CN115921168A - Multi-station spraying manipulator - Google Patents
Multi-station spraying manipulator Download PDFInfo
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- CN115921168A CN115921168A CN202310095118.6A CN202310095118A CN115921168A CN 115921168 A CN115921168 A CN 115921168A CN 202310095118 A CN202310095118 A CN 202310095118A CN 115921168 A CN115921168 A CN 115921168A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The invention discloses a multi-station spraying manipulator, which comprises: the guide mechanism comprises two bases, the top of each base is sleeved with a top seat, the inner surface wall of one side of each base is fixedly connected with a guide rail through a bolt, the outer surface of one side of each base is provided with a first limiting groove, and the inner bottom surface of each base is provided with a second limiting groove; when the device is used, the spray head is connected with the existing coating supply pipeline, and splicing treatment of a plurality of bases and the footstock can be conveniently carried out through the guide rod according to actual use conditions, so that the corresponding base and the guide rail in the footstock form an effective moving path, and the moving mechanism can move and adjust the position by controlling the electric wheels; by utilizing the invention, the structure of the spray gun can be conveniently adjusted according to different structural objects, and the uniform spraying treatment of mass different structural objects can be efficiently carried out, thereby effectively improving the actual spraying effect.
Description
Technical Field
The invention belongs to the technical field of spraying equipment, and particularly relates to a multi-station spraying manipulator.
Background
The spray coating is applied to the surface of the object to be coated by dispersing the particles into uniform and fine droplets by means of a spray gun or a disc atomizer by means of pressure or centrifugal force.
However, in the prior art, there are two modes of manual spraying and mechanical spraying, the actual spraying efficiency of manual spraying is low, and the manual spraying is not suitable for spraying treatment of mass objects, the actual spraying structure of mechanical spraying is relatively fixed, and the spraying effect cannot be conveniently adjusted according to different objects, both manual spraying and mechanical spraying are habitually sprayed according to a specific mode or program, so that the situation of uneven spraying during spraying of objects with different structures exists in manual spraying and mechanical spraying, the actual spraying effect is poor, and the spraying effect of final finished products is affected.
Disclosure of Invention
The invention aims to: the utility model provides a can carry out the convenient regulation of self structure according to the isostructure article, and then can carry out the even spraying of big isostructure article in batches high-efficiently and handle, improve the multistation spraying manipulator of actual spraying effect.
The technical scheme adopted by the invention is as follows: a multistation spraying manipulator includes: the guide mechanism comprises two bases, the top of each base is sleeved with a top seat, the inner surface wall of one side of each base is fixedly connected with a guide rail through a bolt, the outer surface of one side of each base is provided with a first limiting groove, the inner bottom surface of each base is provided with a second limiting groove, and the inner surface wall of one side of each top seat is also fixedly connected with a guide rail through a bolt;
the moving mechanism is arranged on the guide mechanism and comprises two moving seats, two carrying frames and a bottom frame, the top of each moving seat is fixedly connected with an electric wheel, the top of each moving seat is fixedly connected with a first air cylinder, the output end of each first air cylinder is fixedly connected with a clamping plate, the top of each clamping plate is rotatably connected with an extending plate, a limiting part is arranged between the bottoms of the two extending plates, each carrying frame is arranged on the limiting part, and the bottom frame is arranged between the insides of the two second limiting grooves; and
spraying mechanism, spraying mechanism sets up on guiding mechanism, spraying mechanism includes two movable plates and four group's spraying parts, two second cylinders of the equal fixedly connected with of movable plate one side surface, four fixedly connected with top frame between the second cylinder output, every movable plate one side surface all rotates and is connected with adjusting threaded rod, every the equal threaded connection of adjusting threaded rod surface has the installation piece, four group the spraying part sets up respectively on top frame and two installation pieces.
The outer surface of the other side of the base is provided with a plurality of connecting holes, the outer surface of one side of the top seat is also provided with a plurality of connecting holes, and a guide rod penetrates through the connecting holes.
Wherein, every electronic round of top all rotates and is connected with two spacing rounds, every electronic round of bottom also all rotates and is connected with two spacing rounds.
The two electric wheels are respectively positioned inside the corresponding two guide rails, and the outer surface of one side of each clamping plate is rotatably connected with two supporting wheels.
Wherein, spacing part includes two spacing frames, two spacing frame fixed connection respectively is in corresponding extension bottom of the board, two it has two slide bars to slide to run through between the spacing frame is inside, and every slide bar surface is close to both ends edge and all slides the cover and is equipped with spacing spring, every the table wall all rotates in spacing frame one side and is connected with the movable threaded rod, every movable threaded rod and corresponding carrier frame threaded connection, every the movable threaded rod surface all overlaps and is equipped with the worm wheel.
The bottom surface of the inner portion of the limiting frame is rotatably connected with a worm, the worm is meshed with a corresponding worm wheel, and the bottom of the limiting frame is fixedly connected with a driving motor and an output end of the driving motor is fixedly connected with one end of a corresponding worm.
Wherein, every all rotate between the relative interior table wall in carriage both sides and be connected with limit threaded rod, every the equal threaded connection of limit threaded rod surface has stopper, every the stopper top all is through bolt fixedly connected with clamp splice.
The outer surface of one side of the moving plate is in threaded connection with two fastening shafts, the outer surface of each fastening shaft is in rotary connection with a carrier wheel, and each carrier wheel is arranged in a corresponding first limiting groove.
Wherein, every group the spraying part all includes the regulating plate, a plurality of locating holes have been seted up to regulating plate one side surface equidistance, regulating plate one side surface passes through bolt and locating hole fixedly connected with rotor plate and rotatory pipe, rotor plate one side surface fixedly connected with rotary rod, rotary rod one end extends to inside the rotary tube, the inside supporting spring that is provided with of rotatory pipe, the rotor plate bottom is rotated and is connected with the screwed pipe, the inside threaded connection of screwed pipe has the lifting screw pole, lifting screw pole bottom fixedly connected with alignment jig, alignment jig one side surface is rotated and is connected with and supports the wheel, alignment jig bottom fixedly connected with shower nozzle, alignment jig top fixedly connected with extension rod, the extension rod top slides and runs through the rotor plate bottom, four the regulating plate is fixed connection respectively on roof-frame and installation piece.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
when the invention is used, the spray head is connected with the existing coating supply pipeline, the splicing treatment of a plurality of bases and footstocks can be conveniently carried out through the guide rod according to the actual use condition, thereby forming an effective moving path corresponding to the guide rails inside the base and the top seat, further enabling the moving mechanism to carry out the moving adjustment of the position by controlling the electric wheels, further, the driving motor can effectively drive the worm wheel to rotate through the worm by controlling and starting the driving motor, thereby enabling the rotating worm wheel to effectively rotate and adjust the corresponding moving threaded rod, further enabling the rotating moving threaded rod to effectively move and adjust the using position of the corresponding carrier under the position limitation of the sliding rod, further cooperating with the rotation of the adjusting limit threaded rod, the use position of the clamping block can be effectively moved and adjusted through the limiting block, so that the position of the object can be effectively fixed and limited by the clamping block matched with the carrier, and simultaneously, by increasing or decreasing the using number of the moving framework, thereby enabling the equipment to fix the positions of objects with different structures, and effectively increasing or decreasing the spraying mechanism according to the actual use condition, thereby the moving adjustment of the using positions of a plurality of spraying mechanisms can be conveniently carried out through the loading wheel, the effective fixing and limiting of the using position of each spraying mechanism can be effectively carried out through rotating the fastening shaft, further control and adjustment of the first air cylinder, the second air cylinder and the adjusting threaded rod are carried out according to the actual object spraying requirement, when the moving mechanism carries the object and passes through the spraying mechanism, the surface of the object extrudes the supporting wheel, and the supporting wheel can be always attached to the surface of the object under the support of the supporting spring, further, the spraying distance can be maintained, the uniformity of actual spraying is ensured, after the object effectively passes through the spraying mechanism, the spraying parts at different positions can effectively perform uniform spraying treatment on corresponding positions.
Drawings
FIG. 1 is a front perspective view of the present invention;
FIG. 2 is a rear perspective view of the present invention;
FIG. 3 is a front cross-sectional perspective view of the present invention;
FIG. 4 is a front expanded perspective view of the guide mechanism of the present invention;
FIG. 5 is a front perspective view of the movement mechanism of the present invention;
FIG. 6 is an enlarged view taken at A of FIG. 5 in accordance with the present invention;
FIG. 7 is a front cross-sectional perspective view of the spray mechanism of the present invention;
fig. 8 is an enlarged view of the invention at B in fig. 7.
The labels in the figure are: 1. a guide mechanism; 101. a base; 102. a top seat; 103. a guide rail; 104. a guide bar; 2. a moving mechanism; 201. a movable seat; 202. an electric wheel; 203. a limiting wheel; 204. a first cylinder; 205. clamping a plate; 206. a support wheel; 207. an extension plate; 208. a limiting frame; 209. a drive motor; 210. a slide bar; 211. a limiting spring; 212. a bottom frame; 213. moving the threaded rod; 214. a worm; 215. a worm gear; 216. a carrier; 217. a clamping block; 3. a spraying mechanism; 301. moving the plate; 302. adjusting the threaded rod; 303. mounting blocks; 304. a second cylinder; 305. a top frame; 306. an adjusting plate; 307. a rotating plate; 308. a threaded pipe; 309. lifting the threaded rod; 310. an adjusting bracket; 311. an extension rod; 312. supporting the wheel; 313. a spray head; 314. rotating the rod; 315. rotating the tube; 316. supporting the spring.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example one
Referring to fig. 1-8: a multistation spraying manipulator includes: the spraying device comprises a guide mechanism 1, a moving mechanism 2 and a spraying mechanism 3, wherein the moving mechanism 2 and the spraying mechanism 3 are arranged on the guide mechanism 1; the guide mechanism 1 comprises two bases 101, the setting of the bases 101 provides an installation basis for the setting of other functional components of the equipment, the equipment can be stably placed at an appointed use position, the top of each base 101 is sleeved with a top seat 102, the setting of the top seats 102 facilitates the installation and setting of the other functional components of the equipment, the installation and setting of the guide rails 103 are facilitated by matching with the bases 101, the inner surface wall of one side of each base 101 is fixedly connected with the guide rails 103 through bolts, the setting of the guide rails 103 can effectively limit the movement of the position of the electric wheels 202, the outer surface of one side of each base 101 is provided with a first limiting groove, the setting of the first limiting groove facilitates the installation and setting of the carrying wheels, the movement and the movement of the carrying wheels are effectively limited, the inner bottom surface of each base 101 is provided with a second limiting groove, the setting of the bottom frame 212 facilitates the installation and setting of the use position of the bottom frame 212, and the inner surface wall of one side of each top seat 102 is also fixedly connected with the guide rails 103 through bolts;
the moving mechanism 2 comprises two moving seats 201, two carriers 216 and a bottom frame 212, the moving seats 201 are convenient to install and set other functional parts of the equipment, the carriers 216 are convenient to install and set other functional parts of the equipment, meanwhile, stable bearing of an object to be sprayed can be effectively carried out, the top of each moving seat 201 is fixedly connected with an electric wheel 202, the electric wheel 202 is set to provide power required by movement of the position of the moving mechanism 2, the top of each moving seat 201 is fixedly connected with a first air cylinder 204, the setting of the first air cylinder 204 can effectively adjust the use height of other functional parts of the moving mechanism 2, further, the placement height of the object to be sprayed can be effectively adjusted, the output end of each first air cylinder 204 is fixedly connected with a clamping plate 205, the setting of the clamping plate 205 is convenient to install other functional parts of the equipment, the top of each clamping plate 205 is rotatably connected with an extending plate 207, the setting of the extending plate 207 is convenient to install other functional parts, meanwhile, the corresponding relative positions between the electric wheels 202 are convenient to effectively carry out bearing of different structural objects, a limiting part is arranged between the bottoms of the two extending plates 207, each carrier 216 is arranged on a limiting part, and a second limiting groove 212 is arranged between the two carrier frames;
Referring to fig. 3-8: a plurality of connecting holes are formed in the outer surface of the other side of each base 101, the connecting holes are conveniently formed to facilitate installation and arrangement of the guide rods 104, a plurality of connecting holes are formed in the outer surface of one side of each top seat 102, the guide rods 104 penetrate through the connecting holes, the guide rods 104 are conveniently formed to facilitate splicing and use of the bases 101 and the top seats 102, two limiting wheels 203 are rotatably connected to the top of each electric wheel 202, the position movement of the electric wheels 202 can be effectively limited by the arrangement of the limiting wheels 203, two limiting wheels 203 are also rotatably connected to the bottom of each electric wheel 202, the two electric wheels 202 are respectively located inside two corresponding guide rails 103, two supporting wheels 206 are rotatably connected to the outer surface of one side of each clamping plate 205, and the use pressure of the electric wheels 202 can be effectively reduced by the arrangement of the supporting wheels 206;
the limiting parts comprise two limiting frames 208, the setting of the limiting frames 208 is convenient for installation and setting of other functional parts of the equipment, the two limiting frames 208 are respectively and fixedly connected to the bottoms of the corresponding extending plates 207, two sliding rods 210 penetrate through the insides of the two limiting frames 208 in a sliding manner, the setting of the sliding rods 210 can effectively carry out bearing of the carrier 216 and can effectively limit the position movement of the carrier 216, limiting springs 211 are slidably sleeved on the outer surfaces of the sliding rods 210 close to the edges of the two ends, the setting of the limiting springs 211 can effectively limit the position movement of the sliding rods 210, a movable threaded rod 213 is rotatably connected to the inner surface wall of one side of each limiting frame 208, the setting of the movable threaded rod 213 can effectively move and adjust the use position of the carrier 216, each movable threaded rod 213 is in threaded connection with the corresponding carrier 216, a worm wheel 215 is sleeved on the outer surface of each movable threaded rod 213, and the setting of the worm wheel 215 is matched with a worm 214 to enable the driving motor 209 to effectively drive the movable threaded rod 213 to rotate;
a worm 214 is rotatably connected to the bottom surface of the inner part of each limiting frame 208, each worm 214 is meshed with a corresponding worm wheel 215, a driving motor 209 is fixedly connected to the bottom of each limiting frame 208, the setting of the driving motor 209 provides power required by the rotation of a movable threaded rod 213, the output end of each driving motor 209 is fixedly connected with one end of the corresponding worm 214, a limiting threaded rod is rotatably connected between the two opposite inner surface walls of each carrier 216, the setting of the limiting threaded rod facilitates the movable adjustment of the use position of the limiting block, a limiting block is in threaded connection with the outer surface of each limiting threaded rod, the setting of the limiting block facilitates the movable adjustment of the use position of the clamping block 217, the top of each limiting block is fixedly connected with the clamping block 217 through a bolt, the setting of the clamping block 217 can effectively and fixedly limit the use position of an object, two fastening shafts are in threaded connection with the outer surface of one side of each moving plate 301, the setting of the fastening shafts facilitates the installation and the fixed limitation of the use position of the carrier wheel, a carrier wheel is rotatably connected with a carrier wheel, the setting of the movable plate 301 conveniently and each carrier wheel is arranged in a corresponding first limiting groove;
each group of spraying components comprises an adjusting plate 306, the establishment of the adjusting plate 306 is convenient for adjusting the use positions of a rotating pipe 315 and a rotating plate 307, a plurality of positioning holes are formed in the outer surface of one side of the adjusting plate 306 at equal intervals, the establishment of the positioning holes is convenient for installing and adjusting the use positions of the rotating pipe 315 and the rotating plate 307, the outer surface of one side of the adjusting plate 306 is fixedly connected with the rotating plate 307 and the rotating pipe 315 through bolts and the positioning holes, the establishment of the rotating plate 307 is convenient for installing and setting other functional components of the equipment, the establishment of the rotating pipe 315 can effectively limit the use position of a rotating rod 314, the outer surface of one side of the rotating plate 307 is fixedly connected with a rotating rod 314, the establishment of the rotating rod 314 is matched with a supporting spring 316 to effectively support and reset the use angle of the rotating plate 307, meanwhile, the rotating plate 307 can effectively and continuously support the rotating plate 307, so that a supporting wheel 312 can be tightly attached to the surface of an object, one end of the rotating rod 314 extends into the rotating pipe 315, and the supporting spring 316 is arranged in the rotating pipe 315;
The use method of the multi-station spraying manipulator provided by the embodiment of the invention is explained in detail below, and comprises the following steps:
step one, placing an object: the spray head 313 is connected with the existing coating supply pipeline, splicing treatment of a plurality of bases 101 and top bases 102 can be conveniently carried out through the guide rod 104 according to actual use conditions, an effective moving path is formed by the corresponding base 101 and the guide rail 103 in the top base 102, the moving mechanism 2 can carry out moving adjustment on the position through controlling the electric wheel 202, the driving motor 209 is started through control, the driving motor 209 can effectively drive the worm wheel 215 to rotate through the worm 214, the rotating worm wheel 215 can effectively rotate and adjust the corresponding moving threaded rod 213, the rotating moving threaded rod 213 can effectively move and adjust the use position of the corresponding carrier 216 under the position limitation of the sliding rod 210, the limit threaded rod is rotatably adjusted in a matching way, the use position of the clamp block 217 can be effectively moved and adjusted through the limit block 217, the position fixing limitation of objects can be effectively carried out through the clamp block 217 matching with the carrier 216, and the use number of moving frameworks is increased or decreased, so that equipment can fix the positions of objects with different structures;
step two, spraying treatment: according to the actual service condition, can effectively increase and decrease spraying mechanism 3, and then can conveniently carry out the removal regulation of a plurality of spraying mechanism 3 service positions through the bull wheel, and then can effectively carry out the effective fixed restriction of every spraying mechanism 3 service position through rotatory fastening shaft, and then carry out the control regulation of first cylinder 204, second cylinder 304 and adjusting screw 302 according to actual article spraying demand, and then when moving mechanism 2 bore the article through spraying mechanism 3, the article surface will extrude and support wheel 312, and then under the support of supporting spring 316, make and support wheel 312 and can laminate with the article surface all the time, and then can maintain the spraying distance, ensure the homogeneity of actual spraying, after the article effectively passes through spraying mechanism 3, the spraying part of different positions can effectively carry out even spraying treatment to corresponding position.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (9)
1. The utility model provides a multistation spraying manipulator which characterized in that includes:
the guide mechanism (1) comprises bases (101), the number of the bases (101) is two, the top of each base (101) is sleeved with a top seat (102), the inner surface wall of one side of each base (101) is fixedly connected with a guide rail (103) through a bolt, the outer surface of one side of each base (101) is provided with a first limiting groove, the inner bottom surface of each base (101) is provided with a second limiting groove, and the inner surface wall of one side of each top seat (102) is also fixedly connected with a guide rail (103) through a bolt;
the moving mechanism (2) is arranged on the guide mechanism (1), the moving mechanism (2) comprises two moving seats (201), two carrier frames (216) and a bottom frame (212), the top of each moving seat (201) is fixedly connected with an electric wheel (202), the top of each moving seat (201) is fixedly connected with a first air cylinder (204), the output end of each first air cylinder (204) is fixedly connected with a clamping plate (205), the top of each clamping plate (205) is rotatably connected with an extension plate (207), a limiting part is arranged between the bottoms of the two extension plates (207), each carrier frame (216) is arranged on the limiting part, and the bottom frame (212) is arranged between the two second limiting groove interiors; and
spraying mechanism (3), spraying mechanism (3) sets up on guiding mechanism (1), spraying mechanism (3) includes two movable plates (301) and four groups of spraying parts, two equal fixedly connected with two second cylinders (304), four of surface in movable plate (301) one side fixedly connected with top frame (305), every between second cylinder (304) the output fixedly connected with top frame (305) all rotate and be connected with adjusting threaded rod (302), every adjusting threaded rod (302) surface equal threaded connection has installation piece (303), four groups the spraying parts set up respectively on top frame (305) and two installation pieces (303).
2. A multi-station painting robot as claimed in claim 1, wherein: each base (101) opposite side surface all seted up a plurality of connecting holes, each footstock (102) one side surface also all seted up a plurality of connecting holes, every connecting hole inside all runs through guide bar (104).
3. A multi-station painting robot as claimed in claim 2, wherein: every electronic round (202) top all rotates and is connected with two spacing rounds (203), every electronic round (202) bottom also all rotates and is connected with two spacing rounds (203).
4. A multi-station painting manipulator as claimed in claim 3, wherein: the two electric wheels (202) are respectively positioned inside the corresponding two guide rails (103), and the outer surface of one side of each clamping plate (205) is rotatably connected with two supporting wheels (206).
5. A multi-station spray manipulator as claimed in claim 4, wherein: spacing part includes two spacing frames (208), two spacing frame (208) fixed connection respectively is in corresponding extension board (207) bottom, two slide bar (210) have been run through in the slip between spacing frame (208) is inside, and every slide bar (210) surface is close to both ends edge and all slides the cover and is equipped with limit spring (211), every the table wall all rotates in spacing frame (208) one side and is connected with shift threaded rod (213), every shift threaded rod (213) and corresponding carrier (216) threaded connection, every shift threaded rod (213) surface all overlaps and is equipped with worm wheel (215).
6. A multi-station spray manipulator as claimed in claim 5, wherein: every the inside bottom surface of spacing frame (208) all rotates and is connected with worm (214), every worm (214) all meshes with corresponding worm wheel (215), every equal fixedly connected with driving motor (209) in spacing frame (208) bottom, every the output of driving motor (209) and corresponding worm (214) one end fixed connection.
7. A multi-station painting robot as claimed in claim 6, wherein: every all rotate between the relative interior table wall in carrier (216) both sides and be connected with limit threaded rod, every the equal threaded connection of limit threaded rod surface has the stopper, every the stopper top all is through bolt fixedly connected with clamp splice (217).
8. A multi-station painting robot as claimed in claim 7, wherein: every equal threaded connection of moving plate (301) one side surface has two fastening axles, every the fastening epaxial surface all rotates and connects and has a carrier wheel, every the carrier wheel all sets up in corresponding first spacing inslot portion.
9. A multi-station painting robot as claimed in claim 8, wherein: every group the spraying part all includes regulating plate (306), a plurality of locating holes have been seted up to regulating plate (306) one side surface equidistance, regulating plate (306) one side surface passes through bolt and locating hole fixedly connected with rotor plate (307) and swivel pipe (315), rotor plate (307) one side surface fixedly connected with rotary rod (314), rotary rod (314) one end extends to inside swivel pipe (315), inside supporting spring (316) that is provided with of swivel pipe (315), rotor plate (307) bottom is rotated and is connected with screwed pipe (308), screwed pipe (308) internal thread is connected with promotion threaded rod (309), promotion threaded rod (309) bottom fixedly connected with alignment jig (310), alignment jig (310) one side surface rotates and is connected with and supports wheel (312), alignment jig (310) bottom fixedly connected with shower nozzle (313), alignment jig (310) top fixedly connected with extension pole (311), extension pole (311) top slides and runs through rotor plate (307) bottom, four adjustment plate (306) fixed connection respectively on top frame (305) and installation piece (303).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202310095118.6A CN115921168B (en) | 2023-02-10 | 2023-02-10 | Multi-station spraying manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310095118.6A CN115921168B (en) | 2023-02-10 | 2023-02-10 | Multi-station spraying manipulator |
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| CN115921168A true CN115921168A (en) | 2023-04-07 |
| CN115921168B CN115921168B (en) | 2023-10-03 |
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