CN110805300A - Grouting floating mechanism and screw hole plugging robot - Google Patents
Grouting floating mechanism and screw hole plugging robot Download PDFInfo
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- CN110805300A CN110805300A CN201911094630.9A CN201911094630A CN110805300A CN 110805300 A CN110805300 A CN 110805300A CN 201911094630 A CN201911094630 A CN 201911094630A CN 110805300 A CN110805300 A CN 110805300A
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/02—Repairing, e.g. filling cracks; Restoring; Altering; Enlarging
- E04G23/0203—Arrangements for filling cracks or cavities in building constructions
- E04G23/0211—Arrangements for filling cracks or cavities in building constructions using injection
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Abstract
The invention provides a grouting floating mechanism which comprises a base, a grouting device, a floating device and a driving device. The grouting device and the floating device are both arranged on the base, and slurry can be sprayed out through the grouting device; the troweling device is configured to trowel the slurry sprayed by the grouting device; the driving device is configured to drive the grouting device and the floating device to move telescopically. The invention provides a screw hole plugging robot which comprises the grouting floating mechanism. According to the grouting floating mechanism and the screw hole plugging robot, the grouting device and the floating device are integrally arranged on the same execution mechanism, so that the execution mechanism can rapidly switch grouting operation and floating operation, and the construction efficiency of screw hole plugging is improved.
Description
Technical Field
The invention relates to the technical field of construction machinery, in particular to a grouting floating mechanism and a screw hole plugging robot.
Background
In the past, the plugging of the screw hole completely depends on manual or simple hand-held tools, and the labor intensity of workers is high. With the arrival of the industrialized era, construction robots aiming at the process are published, and the robots can accurately find the positions of the openings of the screw holes through visual positioning, so as to perform grouting operation or floating operation on the screw holes. However, if the switching from grouting operation to floating operation is performed by different robots, redundant actions will occur, and the efficiency of construction operation is affected.
Disclosure of Invention
The invention aims to provide a grouting and trowelling mechanism and a screw hole plugging robot, which can improve the construction efficiency of grouting and trowelling processes for screw holes.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a grouting floating mechanism, which comprises:
a base;
a grouting device which is installed on the base and can eject slurry through the grouting device;
a leveling device mounted on the base, the leveling device being configured to level the slurry ejected from the grouting device;
the driving device is configured to drive the grouting device and the floating device to move telescopically.
Preferably, the driving means is configured to be able to drive one of the grouting means and the troweling means to make an extending movement and the other to make a retracting movement simultaneously.
Preferably, the driving means includes:
a rotary drive member;
the transmission assembly is in transmission connection with the rotary driving piece and can convert the rotation of the rotary driving piece into linear motion output, the transmission assembly is provided with two output ends with opposite motion directions, and the grouting device and the floating device are respectively fixedly connected with one of the output ends.
Preferably, the transmission assembly comprises:
the synchronous belt wheel is in transmission connection with the rotary driving piece;
and one end of the synchronous belt is in transmission connection with the synchronous belt wheel, and the grouting device and the floating device are respectively fixed on two opposite sides of the synchronous belt.
Preferably, the grouting floating mechanism further comprises a guide assembly, wherein the guide assembly is arranged on the base and is configured to be capable of limiting the moving direction of the grouting device and the floating device.
Preferably, the troweling apparatus includes:
the scraper component is used for leveling slurry sprayed out by the grouting device;
and one end of the elastic component is connected or abutted with the scraper component, and the other end of the elastic component is in transmission connection with the driving device.
Preferably, the elastic member comprises:
the fixed seat is fixedly connected with the driving device;
one end of the guide post penetrates through the fixed seat and is connected with the fixed seat in a sliding manner, and the other end of the guide post is fixedly connected with the scraper component;
and the spring is sleeved on the guide post and arranged between the fixed seat and the scraper component.
Preferably, the scraper blade assembly comprises a scraping portion, and the scraping portion is arranged as a sheet metal part.
Preferably, the grouting floating mechanism further comprises a limit switch, and the limit switch is configured to be capable of detecting whether the grouting device and/or the floating device reach a working position or not and transmitting the detection result to the driving device.
The invention provides a screw hole plugging robot which comprises a movable chassis and the grouting trowelling mechanism, wherein the grouting trowelling mechanism is arranged on the movable chassis.
The invention has the beneficial effects that:
the grouting trowelling mechanism provided by the invention comprises a base, a grouting device arranged on the base, a trowelling device and a driving device. The slurry is sprayed to the construction position through the grouting device, and then the slurry sprayed by the grouting device is smoothed through the smoothing device. The grouting device and the floating device are integrally arranged on the same executing mechanism, so that the executing mechanism can rapidly switch grouting operation and floating operation, and the construction efficiency of screw hole plugging is improved.
Drawings
Fig. 1 is a perspective structural view of a grouting leveling mechanism according to an embodiment of the present invention;
FIG. 2 is a top view of a grouting troweling mechanism provided by an embodiment of the present invention;
fig. 3 is another perspective view of a grouting troweling mechanism according to an embodiment of the present invention.
In the figure:
1. a base;
2. a grouting device; 21. a nozzle; 22. a feeding section;
3. a troweling device; 31. a squeegee assembly; 311. a scraping part; 312. a connecting portion; 32. an elastic component; 321. a guide post; 322. a fixed seat; 323. a spring; 324. a first limit piece;
4. a drive device; 41. a rotary drive member; 42. a transmission assembly; 421. a synchronous pulley; 422. a synchronous belt driven wheel; 4221. a synchronous belt driven wheel base; 423. a synchronous belt; 43. a connecting member;
51. a first guide assembly; 511. a first slide rail; 512. a second slider; 52. a second guide assembly; 521. a second slide rail; 522. a second slider;
61. a second limiting member; 621. a first limit switch; 622. a second limit switch;
7. a synchronous belt tensioning structure; 71. a tensioning block; 72. and tensioning the screw.
Detailed Description
In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments.
Referring to fig. 1, the present invention provides a grouting troweling mechanism, which includes a base 1, a grouting device 2 installed on the base 1, a troweling device 3, and a driving device 4. The slurry is sprayed out to a construction position (namely a screw hole needing to be blocked) through the grouting device 2, and then the screeding device 3 screeds the slurry sprayed out by the grouting device 2. The driving device 4 drives the grouting device 2 and the floating device 3 to move telescopically, so that the grouting device 2 and the floating device 3 move to a construction position. Through integrating floating device 3 and slip casting device 2 to the floating mechanism of slip casting on for screw hole shutoff robot can switch over slip casting operation function and floating operation function fast, realizes screw hole shutoff robot actuating mechanism's simplification, shortens the engineering time simultaneously, thereby reduces construction cost.
Preferably, the driving means 4 are able to drive one of the grouting means 2 and the troweling means 3 in an extending movement and the other in a retracting movement simultaneously. That is, when the driving device 4 drives the grouting device 2 to move towards the direction close to the construction position, the troweling device 3 is driven to move towards the direction away from the construction position at the same time, so that the grouting device 2 can firstly perform grouting on the construction position, and the troweling device 3 is integrally retracted onto the base 1; then, after grouting device 2 completes the slip casting to the construction position, drive arrangement 4 can drive grouting device 2 and remove towards the direction of keeping away from the construction position, and the floating device 3 of drive simultaneously removes towards the direction of being close to the construction position for floating device 3 can float the thick liquids of grouting device 2 spun of construction position department, and make grouting device 2 wholly retract on base 1. The driving device 4 drives the grouting device 2 and the floating device 3 to move in opposite directions at the same time, so that the time for switching the grouting operation function and the floating operation function is further saved, and the construction efficiency is improved.
In particular, the drive means 4 comprise a rotary drive 41 and a transmission assembly 42.
The transmission assembly 42 is in transmission connection with the rotary driving part 41 and can change the rotation of the rotary driving part into linear motion to be output, the transmission assembly is provided with two output ends with opposite motion directions, and the grouting device 2 and the floating device 3 are respectively and fixedly connected with one of the output ends. When the rotating assembly 42 drives the grouting device 2 to move towards the direction close to the construction position, the floating device 3 is driven to move towards the direction far away from the construction position; when the rotating assembly 42 drives the grouting device 2 to move away from the construction position, the floating device 3 is driven to move close to the construction position.
Further, the transmission assembly 42 includes a timing pulley 421, a timing belt 423, and a timing belt driven pulley 422. The synchronous pulley 421 is in transmission connection with the rotary driving member 41, that is, the rotary driving member 41 can drive the synchronous pulley 421 to rotate; synchronous belt 423's one end and synchronous pulley 421 transmission are connected, the other end with be fixed in the synchronous belt driven wheel 422 butt on the base 1, rotary driving element 41 optionally sets up to the motor, motor drive synchronous pulley 421 rotates, synchronous pulley 421 drive synchronous belt 423 rotates, when synchronous belt 423 rotates, synchronous belt driven wheel 422 leads to synchronous belt 423's rotation. The grouting device 2 and the troweling device 3 are fixed to opposite sides of the timing belt 423 by connecting pieces 43. The synchronous belt 423 is driven to rotate clockwise by forward rotation of the motor, and the synchronous belt 423 is driven to rotate anticlockwise by reverse rotation of the motor. When the synchronous belt 423 rotates clockwise, the grouting device 2 is driven to move towards the direction close to the construction position, and the floating device 3 is driven to move towards the direction far away from the construction position; when the synchronous belt 423 rotates counterclockwise, the grouting device 2 is driven to move towards the direction far away from the construction position, and the floating device 3 is driven to move towards the direction close to the construction position.
It should be noted that the positions of the grouting device 2 and the troweling device 3 may be interchanged, that is, when the synchronous belt 423 rotates clockwise, the grouting device 2 is driven to move in a direction away from the construction position, and the troweling device 3 is driven to move in a direction close to the construction position; when the synchronous belt 423 rotates counterclockwise, the grouting device 2 is driven to move towards the direction close to the construction position, and the floating device 3 is driven to move towards the direction far away from the construction position. As long as the grouting device 2 and the troweling device 3 can be driven to move in opposite directions at the same time.
Of course, in other embodiments, a timing belt idler pulley may be disposed between the timing belt pulley 421 and the timing belt driven pulley 422 to make the steering of the timing belt driven pulley 422 more stable.
Of course, in other embodiments, the transmission assembly 42 may also be provided as a chain gear assembly or a rack and pinion assembly. Specifically, chain gear assembly includes driving gear, driven gear and with driving gear and driven gear meshing transmission be connected the chain, the driving gear is connected with the transmission of rotary driving piece 41, slip casting device 2 and floating device 3 accessible connecting piece 43 respectively fixed connection on the both sides that the chain set up relatively. The gear rack assembly comprises a gear and two racks, wherein the gear is in transmission connection with the rotary driving part 41, the two racks are respectively and fixedly connected with the grouting device 2 and the floating device 3, and the gear is arranged between the two racks and is in meshing transmission connection with the two racks.
Preferably, the troweling device 3 includes a squeegee assembly 31 and an elastic assembly 32. The scraper component 31 is used for leveling the slurry sprayed by the grouting device 2; the resilient member 32 is connected to the squeegee member 31 at one end and to the connecting member 43 at the other end. When the synchronous belt 423 rotates, the power output by the synchronous belt 423 is transmitted to the scraper component 31 through the elastic component 32, so that the scraper component 31 can automatically avoid when encountering a protrusion in the scraping process through the elastic force of the elastic component 32, and the occurrence frequency of shutdown faults caused by the fact that the scraper component 31 encounters the protrusion is reduced.
Of course, in other embodiments, the other end of the elastic member 32 may be disposed in contact with the blade member 31, as long as the elastic connection between the connecting member 43 and the blade member 31 can be achieved.
Specifically, in the present embodiment, the elastic assembly 32 includes a fixing base 322, a guide post 321, and a spring 323. The fixing seat 322 is fixedly connected with the connecting piece 43; one end of the guide post 321 penetrates through the fixed seat 322 and is connected with the fixed seat 322 in a sliding manner, and the other end of the guide post is fixedly connected with the scraper component 31; the spring 323 is sleeved on the guiding post 321 and disposed between the fixing seat 322 and the scraper assembly 31. When the timing belt 423 rotates counterclockwise, the timing belt 423 drives the fixing seat 322 to move along the guiding column 321 towards the construction position through the connecting piece 43, so that the spring 323 is pressed, and the spring 323 generates elastic force after being pressed to drive the scraper blade assembly 31 to abut against the construction position. When the construction position is raised, the scraper component 31 is stressed by the raised pressure to apply larger reaction force to the spring 323, and the spring 323 is further compressed after being stressed by larger force, so that the scraper component 31 can move along the direction away from the raised position, and the occurrence of shutdown failure caused by the blockage of the scraper component 31 is avoided.
In order to prevent the fixing base 322 from sliding out of the guiding post 321 when the fixing base 322 moves along the guiding post 321 in a direction away from the construction position, in this embodiment, preferably, a first limiting member 324 is further disposed on a portion of the guiding post 321 extending from the fixing base 322 and away from the scraper assembly 31, the first limiting member 324 is disposed to enable the fixing base 322 to be always located on the guiding post 321, and when the guiding base 322 moves along the guiding post 321 in a direction away from the construction position, the first limiting member 324 is forced to drive the guiding post 321 to move, so as to drive the scraper assembly 31 to move in a direction away from the construction position.
In order to prevent the scraper assembly 31 from rotating during scraping, in this embodiment, the two guide posts 321 are parallel to each other, and the two guide posts 321 define a plane, so as to avoid the problem that the scraper assembly 31 rotates after being stressed due to contact with a construction position.
Preferably, the scraper assembly 31 includes a connecting portion 312 and a scraping portion 311, the scraping portion 311 is in contact with a construction site, the connecting portion 312 is fixedly disposed with the scraping portion 311, and the connecting portion 312 is connected with the guide post 321. The scraping portion 311 is arranged as a sheet metal part, and is small in thickness and has certain deformation capacity, when the scraping portion 311 is in contact with a construction position, the scraping portion 311 can deform to a certain extent, and the problem that excessive scraping may occur in the construction position due to absolute rigid contact between the scraping portion 311 and the construction position is avoided.
Preferably, the grouting device 2 comprises a nozzle 21, a feeding portion 22 is arranged on the nozzle 21, and slurry enters the nozzle 21 through the feeding portion 22 and is sprayed out to the construction position through a nozzle of the nozzle 21.
Preferably, the floating mechanism of slip casting still includes the direction subassembly, and the direction subassembly setting is on base 1, and the direction of movement of slip casting device 2 and floating device 3 can be injectd to the direction subassembly for slip casting device 2 and floating device 3 can be followed the straight line all the time and moved towards the direction that is close to or keeps away from the construction position, improve slip casting device 2 and floating device 3's stability.
Specifically, the guide assembly includes a first guide assembly 51 and a second guide assembly 52.
The first guiding assembly 51 includes a first sliding rail 511 mounted on the base 1 and a first sliding block 512 slidably connected to the first sliding rail 511, and the first sliding block 512 is fixedly connected to the fixing base 322. When the fixing base 322 moves under the driving of the timing belt 423, the first sliding block 512 can slide linearly along the first sliding rail 511, so as to achieve the guiding effect of the floating device 3 during moving.
The second guiding assembly 52 comprises a second sliding rail 521 mounted on the base 1 and parallel to the first sliding rail 511, and a second sliding block 522 slidably connected to the second sliding rail 521, the middle of the nozzle 21 is fixed to the second sliding block 522, the second sliding block 522 is connected to the connecting member 43, and when the timing belt 423 drives the second sliding block 522 to slide along the second sliding rail 521 through the connecting member 43, the nozzle 21 slides linearly along the second sliding rail 511, so that the guiding effect of the grouting device 2 during movement is achieved.
Preferably, the grouting troweling mechanism further comprises a limit switch, the limit switch is used for detecting whether the grouting device 2 reaches the working position or not and transmitting the detection result to a motor of the driving device 4, and when the detection result is the same as a preset value, the motor correspondingly rotates forwards, reversely or pauses.
Specifically, the grouting floating mechanism further includes a second limiting member 61, the second limiting member 61 is installed on the side of the second sliding block 522, the limiting switch includes a first limiting switch 621 and a second limiting switch 622, the first limiting switch 621 is disposed on the position of the base 1 close to the nozzle of the nozzle 21, and the second limiting switch 622 is disposed on the position of the base 1 far away from the nozzle of the nozzle 21. When the nozzle 21 moves towards the direction close to the construction position, the second limiting member 61 also moves towards the direction close to the first limiting switch 621, when the second limiting member 61 contacts the first limiting switch 621, it is stated that the nozzle 21 moves to the preset position, at this time, the motor of the driving device 4 receives the detection result sent from the first limiting switch 621 and is the same as the preset value, the motor is reversed after stopping to operate for the preset duration, the preset duration is the duration required by the nozzle 21 to spray the slurry towards the screw hole, that is, after the nozzle 21 completes slurry injection to the screw hole, the motor is reversed, so that the synchronous belt 423 rotates counterclockwise, the nozzle 21 is driven to move towards the direction far from the construction position, and the trowelling device 3 is driven to move towards the direction close to the construction position, at this time, the second limiting member 61 also moves towards the direction close to the second limiting switch 622, when the second limiting member 61 contacts the second limiting switch 622, it is shown that the troweling device 3 has moved to the construction position, at this time, the motor of the driving device 4 receives the detection result which is sent from the second limit switch 622 and is the same as the preset value, the motor stops operating, and the troweling device 3 performs the troweling operation on the construction position.
It should be noted that, since the troweling device 3 and the grouting device 2 move synchronously, in other embodiments, the first limiting member 61 may also be installed on the fixing seat 322 of the troweling device 3. Of course, two sets of limit switches and first limit members 61 may be provided to detect the signals of the moving distances of the troweling device 3 and the grouting device 2, respectively.
Preferably, referring to fig. 2 and 3, the driving device 4 further includes a timing belt tensioning structure 7, and the timing belt tensioning structure 7 includes a tensioning block 71 fixed on the base 1 and a tensioning screw 72. Specifically, the tensioning screw 72 is in threaded connection with the timing belt driven wheel base 4221 and the tensioning block 71 of the timing belt driven wheel 422, and the timing belt driven wheel 422 is screwed down along the base 1 in a direction away from the timing belt wheel 421 through the tensioning screw 72, so that tensioning adjustment of the timing belt 423 is achieved.
The invention provides a screw hole plugging robot which comprises a movable chassis and the grouting floating mechanism, wherein the grouting floating mechanism is arranged on the movable chassis, and the movable chassis realizes self-walking of the robot, so that the grouting floating mechanism can automatically move to screw holes at different positions.
The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.
Claims (10)
1. A grouting trowelling mechanism, comprising:
a base (1);
a grouting device (2) which is mounted on the base (1) and through which slurry can be ejected;
a leveling device (3) mounted on the base (1), wherein the leveling device (3) is configured to level the slurry ejected from the grouting device (2);
the driving device (4) is configured to be capable of driving the grouting device (2) and the floating device (3) to move telescopically.
2. Grouting-trowelling mechanism according to claim 1, characterized in that said driving means (4) are configured to be able to drive simultaneously one of said grouting means (2) and said trowelling means (3) in an extending movement and the other in a retracting movement.
3. Grouting troweling mechanism according to claim 2, characterized in that said driving means (4) comprise:
a rotary drive (41);
the transmission assembly (42), the transmission assembly (42) with rotatory driving piece (41) transmission is connected to can change the rotation of rotatory driving piece (41) into rectilinear motion output, and transmission assembly (42) have two opposite output of direction of motion, slip casting device (2) and floating device (3) respectively with one of them output fixed connection.
4. Grouting troweling mechanism according to claim 3, characterized in that said transmission assembly (42) comprises:
a synchronous pulley (421) in transmission connection with the rotary driving piece (41);
synchronous belt (423), with synchronous pulley (421) transmission connection, slip casting device (2) with floating device (3) are fixed in respectively synchronous belt (423)'s the relative both sides that set up.
5. Grouting-trowelling mechanism according to any of claims 1-4, characterized in that it further comprises a guiding assembly, arranged on the base (1), configured to be able to define the direction of movement of the grouting means (2) and of the trowelling means (3).
6. Grouting troweling mechanism according to any of claims 1-4, characterized in that said troweling device (3) comprises:
the scraper component (31) is used for leveling the slurry sprayed out by the grouting device (2);
and one end of the elastic component (32) is connected or abutted with the scraper component (31), and the other end of the elastic component is in transmission connection with the driving device (4).
7. Grouting troweling mechanism according to claim 6, characterized in that said elastic assembly (32) comprises:
the fixing seat (322) is fixedly connected with the driving device (4);
one end of the guide post (321) penetrates through the fixed seat (322) and is connected with the fixed seat (322) in a sliding mode, and the other end of the guide post is fixedly connected with the scraper component (31);
and the spring (323) is sleeved on the guide post (321) and arranged between the fixed seat (322) and the scraper component (31).
8. The grouting trowelling mechanism of claim 6, characterized in that the scraper assembly (31) includes a scraping portion (311), the scraping portion (311) being provided as a sheet metal part.
9. Grouting-trowelling mechanism according to any of claims 1-4, characterized in that it further comprises a limit switch configured to detect whether the grouting means (2) and/or the trowelling means (3) reach the working position and to transmit the detection result to the driving means (4).
10. A screw hole plugging robot, comprising a movable chassis, and further comprising a grouting trowelling mechanism according to any one of claims 1 to 9, wherein the grouting trowelling mechanism is mounted on the movable chassis.
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| CN201911094630.9A CN110805300B (en) | 2019-11-11 | 2019-11-11 | Grouting floating mechanism and screw hole plugging robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911094630.9A CN110805300B (en) | 2019-11-11 | 2019-11-11 | Grouting floating mechanism and screw hole plugging robot |
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| CN110805300A true CN110805300A (en) | 2020-02-18 |
| CN110805300B CN110805300B (en) | 2022-01-04 |
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| WO2021189866A1 (en) * | 2020-03-27 | 2021-09-30 | 广东博智林机器人有限公司 | Robotic arm, hole blocking device, and hole blocking robot |
| WO2021189865A1 (en) * | 2020-03-27 | 2021-09-30 | 广东博智林机器人有限公司 | Hole plugging device and hole plugging robot |
| CN113530161A (en) * | 2020-04-20 | 2021-10-22 | 广东博智林机器人有限公司 | Coating device and coating robot |
| CN115478705A (en) * | 2021-06-15 | 2022-12-16 | 广东博智林机器人有限公司 | Hole plugging device and hole plugging method |
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| CN209066377U (en) * | 2018-11-12 | 2019-07-05 | 山东省水利科学研究院 | A kind of self-compaction lining cutting caulking machine discharging device |
| CN110067727A (en) * | 2019-04-25 | 2019-07-30 | 张家霞 | A kind of alternative expression small-size concrete pump |
| CN110219444A (en) * | 2019-06-27 | 2019-09-10 | 广东博智林机器人有限公司 | A kind of construction equipment |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2021189866A1 (en) * | 2020-03-27 | 2021-09-30 | 广东博智林机器人有限公司 | Robotic arm, hole blocking device, and hole blocking robot |
| WO2021189865A1 (en) * | 2020-03-27 | 2021-09-30 | 广东博智林机器人有限公司 | Hole plugging device and hole plugging robot |
| CN113530161A (en) * | 2020-04-20 | 2021-10-22 | 广东博智林机器人有限公司 | Coating device and coating robot |
| CN115478705A (en) * | 2021-06-15 | 2022-12-16 | 广东博智林机器人有限公司 | Hole plugging device and hole plugging method |
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| CN110805300B (en) | 2022-01-04 |
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