container;
fig. 8 is a schematic view of the structure of the floor remote control module.
In the figure: 1. a driving wheel; 2. driven wheel; 3. an encoder; 4. a driving motor; 5. a compression spring; 6. chromium plating telescopic rod; 7. an aluminum alloy square tube; 8. compressing the handle; 9. a chain; 10. a sprocket; 11. an ink cartridge; 12. a code spraying diaphragm pump; 13. a rotary joint; 14. a motor; 15. a rotary joint connecting pipe; 16. fixing the connecting plate; 17. a nozzle fixing plate; 18. a probe; 19. a spray head; 20. an electric pushing cylinder; 21. a lithium battery; 22. a drive motor driver; 23. an electric control end; 24. a signal receiving transmitter; 25. a camera; 26. a display screen; 27. a manual control end; 28. a processor.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art in a specific case.
Embodiment one:
as shown in fig. 1-7, the present embodiment provides a spray-type marking robot for paying out, which includes a traveling module, a marking module and an electric control positioning module, wherein,
the walking module comprises a driving wheel 1, a driven wheel 2, an encoder 3, a linkage piece and a driving motor 4, wherein the driving wheel 1 and the driven wheel 2 are arranged between the mounting frame A, the linkage piece is used for linking the driving wheel 1, the encoder 3 and the driving motor 4, when walking, a wire is positioned between the driving wheel 1 and the driven wheel 2, the linkage piece transmits the power of the driving motor 4 to the driving wheel 1 and the encoder 3 to enable the driving wheel 1 and the encoder 3 to rotate, and the encoder 3 is used for recording walking data of the walking module;
the marking module is connected with the walking module and used for spraying marking along with the movement of the walking module;
the electric control positioning module is in signal connection with the encoder 3 and is used for performing distance positioning according to walking data fed back by the encoder 3, and particularly the electric control positioning module further comprises a processor 28 which is in signal connection with the encoder 3 and the electric control positioning module respectively, formula data are registered in the processor 28, so that the specific working distance of the walking module is obtained according to the data such as the pulse number, the motor output rotating speed, the speed ratio, the bottom diameter of the walking wheel groove and the like output in the working time of the encoder 3, and the electric control positioning module is matched with the electric control positioning module to achieve the positioning effect.
In the technical scheme, the driving motor 4 adopts the direct-current gear motor, and the equipment has better climbing performance due to the characteristics of light weight and large output torque, and the driving motor 4 is fixed with the mounting frame A through the driving motor mounting frame 4 a; as shown in fig. 3, the top side of the mounting frame a is further provided with a handle B for facilitating movement of the apparatus.
When realizing the installation of equipment, transport the automatic marking robot of spraying formula to the tower on the cross arm, place on arbitrary wire on many split lines by the manual work, start after the installation is accomplished and walk marking, perhaps walk through the remote control and mark to mark the mounted position of the conductor spacer of many split lines, provide accurate mounted position for the installation of conductor spacer.
In some embodiments, to ensure the stability of the device during walking, a compacting structure is further included for compacting the wire, the compacting structure includes a compacting spring 5, a chrome-plated telescopic rod 6, an aluminum alloy square tube 7 and a compacting handle 8, wherein,
the aluminum alloy square tube 7 is fixed with the mounting frame A and is used for supporting the chromium plating telescopic rod 6 and the compression spring 5, the compression spring 5 is sleeved on the outer side of the chromium plating telescopic rod 6, one end of the chromium plating telescopic rod 6 is fixed with the aluminum alloy square tube 7, the other end of the chromium plating telescopic rod is fixed with the compression handle 8, the compression handle 8 is arranged at one end, close to a wire, of the chromium plating telescopic rod 6, and two ends of the compression spring 5 are respectively overlapped with the chromium plating telescopic rod 6 and the compression handle 8; the top of the compression handle 8 is provided with a compression pad for contact with the wire, stability when guaranteeing to compress tightly the wire under the effect of compression spring 5, simultaneously, the adjustment to the degree of compressing tightly of compression spring 5 has been made things convenient for in the setting of compression handle 8 to the installation of wire, chromium plating telescopic link 6 adopts the embedded mode to be fixed with aluminum alloy square pipe 7, can effectively reduce overall structure's volume.
In some embodiments, the number of the driving wheels 1 is two, the number of the driven wheels 2 is three, and the driving wheels 1 and the driven wheels 2 are divided into an upper row and a lower row, as shown in fig. 3 and fig. 4, and are fixed with the mounting frame a through a special-shaped frame 1a and a special-shaped frame 2a respectively; in order to avoid damage to the lead wire during walking, the driving wheel 1 and the driven wheel 2 are nylon wheels.
In some embodiments, to realize the linkage among the driving motor 4, the encoder 3 and the driving wheel 1, the linkage piece includes a chain 9 and a sprocket 10, the sprocket 10 is coaxial with the driving motor 4, the encoder 3 and the driving wheel 1, the chain 9 is driven by the sprocket 10, and when the driving motor 4 rotates, the chain 9 drives the sprocket 10 to rotate so as to realize the rotation of the driving wheel 1 and the encoder 3.
In some embodiments, to achieve spray marking of a marking module, the marking module includes an ink cartridge 11, a code-spraying diaphragm pump 12, a rotary joint 13, a motor 14, and a robotic arm, wherein,
the ink box 11 and the code spraying diaphragm pump 12 are respectively arranged in a container A and a container B on two sides of the mounting frame A and are communicated through pipelines, the rotary joint 13 is arranged on the outer side of the container B and is used for connecting the code spraying diaphragm pump 12 and a spray head 19 at the tail end of a mechanical arm so as to realize spray marking, the mechanical arm is used for realizing telescopic spray of the spray head 19, and the rotary joint 13 is driven to rotate by a motor 14 arranged in the container B and is used for realizing rotation of the mechanical arm.
In some embodiments, to achieve the delivery of the spraying ink between the rotary joint 13 and the code spraying diaphragm pump 12, the device further comprises a rotary joint connecting pipe 15, wherein the rotary joint connecting pipe 15 is used for connecting the rotary joint 13 and the code spraying diaphragm pump 12, and likewise, the rotary joint 13 is also connected with the spray head 19 through a pipeline, so as to achieve the delivery of the spraying ink between the rotary joint 13 and the spray head 19, and meanwhile, in order to meet the requirement of the expansion and contraction of the spray head 19, the pipeline used between the rotary joint 13 and the spray head 19 is a corrugated pipe.
In some embodiments, to achieve telescopic spray of the spray head 19, the mechanical arm includes a fixed connection plate 16, a spray head fixed plate 17, a probe head 18, a spray head 19, and an electric push cylinder 20, wherein,
the fixed connection plate 16 is fixed with the rotary joint 13, the electric push cylinder 20 is arranged on the side face of the fixed connection plate 16, the spray head fixing plate 17 is arranged at the extending end of the electric push cylinder 20, and the spray head fixing plate 17 is used for fixing the spray head 19 and the detection head 18 so as to realize the telescopic and rotary movement of the spray head 19 through the electric push cylinder 20 and the rotary joint 13.
In some embodiments, to achieve the cooperation between the electronically controlled positioning module and the encoder and the marking module, the electronically controlled positioning module includes a dc contactor, a lithium battery 21, a driving motor driver 22, an electronically controlled control terminal 23, and a signal receiving transmitter 24, wherein,
as shown in fig. 7, the lithium battery 21 is mounted on the inner side of the container b through a lithium battery mounting clamp 21a, the signal receiving transmitter 24 is mounted on the outer side of the container b, a ground remote control module is connected with signals and used for exchanging signals with the ground remote control module, the driving motor driver 22 is connected with the driving motor 4 in a signal manner, the electric control end 23 is respectively connected with the driving motor driver 22, the marking module and the signal receiving transmitter 24 in a signal manner, a relay is integrated in the electric control end 23 and used for controlling the running and spraying marking of equipment, the lithium battery 21 is mounted in the container b and used for supplying power for the power utilization module, and the direct current contactor is arranged between the lithium battery 21 and the electric control end 23 and used for protecting a circuit.
In some embodiments, to monitor the condition of the wire scribe line, the device further includes a camera 25, where the camera 25 is mounted on the top side of the mounting frame a and is fixed to the mounting frame a by a camera mounting frame 25a, so as to monitor the condition of the horizontal position of the wire scribe line with the probe 18.
In some embodiments, in order to realize the control of the ground remote control module on the ground, as shown in fig. 8, the ground remote control module comprises a display screen 26 and a manual control end 27, wherein the display screen 26 is in signal connection with the camera 25 and the detecting head 18 for receiving and displaying the operation data, and the manual control end 27 is in signal connection with the electric control positioning module and the marking module for walking and marking on the ground remote control device.
To sum up, the spraying type marking robot for paying off provided by the embodiment can realize walking marking by arranging the walking module and the marking module, and can realize accurate positioning by the electric control positioning module, thereby achieving the goal of rapid accessory installation operation and realizing positioning marking of the installation position of the multi-split conductor spacer of the power transmission line.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (10)
1. A spray painting type marking robot for paying off is characterized by comprising a walking module, a marking module and an electric control positioning module, wherein,
the walking module comprises a driving wheel (1), a driven wheel (2), an encoder (3), a linkage piece and a driving motor (4), wherein the driving wheel (1) and the driven wheel (2) are arranged between the mounting frames, the linkage piece is used for linking the driving wheel (1), the encoder (3) and the driving motor (4), a wire is positioned between the driving wheel (1) and the driven wheel (2) when walking, the linkage piece transmits the power of the driving motor (4) to the driving wheel (1) and the encoder (3) to enable the driving wheel and the encoder (3) to rotate, and the encoder (3) is used for recording walking data of the walking module;
the marking module is connected with the walking module and used for spraying marking along with the movement of the walking module;
the electric control positioning module is in signal connection with the encoder (3) and is used for performing distance positioning according to walking data fed back by the encoder (3).
2. The spray marking robot for paying out according to claim 1, further comprising a pressing structure for pressing the wire, the pressing structure comprising a pressing spring (5), a chrome-plated telescopic rod (6), an aluminum alloy square tube (7) and a pressing handle (8), wherein,
aluminum alloy side pipe (7) are fixed mutually with the mounting bracket for support chromium plating telescopic link (6) and hold-down spring (5), the outside of chromium plating telescopic link (6) is located to hold-down spring (5) cover, chromium plating telescopic link (6) one end is fixed with aluminum alloy side pipe (7), and the other end is fixed with compressing tightly handle (8), compresses tightly handle (8) and sets up in chromium plating telescopic link (6) one end that is close to the wire, the both ends of hold-down spring (5) overlap joint mutually with chromium plating telescopic link (6) and compressing tightly handle (8) respectively.
3. The spray type marking robot for paying out according to claim 1, wherein the number of the driving wheels (1) is two, the number of the driven wheels (2) is three, and the driving wheels (1) and the driven wheels (2) are nylon wheels.
4. The spray painting marking robot for paying off according to claim 1, wherein the linkage member comprises a chain (9) and a chain wheel (10), the chain wheel (10) is coaxial with the driving motor (4), the encoder (3) and the driving wheel (1), the chain (9) is driven by the chain wheel (10), and when the driving motor (4) rotates, the chain (9) drives the chain wheel (10) to rotate so as to realize the rotation of the driving wheel (1) and the encoder (3).
5. The spray marking robot for pay-off according to claim 1, wherein the marking module comprises an ink cartridge (11), a code spraying diaphragm pump (12), a rotary joint (13), a motor (14) and a mechanical arm, wherein,
the ink box (11) and the code spraying diaphragm pump (12) are respectively arranged in a first container and a second container on two sides of the mounting frame and are communicated through pipelines, the rotary joint (13) is arranged on the outer side of the second container and is used for connecting the code spraying diaphragm pump (12) and a spray head (19) at the tail end of the mechanical arm so as to realize spray marking, and the rotary joint (13) is driven to rotate by a motor (14) arranged in the second container and is used for realizing the rotation of the mechanical arm.
6. The spray marking robot for pay-off as claimed in claim 5, further comprising a rotary joint connection pipe (15), the rotary joint connection pipe (15) being for connecting the rotary joint (13) and the code spraying diaphragm pump (12).
7. The spray marking robot for pay-off as claimed in claim 5, wherein the mechanical arm comprises a fixed connection plate (16), a nozzle fixing plate (17), a probe head (18), a nozzle (19) and an electric push cylinder (20), wherein,
the electric push cylinder (20) is arranged on the side face of the fixed connecting plate (16), a spray head fixing plate (17) is arranged at the extending end of the electric push cylinder (20), and the spray head fixing plate (17) is used for fixing a spray head (19) and a detection head (18) so as to realize far and near expansion and rotation of the spray head (19) through the electric push cylinder (20) and the rotary joint (13).
8. The spray marking robot for pay-off according to claim 1, wherein the electrically controlled positioning module comprises a direct current contactor, a lithium battery (21), a driving motor driver (22), an electrically controlled control terminal (23) and a signal receiving transmitter (24), wherein,
the signal receiving transmitter (24) is arranged on the outer side of the container II, a ground remote control module is connected with signals and used for exchanging signals with the ground remote control module, the driving motor driver (22) is connected with the driving motor (4) through signals, the electric control end (23) is respectively connected with the driving motor driver (22), the marking module and the signal receiving transmitter (24) through signals and used for controlling walking and spraying marking of equipment, the lithium battery (21) is arranged in the container II and used for supplying power for the electricity utilization module, and the direct current contactor is arranged between the lithium battery (21) and the electric control end (23) and used for protecting a circuit.
9. The spray marking robot for pay-off as claimed in claim 1, further comprising a camera (25), wherein the camera (25) is mounted on a top side of the mounting frame for monitoring a horizontal position of the wire marking with the probe (18).
10. The spray painting type marking robot for paying off according to claim 8, wherein the ground remote control module comprises a display screen (26) and a manual control end (27), the display screen (26) is in signal connection with the camera (25) and the detecting head (18) for receiving and displaying operation data, and the manual control end (27) is in signal connection with the electric control positioning module and the marking module for walking and marking of the ground remote control equipment.
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| CN202310286113.1A CN116175515A (en) | 2023-03-20 | 2023-03-20 | Spraying type marking robot for paying off |
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| CN202310286113.1A CN116175515A (en) | 2023-03-20 | 2023-03-20 | Spraying type marking robot for paying off |
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