CN208771704U - Auxiliary spraying robot for semi-closed space - Google Patents
Auxiliary spraying robot for semi-closed space Download PDFInfo
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- CN208771704U CN208771704U CN201821362828.1U CN201821362828U CN208771704U CN 208771704 U CN208771704 U CN 208771704U CN 201821362828 U CN201821362828 U CN 201821362828U CN 208771704 U CN208771704 U CN 208771704U
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- connecting rod
- guide groove
- hemi
- gear
- upper bracket
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- 238000005507 spraying Methods 0.000 title abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims description 44
- 239000007921 spray Substances 0.000 claims description 40
- 238000001514 detection method Methods 0.000 claims description 9
- 238000007592 spray painting technique Methods 0.000 claims description 7
- 239000011248 coating agent Substances 0.000 claims description 6
- 238000000576 coating method Methods 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 2
- 229910000831 Steel Inorganic materials 0.000 abstract description 18
- 239000010959 steel Substances 0.000 abstract description 18
- 238000010276 construction Methods 0.000 abstract description 14
- 210000003205 muscle Anatomy 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 10
- 230000009286 beneficial effect Effects 0.000 description 9
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
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Abstract
The utility model provides a semi-closed space auxiliary spraying robot, include: a spraying device; conveyer, it includes first base, first upper bracket, first telescopic link, head rod and actuating mechanism, first telescopic link is connected between first base and first upper bracket, be equipped with first guide way and second guide way on the first upper bracket, head rod one end warp spraying device is connected to first holder, actuating mechanism drives the head rod and removes in first guide way and second guide way. The utility model discloses compare in prior art, drive the semi-closed space inner chamber that spraying device stretched into the steel construction and accomplish the spraying operation through conveyer's head rod, because spraying device and head rod are more slender, can adapt to the steel construction that has different specification/cross section semi-closed inner space, can avoid the inside muscle position of semi-closed space to block, realize effectual spraying operation.
Description
Technical field
The utility model relates to a kind of auxiliary spray equipment, especially a kind of hemi-closure space assists spray robot.
Background technique
Steel construction occupies important role in ship and building, and steel construction corrodes in order to prevent to need to carry out coating, if
Coating is not thorough, and holiday part can generate serious corrosion.Most of position of steel construction is still easier spraying, but
The hemi-closure space of steel construction is because structure is complicated or narrow space is difficult to be sprayed.As shown in Fig. 1, in order to half-and-half seal
It closes space and carries out coating, occur a kind of pipe inner-wall spraying device for being exclusively used in circular cross section steel pipe in the market, mainly by leading
Body portion 91, walking mechanism 92 and spray equipment 93 form, and wherein walking mechanism 92 guarantees whole device in the steady of inner wall of the pipe
Fixed mobile, which can effectively spray the inner wall of the pipe of rule, and high-efficient, coating quality is high.But spray equipment master
Be applicable in the pipeline of circular cross section, reluctantly applicable square cross section pipeline, for other shapes cross section steel construction less
It is applicable in；Some steel constructions can install stiffening plate additional in inside for factors such as stable structure, and walking mechanism is difficult to be applicable in；For non-
When the interior finishing of the steel construction hemi-closure space of circular cross section, the distance of each point is different on nozzle to cross section, therefore
It is difficult to obtain relatively uniform film thickness.
Utility model content
In order to overcome the above-mentioned deficiencies of the prior art, the purpose of the utility model is to provide a kind of hemi-closure space auxiliary
Spray robot.
In order to achieve the above objectives, the technical scheme adopted by the utility model to solve the technical problem is as follows:
A kind of hemi-closure space auxiliary spray robot, comprising:
Spray equipment comprising nozzle, air motor, main pipe and first clamping member, described first clamping member are mounted on
One end of the main pipe, the air motor are connected to the other end of main pipe, and the nozzle is mounted on turning for air motor
On moving axis, supervisor's intracoelomic cavity is equipped with spray painting pipe and high-pressure air hose, and the spray painting pipe is connect with nozzle, the high-pressure air hose
It is connect with air motor；
Transmission device comprising first base, the first upper bracket, the first telescopic rod, first connecting rod and driving mechanism, institute
It states the first telescopic rod to be connected between first base and the first upper bracket, first upper bracket is equipped with the first guide groove and the
Two guide grooves, described first connecting rod one end are connected in described first clamping member, and the driving mechanism drives first connecting rod
It is moved in the first guide groove and the second guide groove.
The utility model drives spray equipment to protrude into steel knot compared to the prior art, by the first connecting rod of transmission device
Spraying operation is simultaneously completed in the hemi-closure space inner cavity of structure, since spray equipment and first connecting rod are more elongated, can adapt to have
There is the steel construction of the semiclosed inner space in different size/cross section, the muscle steric hindrance gear inside hemi-closure space can be avoided, realization has
The spraying operation of effect.
Further, the cross section of the first connecting rod is rectangular, and the lower surface of first connecting rod is equipped with transmission rack gear,
The two sides of first guide groove and the second guide groove are equipped with directive wheel, and the side of the directive wheel and first connecting rod is supported
The bottom surface of touching, first guide groove and the second guide groove is equipped with guide gear, and the guide gear is meshed with transmission rack gear.
Using the above preferred scheme, it can be ensured that the steady movement of first connecting rod.
Further, limit locking bar to be opened/closed, the limit are equipped with above first guide groove and the second guide groove
When locking bar is sealed, for limiting the top position of first connecting rod.
Using the above preferred scheme, facilitate the pick-and-place of first connecting rod, it is ensured that the positional stability of first connecting rod.
Further, the driving mechanism includes motor, driving gear, the first transmission gear and the second transmission gear, institute
It states driving gear to be mounted in the shaft of motor, first transmission gear is meshed with driving gear, first driving cog
Wheel and the second transmission gear are coaxially connected, and second transmission gear is meshed with the transmission rack gear of first connecting rod.
Further, second transmission gear side is equipped with wind.
Using the above preferred scheme, motor can steadily drive stablizing for first connecting rod to move；In debugging or short of electricity feelings
Under condition, the movement that the second transmission gear realizes first connecting rod can also be rotated by wind.
Further, first telescopic rod includes the first mobile jib, the first secondary bar and retaining mechanism, first mobile jib
The part body of rod is sheathed on the first secondary bar periphery, and the retaining mechanism is used to fix the relative position of the first mobile jib and the first secondary bar.
It using the above preferred scheme, can be to the highly effective adjusting of the first upper bracket, it is ensured that spray equipment is located at half
The central axis of enclosure space.
Further, the first base is equipped with the idler wheel with brake gear；The first base is equipped with and is used for
Carry out mobile push rod.
Using the above preferred scheme, convenient for the movement of transmission device and fixation.
It further, further include auxiliary stand, the auxiliary stand includes second base, the second telescopic rod, props up on second
Seat, the second connecting rod and the second clamping piece, second telescopic rod are vertically installed between second base and the second upper bracket, institute
The second upper bracket is stated equipped with third guide groove, second connecting rod is arranged in third guide groove, second connecting rod
One end is clamped on second clamping piece, and second clamping piece is rotatably connected to the shaft of air motor by bearing
On.
Using the above preferred scheme, both ends are carried out to spray equipment using auxiliary stand and transmission device coaxially to position,
Substantially increase the position precision and the moving stability of spray equipment.
Further, further include controller, volume control damper is additionally provided on the high-pressure air hose, the nozzle, which is equipped with, to incline
Angle transducer, first upper bracket are equipped with the laser velocimeter device for detecting first connecting rod movement speed, the air quantity
Control valve, obliquity sensor, laser velocimeter device and motor are connected with the controller in a signal way.；The controller receives inclination angle and passes
The nozzle rotating position signal of sensor detection, issues the command signal of control volume control damper circulation after processing；The control
Device receives the first connecting rod movement speed signal of laser velocimeter device detection, and the instruction letter of control motor speed is issued after processing
Number.
Using the above preferred scheme, control journey can be write according to the specific structure shape of steel construction hemi-closure space
Sequence suitably reduces the movement speed of spray equipment in the big region in cross section and reduces the intake of air motor to reduce nozzle
Velocity of rotation, to obtain uniform and stable spraying film thickness.
It further, further include the infrared distance sensor group being arranged on the outside of spray equipment main pipe, the infrared survey
It include multiple circumferential sensors away from sensor group, the infrared distance sensor group and the controller signals connect
It connects, the controller receives the hemi-closure space size signal of the infrared distance sensor detection, and control wind is issued after processing
The command signal of control valve and motor action.
Using the above preferred scheme, pass through the ruler of infrared distance sensor group real-time detection hemi-closure space to be sprayed
It is very little, and pass through the adjusting that controller carries out motor speed and air motor revolving speed automatically, automatic realization is semiclosed to different sizes
The adjusting of spraying process condition in space, obtains stable spraying effect.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram for the pipe inner-wall spraying device that the prior art is exclusively used in circular cross section steel pipe；
Fig. 2 is a kind of structural schematic diagram of embodiment of the utility model；
Fig. 3 is a kind of structural schematic diagram of embodiment of the utility model spray equipment；
Fig. 4 is a kind of structural schematic diagram of embodiment of the utility model transmission device；
Fig. 5 is a kind of structural schematic diagram of embodiment of the utility model transmission device；
Fig. 6 is a kind of structural schematic diagram of embodiment of the utility model driving mechanism；
Fig. 7 is the structural schematic diagram of the utility model another embodiment；
Fig. 8 is a kind of structural schematic diagram of embodiment of the utility model auxiliary stand；
Fig. 9 is the structural schematic diagram of the utility model another embodiment；
Figure 10 is the structural schematic diagram of the utility model another embodiment.
The title of number and corresponding component represented by letter in figure:
1- spray equipment；11- nozzle；111- obliquity sensor；12- air motor；13- main pipe；14- first is clamped
Part；15- spray painting pipe；16- high-pressure air hose；2- transmission device；21- first base；The first upper bracket of 22-；The first guide groove of 221-；
The second guide groove of 222-；223- limits locking bar；224- laser velocimeter device mounting box；The first telescopic rod of 23-；The first mobile jib of 231-；
The first secondary bar of 232-；233- retaining mechanism；24- first connecting rod；25- driving mechanism；251- motor；252- drives gear；
The first transmission gear of 253-；The second transmission gear of 254-；255- wind；26- idler wheel；27- push rod；261- brake gear；3-
Auxiliary stand；31- second base；The second telescopic rod of 32-；The second upper bracket of 33-；331- third guide groove；The connection of 34- second
Bar；The second clamping piece of 35-；36- bearing；91- main part；92- walking mechanism；93- spray equipment.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without creative efforts
Every other embodiment obtained, fall within the protection scope of the utility model.
As shown in Figure 2-5, a kind of hemi-closure space assists spray robot, comprising:
Spray equipment 1 comprising nozzle 11, air motor 12, main pipe 13 and first clamping member 14, first clamping member 14
It is mounted on one end of main pipe 13, air motor 12 is connected to the other end of main pipe 13, and nozzle 11 is mounted on air motor 12
Rotation axis on, 13 inner cavity of main pipe is equipped with spray painting pipe 15 and high-pressure air hose 16, and spray painting pipe 15 is connect with nozzle 11, high-pressure blast
Pipe 16 is connect with air motor 12；
Transmission device 2 comprising first base 21, the first upper bracket 22, the first telescopic rod 23, first connecting rod 24 and drive
Motivation structure 25, the first telescopic rod 23 are connected between first base 21 and the first upper bracket 22, and the first upper bracket 22 is equipped with the
One guide groove 221 and the second guide groove 222,24 one end of first connecting rod are connected in first clamping member 14,25 band of driving mechanism
Dynamic first connecting rod 24 moves in the first guide groove 221 and the second guide groove 222.
Beneficial effect by adopting the above technical scheme is: driving spray equipment 1 by the first connecting rod 24 of transmission device 2
It protrudes into the hemi-closure space inner cavity of steel construction and completes spraying operation, since spray equipment 1 and first connecting rod 24 are more elongated,
It can adapt to the steel construction with the semiclosed inner space in different size/cross section, the muscle position inside hemi-closure space can be avoided
Stop, realizes effective spraying operation.
In other embodiments of the utility model, spray equipment 1 can be exclusively used in round cross from the prior art
Related walking mechanism 92 is removed on the basis of the pipe inner-wall spraying device of section steel pipe, and increases necessary component as needed
Or it carries out other necessity and improves.
In other embodiments of the utility model, the cross section of first connecting rod 24 is rectangular, first connecting rod
24 lower surface, which is equipped with, transmits rack gear, and the two sides of the first guide groove 221 and the second guide groove 222 are equipped with directive wheel, described to lead
It being contradicted to the side of wheel and first connecting rod 24, the bottom surface of the first guide groove 221 and the second guide groove 222 is equipped with guide gear,
The guide gear is meshed with transmission rack gear.Beneficial effect by adopting the above technical scheme is: can ensure first connecting rod
Steady movement.
As shown in Figure 4,5, in other embodiments of the utility model, the first guide groove 221 and the second guide groove
222 tops are equipped with limit locking bar 223 to be opened/closed, when limit locking bar 223 is sealed, for limiting the upper position of first connecting rod 24
It sets.Beneficial effect by adopting the above technical scheme is: facilitating the pick-and-place of first connecting rod, it is ensured that stablizes the position of first connecting rod
Property.
As shown in fig. 6, driving mechanism 25 includes motor 251, sliding tooth in other embodiments of the utility model
The 252, first transmission gear 253 and the second transmission gear 254 are taken turns, driving gear 252 is mounted in the shaft of motor 251, and first
Transmission gear 253 is meshed with driving gear 252, and the first transmission gear 253 and the second transmission gear 254 are coaxially connected, and second
Transmission gear 254 is meshed with the transmission rack gear of first connecting rod 24；Second transmission gear, 254 side is equipped with wind 255.It adopts
Be with the beneficial effect of above-mentioned technical proposal: motor can steadily drive stablizing for first connecting rod to move；In debugging or short of electricity feelings
Under condition, the movement that the second transmission gear realizes first connecting rod can also be rotated by wind.
As shown in figure 4, in other embodiments of the utility model, the first telescopic rod 23 include the first mobile jib 231,
First secondary bar 232 and retaining mechanism 233, the part body of rod of the first mobile jib 231 are sheathed on 232 periphery of the first secondary bar, retaining mechanism
233 for fixing the relative position of the first mobile jib 231 and the first secondary bar 232.Beneficial effect by adopting the above technical scheme is: can
With the highly effective adjusting to the first upper bracket 22, it is ensured that spray equipment 1 is located at the central axis of hemi-closure space.
As shown in Figure 4,5, in other embodiments of the utility model, first base 21 is equipped with brake dress
Set 261 idler wheel 26；First base 21 is equipped with for carrying out mobile push rod 27.Beneficial effect by adopting the above technical scheme
It is: convenient for the movement and fixation of transmission device.
It as Figure 7-9, further include auxiliary stand 3, auxiliary stand 3 in other embodiments of the utility model
It is flexible including second base 31, the second telescopic rod 32, the second upper bracket 33, the second connecting rod 34 and the second clamping piece 35, second
Bar 32 is vertically installed between second base 31 and the second upper bracket 33, and the second upper bracket 33 is equipped with third guide groove 331, the
Two connecting rods 34 are arranged in third guide groove 331, and 34 one end of the second connecting rod is clamped on second clamping piece 35, and second
Clamping piece 35 is rotatably connected in the shaft of air motor 12 by bearing 36.Beneficial effect by adopting the above technical scheme
It is: both ends is carried out to spray equipment 1 using auxiliary stand 3 and transmission device 2 and are coaxially positioned, spray equipment 1 is substantially increased
Position precision and the moving stability.
In other embodiments of the utility model, further includes controller, air quantity control is additionally provided on high-pressure air hose 16
Valve processed, in Figure 10, nozzle 11 is equipped with obliquity sensor 111, and in Fig. 5, the laser velocimeter device of the first upper bracket 22 is installed
The laser velocimeter device for detecting 24 movement speed of first connecting rod, the volume control damper, obliquity sensor are equipped in box 224
111, laser velocimeter device and motor 251 are connected with the controller in a signal way.；The controller receives obliquity sensor 111 and detects
11 rotating position signal of nozzle, after processing issue control volume control damper circulation command signal；The controller receives
The first connecting rod movement speed signal of laser velocimeter device detection, issues the command signal of control 251 revolving speed of motor after processing.It adopts
It is with the beneficial effect of above-mentioned technical proposal: control journey can be write according to the specific structure shape of steel construction hemi-closure space
Sequence suitably reduces the movement speed of spray equipment 1 in the big region in cross section and reduces the intake of air motor 12 to reduce
The velocity of rotation of nozzle 11, it is ensured that spray-on coating quality.
It further include the outside of 1 main pipe of spray equipment 13 is set red in other embodiments of the utility model
Outer distance measuring sensor group, the infrared distance sensor group include multiple circumferential sensors, and the infrared distance measurement passes
Sensor group is connected with the controller in a signal way., and the controller receives the hemi-closure space ruler of the infrared distance sensor detection
Very little signal issues the command signal of control volume control damper and motor action after processing.Beneficial effect by adopting the above technical scheme
Fruit is: carrying out automatically by the size of infrared distance sensor group real-time detection hemi-closure space to be sprayed, and by controller
The adjusting of motor speed and air motor revolving speed, the automatic tune realized to spraying process condition in different size hemi-closure spaces
Section, obtains stable spraying effect.
The above embodiments are only for explaining the technical ideas and features of the present invention, and its object is to allow the common skill in this field
Art personnel can understand the content of the utility model and be implemented, and not limit the protection scope of the present invention,
All equivalent change or modifications according to made by the spirit of the present invention essence, should all cover in the protection scope of the utility model
It is interior.
Claims (10)
1. a kind of hemi-closure space assists spray robot characterized by comprising
Spray equipment comprising nozzle, air motor, main pipe and first clamping member, described first clamping member are mounted on described
One end of main pipe, the air motor are connected to the other end of main pipe, and the nozzle is mounted on the rotation axis of air motor
On, supervisor's intracoelomic cavity is equipped with spray painting pipe and high-pressure air hose, and the spray painting pipe is connect with nozzle, the high-pressure air hose and wind
Dynamic motor connection；
Transmission device comprising first base, the first upper bracket, the first telescopic rod, first connecting rod and driving mechanism, described
One telescopic rod is connected between first base and the first upper bracket, and first upper bracket is equipped with the first guide groove and second and leads
To slot, described first connecting rod one end is connected in described first clamping member, and the driving mechanism drives first connecting rod the
It is moved in one guide groove and the second guide groove.
2. hemi-closure space according to claim 1 assists spray robot, which is characterized in that the first connecting rod
Cross section is rectangular, and the lower surface of first connecting rod is equipped with transmission rack gear, the two sides of first guide groove and the second guide groove
Face is equipped with directive wheel, the side conflict of the directive wheel and first connecting rod, the bottom of first guide groove and the second guide groove
Face is equipped with guide gear, and the guide gear is meshed with transmission rack gear.
3. hemi-closure space according to claim 2 assists spray robot, which is characterized in that first guide groove and
Limit locking bar to be opened/closed is equipped with above second guide groove, when the limiting lock lever lock closes, for limiting first connecting rod
It sets in orientation.
4. hemi-closure space according to claim 3 assists spray robot, which is characterized in that the driving mechanism includes
Motor, driving gear, the first transmission gear and the second transmission gear, the driving gear is mounted in the shaft of motor, described
First transmission gear is meshed with driving gear, and first transmission gear and the second transmission gear are coaxially connected, and described second
Transmission gear is meshed with the transmission rack gear of first connecting rod.
5. hemi-closure space according to claim 4 assists spray robot, which is characterized in that second transmission gear
Side is equipped with wind.
6. hemi-closure space according to claim 5 assists spray robot, which is characterized in that the first telescopic rod packet
The first mobile jib, the first secondary bar and retaining mechanism are included, the part body of rod of first mobile jib is sheathed on the first secondary bar periphery, the lock
Tight mechanism is used to fix the relative position of the first mobile jib and the first secondary bar.
7. hemi-closure space according to claim 6 assists spray robot, which is characterized in that set in the first base
There is the idler wheel with brake gear；The first base is equipped with for carrying out mobile push rod.
8. hemi-closure space according to claim 7 assists spray robot, which is characterized in that it further include auxiliary stand,
The auxiliary stand includes second base, the second telescopic rod, the second upper bracket, the second connecting rod and the second clamping piece, and described
Two telescopic rods are vertically installed between second base and the second upper bracket, and second upper bracket is equipped with third guide groove, institute
It states the second connecting rod to be arranged in third guide groove, second connecting rod one end is clamped on second clamping piece, described
Second clamping piece is rotatably connected in the shaft of air motor by bearing.
9. hemi-closure space according to claim 8 assists spray robot, which is characterized in that it further include controller, institute
It states and is additionally provided with volume control damper on high-pressure air hose, the nozzle is equipped with obliquity sensor, and first upper bracket, which is equipped with, to be used
In the laser velocimeter device of detection first connecting rod movement speed, the volume control damper, obliquity sensor, laser velocimeter device and electricity
Machine is connected with the controller in a signal way.；The controller receives the nozzle rotating position signal of obliquity sensor detection, processing
The command signal of control volume control damper circulation is issued afterwards；The controller receives the first connecting rod of laser velocimeter device detection
Movement speed signal issues the command signal of control motor speed after processing.
10. hemi-closure space according to claim 9 assists spray robot, which is characterized in that further include that setting is being sprayed
Infrared distance sensor group on the outside of coating device main pipe, the infrared distance sensor group include multiple circumferential biographies
Sensor, the infrared distance sensor group are connected with the controller in a signal way., and the controller receives the infrared distance measurement sensing
The hemi-closure space size signal of device detection issues the command signal of control volume control damper and motor action after processing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821362828.1U CN208771704U (en) | 2018-08-22 | 2018-08-22 | Auxiliary spraying robot for semi-closed space |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821362828.1U CN208771704U (en) | 2018-08-22 | 2018-08-22 | Auxiliary spraying robot for semi-closed space |
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| Publication Number | Publication Date |
|---|---|
| CN208771704U true CN208771704U (en) | 2019-04-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821362828.1U Expired - Fee Related CN208771704U (en) | 2018-08-22 | 2018-08-22 | Auxiliary spraying robot for semi-closed space |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108772231A (en) * | 2018-08-22 | 2018-11-09 | 南通理工学院 | Auxiliary spraying robot for semi-closed space |
-
2018
- 2018-08-22 CN CN201821362828.1U patent/CN208771704U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108772231A (en) * | 2018-08-22 | 2018-11-09 | 南通理工学院 | Auxiliary spraying robot for semi-closed space |
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Granted publication date: 20190423 |