CN106986156A - A kind of building block precuring induction system and its carrying method based on PLC - Google Patents
A kind of building block precuring induction system and its carrying method based on PLC Download PDFInfo
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- CN106986156A CN106986156A CN201710306277.0A CN201710306277A CN106986156A CN 106986156 A CN106986156 A CN 106986156A CN 201710306277 A CN201710306277 A CN 201710306277A CN 106986156 A CN106986156 A CN 106986156A
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- Prior art keywords
- precuring
- plc
- control module
- mould
- building block
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- 230000006698 induction Effects 0.000 title claims abstract description 33
- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000033228 biological regulation Effects 0.000 claims description 9
- 238000012163 sequencing technique Methods 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000000717 retained effect Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 description 5
- 239000004567 concrete Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 3
- 238000005520 cutting process Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000004512 die casting Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 235000008733 Citrus aurantifolia Nutrition 0.000 description 1
- 235000011941 Tilia x europaea Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000011449 brick Substances 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 239000004927 clay Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011049 filling Methods 0.000 description 1
- 239000010881 fly ash Substances 0.000 description 1
- 239000004088 foaming agent Substances 0.000 description 1
- 239000010440 gypsum Substances 0.000 description 1
- 229910052602 gypsum Inorganic materials 0.000 description 1
- 239000012774 insulation material Substances 0.000 description 1
- 239000004571 lime Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 229920006395 saturated elastomer Polymers 0.000 description 1
- 239000000377 silicon dioxide Substances 0.000 description 1
- 239000002002 slurry Substances 0.000 description 1
- 238000007711 solidification Methods 0.000 description 1
- 230000008023 solidification Effects 0.000 description 1
- 238000010025 steaming Methods 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/10—Sequence control of conveyors operating in combination
Landscapes
- Ship Loading And Unloading (AREA)
Abstract
This case is a kind of building block precuring induction system based on PLC, and it is used for the predetermined trajectory line that mould vehicle is delivered to precuring chamber interior from proportioning building, and the precuring induction system includes：PLC, by PLC control, the ferry bus in the proportioning building, and the carrier chain pre-seted according to the predetermined trajectory line, the ferry bus includes horizontal mould bases, longitudinal mould bases, and the PLC includes order feeding control module, positioning control module, output brake control module and human-computer interface module, operational control module.The whole building block precuring course of conveying of this case is realized by PLC and automatically controlled, and changes the method for operation of conventional wheel, reduces cost input.
Description
Technical field
The present invention relates to precuring induction system field, more particularly to a kind of building block precuring induction system and its conveying side
Method.
Background technology
Air entrained concrete as materials for wall reform with the important component of building energy conservation, be a kind of by for many years should
With, in practice it has proved that a kind of replacement clay brick preferable materials for wall, air entrained concrete has light weight, good heat insulating, inhales
Audio fruit is good, and has the advantages that certain intensity and can process, filling and insulation material as building enclosure, by widely
Applied in building.According to raw material classification, quality, operational characteristic of capital equipment etc., different techniques are taken to be produced.
Generally, flyash or silica sand are added water and wears into slurry, add powdered lime, appropriate cement, gypsum and foaming agent, through stirring
Injected after mixing in framed, it is quiet to stop after foamed solidification, all size building block or sheet material are cut into, is sent into by steaming maintaining vehicle in still kettle,
The aerated concrete products of porous light are formed under the maintenance of high temperature saturated vapor.
When producing air-entrained concrete building block, precuring is essential process, and mould drives building block to carry out high-temperature steam curing
Preceding needs are conveyed into the precuring of precuring room by ferry bus.Treat that precuring mould passes through the traction on the track of precuring room on current ferry bus
Mechanism, which drives, enters precuring room, into precuring room after also need to mould vehicle of manually arrange, after precuring terminates, in addition it is also necessary to artificial general
Mould is moved to suspender, carries out next step operation, mainly by manpower transport, wastes time and energy.
The content of the invention
To overcome the deficiencies in the prior art, it is an object of the invention to provide it is a kind of automatically control, cost-effective block
Block precuring induction system and its carrying method.
To achieve the above object, the present invention is achieved through the following technical solutions：
A kind of building block precuring induction system based on PLC, it is used to mould vehicle being delivered to the pre- of precuring chamber interior from proportioning building
If railway line, the precuring induction system includes：PLC, by PLC control, in the proportioning building
Ferry bus, and the carrier chain pre-seted according to the predetermined trajectory line, the ferry bus includes horizontal mould bases, longitudinal mould
Frame, the PLC includes order feeding control module, positioning control module, output brake control module and man-machine interface
Module, operational control module,
Wherein, the order feeding control module is used to control the ferry bus to drive each mould vehicle into entering during precuring room
Sequencing to motion and its motion；
The positioning control module is used to control the horizontal mould bases, the direction of motion and moving displacement size of longitudinal mould bases；
The output brake control module is used for after precuring terminates, and controls the ferry bus to drive each mould vehicle to be delivered to and hangs
Tool is braked behind lower section；
The human-computer interface module is used for for manually setting the order feeding control module, positioning control module, output braking
The work order of control module；
The operational control module is used for the work order for receiving the human-computer interface module setting, and is sent to corresponding order
At least one control module in control module, positioning control module, output brake control module is fed, and exports execution and is referred to
Order, the ferry bus, carrier chain are controlled by the execute instruction, and the mould vehicle is delivered into the predetermined trajectory line is carried out
Precuring, and after precuring terminates, the mould vehicle is delivered to below suspender, and line of cut is transported to by the suspender.
Preferably, the building block precuring induction system based on PLC, wherein, the predetermined trajectory line includes longitudinal direction
At least two carrier chains of distribution, every carrier chain includes at least two lateral transfer tracks.
Preferably, the building block precuring induction system based on PLC, wherein, the ferry bus include longitudinal mould bases,
Drive, erecting by overhang, motor, horizontal mould bases, the horizontal mould bases are provided with friction pulley and power transmission shaft, the horizontal mould
The left regulation wheel and adjustment axis for adjusting the horizontal mould bases height are additionally provided between frame and longitudinal mould bases, the motor is used
Length travel, and the driving biography are produced in driving the mould vehicle that the drive drive is fixedly connected with the erecting by overhang
Moving axis drives the friction pulley, so that the mould vehicle passes through the horizontal mould bases lateral transport to the predetermined trajectory line.
Preferably, the building block precuring induction system based on PLC, wherein, the mould vehicle includes framework, side
Plate, locking device, the side plate are may be detachably retained at by the locking device in one end of framework, the framework
Two ends in addition to one end where the side plate, parallel be respectively equipped with for the connection of mould vehicle draw-gear hook and
Buffer unit for anticollision.
Preferably, the building block precuring induction system based on PLC, wherein, the erecting by overhang is included for described
Link up with through fixing hole.
Preferably, the building block precuring induction system based on PLC, wherein, the adjustment axis is located at the regulation
The two ends of wheel, and the adjustment axis is hinged with the left regulation wheel.
Preferably, the building block precuring induction system based on PLC, wherein, the bottom of the mould vehicle be provided with
The fricting strip that the horizontal mould bases, friction pulley coordinate.
Preferably, the building block precuring induction system based on PLC, wherein, setting-in dividing plate in the middle of the framework.
A kind of building block precuring carrying method based on PLC, it is used to mould vehicle being delivered to by ferry bus from proportioning building
The predetermined trajectory line of precuring chamber interior, including：
Presetting work order, execute instruction is exported according to the work order；
According to the execute instruction, the ferry bus is controlled to drive each mould vehicle into feed motion during precuring room and its fortune
Dynamic sequencing；
The direction of motion and moving displacement size of the ferry bus are controlled, controls the ferry bus that the mould vehicle is conveyed into institute
State predetermined trajectory line and carry out precuring；
After precuring terminates, the ferry bus is controlled to drive each mould vehicle to be braked after being delivered to below suspender, and hung by described
Tool is transported to line of cut.
Preferably, the building block precuring carrying method based on PLC, wherein, the predetermined trajectory line includes longitudinal direction
At least two carrier chains of distribution, every carrier chain includes at least two lateral transfer tracks, the control ferry-boat
Feed motion and its sequencing of motion when car drives each mould vehicle to enter precuring room are specifically included, according on to
Under, each lateral transfer track on each carrier chain is booked mould vehicle by order from right to left successively.
Beneficial effects of the present invention：The building block precuring induction system based on PLC of this case, employs PLC, and suitable
Being improved ferry bus, mould vehicle, carrier chain for answering property, the defeated of precuring room is delivered to after die casting is good by ferry bus
Send on chain, mould delivered in precuring room, first carrier chain is run after signal is connected in precuring room, accept mould run to
Appropriate location（Controlled by the signal of PLC）.By that analogy, a precuring road is booked, remaining track of the row of being then followed by.
When base substrate reaches that carrier chain operation is transported to below suspender, cutting is transported to by suspender when cutting required hardness in mould
Line.Whole process is realized by PLC and automatically controlled, and changes the method for operation of conventional wheel, reduces cost input.
Brief description of the drawings
Fig. 1 is the schematic diagram of the building block precuring induction system based on PLC described in one embodiment of the invention；
Fig. 2 be one embodiment of the invention described in the building block precuring induction system based on PLC in PLC schematic diagram；
Fig. 3 be one embodiment of the invention described in the building block precuring induction system based on PLC in ferry bus schematic diagram；
Fig. 4 is the mould vehicle schematic diagram in the building block precuring induction system based on PLC described in one embodiment of the invention.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings, to make those skilled in the art with reference to specification text
Word can be implemented according to this.
Embodiment one：
A kind of building block precuring induction system based on PLC is present embodiments provided, as shown in Figure 1-2, it is used for mould vehicle 22
The predetermined trajectory line 23 inside precuring room 200 is delivered to from proportioning building 100, the precuring induction system includes：PLC
12, controlled by the PLC 12, the ferry bus 11 in the proportioning building 100, the ferry bus 11 includes horizontal mould
Frame 115, longitudinal mould bases 111, and the carrier chain 21 pre-seted according to the predetermined trajectory line 23, the PLC 12 are wrapped
Include order feeding control module 121, positioning control module 122, output brake control module 123 and human-computer interface module 124, behaviour
Make control module 125,
Order feeding control module 121 is used to control ferry bus 11 to drive each mould vehicle 22 into feeding during precuring room 200
Motion and its sequencing of motion；
Positioning control module 122 is used to control horizontal mould bases 115, the direction of motion and moving displacement size of longitudinal mould bases 111；
Exporting brake control module 123 is used for after precuring terminates, and control ferry bus 11 drives each mould vehicle 22 to be delivered to and hung
Tool is braked behind lower section；
Human-computer interface module 124 is used for for artificial setting order feeding control module 121, positioning control module 122, output braking
The work order of control module 123；
Operational control module 125 is used to receive the work order that the human-computer interface module 124 is set, and is sent to corresponding suitable
At least one control module in sequence feeding control module 121, positioning control module 122, output brake control module 123, and
Execute instruction is exported, the ferry bus 11, carrier chain 21 are controlled by the execute instruction, the mould vehicle 22 is delivered to institute
State predetermined trajectory line 23 and carry out precuring, and after precuring terminates, the mould vehicle 22 is delivered at suspender room 300, that is,
Line of cut is transported to below suspender, and by the suspender.
The operation principle of the building block precuring induction system based on PLC of the present embodiment is, by ferrying after die casting is good
Car 11 is delivered on the carrier chain of precuring room 200, and carrier chain 21 is run on ferry bus 11 after alignment, and mould is delivered into precuring room
In 200, first carrier chain 21 is run after signal is connected in precuring room 200, is accepted mould and is run to appropriate location（By PLC
The signal control of controller 12）.By that analogy, a precuring road is booked, remaining track of the row of being then followed by.When base substrate in mould
Needed for reaching cutting during hardness, carrier chain 21 is run, and is transported to below suspender, line of cut is transported to by suspender.Whole process
By PLC controls, change the method for operation of conventional wheel, reduce cost input, so as to reduce producer to basis input and track
Install.Whole process can full automatic working, without manpower.
Predetermined trajectory line 23 includes at least two carrier chains 21 of genesis analysis, and every carrier chain 21 includes at least two
Individual lateral transfer track.Lateral transfer track structure is same as following horizontal mould bases 115, can be multiple horizontal mould bases 115 etc.
The composition at interval.
As shown in figure 3, ferry bus 11 include longitudinal mould bases 111, drive 114, erecting by overhang 113, motor 112,
Horizontal mould bases 115, the horizontal mould bases 115 is provided with friction pulley 116 and power transmission shaft 119, the horizontal mould bases 115 and longitudinal mould
The left regulation wheel 117 and adjustment axis 118 for adjusting the height of horizontal mould bases 115, the motor are additionally provided between frame 111
112 are used to drive the drive 114 to drive the mould vehicle 22 being fixedly connected with the erecting by overhang 113 to produce length travel,
And drive the power transmission shaft 119 to drive the friction pulley 116, so that the mould vehicle 22 is horizontal by the horizontal mould bases 115
To transmitting to the predetermined trajectory line 23.Ferry bus 11 uses motor 112 to drive longitudinal mould bases 1 in the present embodiment
And horizontal mould bases 5 so that mould vehicle 22 be free to longitudinally, laterally move under driven by power, change conventional wheel
The method of operation, it is to avoid conventional rails installations, so as to reduce basis input and track installation.
As shown in figure 4, mould vehicle 22 includes framework 221, side plate 222, locking device 223, the side plate 222 is by described
Locking device 223 may be detachably retained in one end of framework 221, the framework 221 except the place of side plate 222
Two ends beyond one end, parallel are respectively equipped with for the hook 224 of the draw-gear of mould vehicle 22 connection and for anticollision
Buffer unit 225.I.e. the foregoing ferry bus 11 of draw-gear.Building block precuring delivery mold car in the present embodiment without
Need special roller, you can accept mould and run to appropriate location, the appropriate location is set by PLC according to actual conditions
It is fixed.
Erecting by overhang 113 includes the fixing hole passed through for the hook 224（Not shown in figure）.General mould vehicle is all wrapped
Containing fixing device, the device of the fixation in the present embodiment is exactly that hook is set in mould vehicle 22, and hook is fixed on into erecting by overhang
In 113 fixing hole, connection and all more convenient operation of releasing connection.
Adjustment axis 118 is located at the two ends of the left regulation wheel 117, and the adjustment axis 118 is hinged with the left regulation wheel 117.
That is, adjustment axis 118 can be rotated with relative adjustment wheel 117, to adjust the height of horizontal mould bases 115.
The bottom of mould vehicle 22 is provided with the fricting strip coordinated with the horizontal mould bases 115, friction pulley 116, remaining friction pulley 116
Cooperate, to reach transport effect well, special pulley is set without the bottom of mould vehicle 22 again, cost has been saved.
Preferably, setting-in dividing plate 226 in the middle of framework 221.Setting-in dividing plate 226 in the middle of framework 221, dividing plate 226 is by framework
221 separate, and a mould vehicle 22 can place the building block of multiple different sizes.
Embodiment two：
The present embodiment two provides a kind of building block precuring carrying method based on PLC, and it is used for mould vehicle 22 from proportioning building 100
Predetermined trajectory line 23 inside precuring room 200 is delivered to by ferry bus 11, including：
Presetting work order, execute instruction is exported according to work order；
According to execute instruction, control ferry bus 11 drives each mould vehicle 22 into feed motion during precuring room 200 and its fortune
Dynamic sequencing；
The direction of motion and moving displacement size of ferry bus 11 are controlled, controls the ferry bus 11 to convey the mould vehicle 22
Predetermined trajectory line 23 carries out precuring；
After precuring terminates, control ferry bus 11 drives each mould vehicle 22 to be braked after being delivered to below suspender, and is hung by described
Tool is transported to line of cut.
The operation principle of embodiment two is identical with embodiment one, does not repeat one by one herein.
Predetermined trajectory line 23 includes at least two carrier chains 21 of genesis analysis, and it is horizontal that every carrier chain 21 includes at least two
To delivery track, feed motion when the control ferry bus 11 drives each mould vehicle 22 to enter precuring room 200 and its
The sequencing of motion is specifically included, and according to from top to bottom, order from right to left successively will be every on each carrier chain 21
Individual lateral transfer track is booked mould vehicle 22.
Although embodiment of the present invention is disclosed as above, it is not restricted in specification and embodiment listed
With it can be applied to various suitable the field of the invention completely, can be easily for those skilled in the art
Other modification is realized, therefore under the universal limited without departing substantially from claim and equivalency range, the present invention is not limited
In specific details and shown here as the legend with description.
Claims (10)
1. a kind of building block precuring induction system based on PLC, it is used to mould vehicle being delivered to precuring chamber interior from proportioning building
Predetermined trajectory line, it is characterised in that the precuring induction system includes：PLC, by PLC control, is located at
Ferry bus in the proportioning building, and the carrier chain pre-seted according to the predetermined trajectory line, the ferry bus are included laterally
Mould bases, longitudinal mould bases, the PLC include order feeding control module, positioning control module, output brake control module
With human-computer interface module, operational control module,
Wherein, the order feeding control module is used to control the ferry bus to drive each mould vehicle into entering during precuring room
Sequencing to motion and its motion；
The positioning control module is used to control the horizontal mould bases, the direction of motion and moving displacement size of longitudinal mould bases；
The output brake control module is used for after precuring terminates, and controls the ferry bus to drive each mould vehicle to be delivered to and hangs
Tool is braked behind lower section；
The human-computer interface module is used for for manually setting the order feeding control module, positioning control module, output braking
The work order of control module；
The operational control module is used for the work order for receiving the human-computer interface module setting, and is sent to corresponding order
At least one control module in control module, positioning control module, output brake control module is fed, and exports execution and is referred to
Order, the ferry bus, carrier chain are controlled by the execute instruction, and the mould vehicle is delivered into the predetermined trajectory line is carried out
Precuring, and after precuring terminates, the mould vehicle is delivered to below suspender, and line of cut is transported to by the suspender.
2. the building block precuring induction system as claimed in claim 1 based on PLC, it is characterised in that the predetermined trajectory line bag
At least two carrier chains of genesis analysis are included, every carrier chain includes at least two lateral transfer tracks.
3. the building block precuring induction system as claimed in claim 1 based on PLC, it is characterised in that the ferry bus includes vertical
To mould bases, drive, erecting by overhang, motor, horizontal mould bases, the horizontal mould bases is provided with friction pulley and power transmission shaft, institute
State the left regulation wheel and adjustment axis being additionally provided between horizontal mould bases and longitudinal mould bases for adjusting the horizontal mould bases height, the drive
Dynamic motor is used to drive the drive to drive the mould vehicle being fixedly connected with the erecting by overhang to produce length travel, and drives
The dynamic power transmission shaft drives the friction pulley, so that the mould vehicle passes through the horizontal mould bases lateral transport to the default rail
Diatom.
4. the building block precuring induction system as claimed in claim 3 based on PLC, it is characterised in that the mould vehicle includes frame
Body, side plate, locking device, the side plate may be detachably retained at one end of framework by the locking device, described
In addition to one end where the side plate, parallel two ends are respectively equipped with the extension for the connection of mould vehicle draw-gear in framework
Hook and the buffer unit for anticollision.
5. the building block precuring induction system as claimed in claim 4 based on PLC, it is characterised in that the erecting by overhang includes
For it is described hook through fixing hole.
6. the building block precuring induction system as claimed in claim 5 based on PLC, it is characterised in that the adjustment axis is located at institute
The two ends of left regulation wheel are stated, and the adjustment axis is hinged with the left regulation wheel.
7. the building block precuring induction system as claimed in claim 6 based on PLC, it is characterised in that the bottom of the mould vehicle
Provided with the fricting strip with the horizontal mould bases, friction pulley cooperation.
8. the building block precuring induction system as claimed in claim 7 based on PLC, it is characterised in that be embedded in the middle of the framework
Dividing plate.
9. a kind of building block precuring carrying method based on PLC, it is used to mould vehicle being delivered to by ferry bus from proportioning building pre-
Support the predetermined trajectory line of chamber interior, it is characterised in that including：
Presetting work order, execute instruction is exported according to the work order；
According to the execute instruction, the ferry bus is controlled to drive each mould vehicle into feed motion during precuring room and its fortune
Dynamic sequencing；
The direction of motion and moving displacement size of the ferry bus are controlled, controls the ferry bus that the mould vehicle is conveyed into institute
State predetermined trajectory line and carry out precuring；
After precuring terminates, the ferry bus is controlled to drive each mould vehicle to be braked after being delivered to below suspender, and hung by described
Tool is transported to line of cut.
10. the building block precuring carrying method as claimed in claim 9 based on PLC, it is characterised in that the predetermined trajectory line bag
At least two carrier chains of genesis analysis are included, every carrier chain includes at least two lateral transfer tracks, the control institute
State feed motion when ferry bus drives each mould vehicle to enter precuring room and its sequencing of motion specifically included, according to from
Each lateral transfer track on each carrier chain is booked mould vehicle by top to bottm, order from right to left successively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710306277.0A CN106986156A (en) | 2017-05-05 | 2017-05-05 | A kind of building block precuring induction system and its carrying method based on PLC |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710306277.0A CN106986156A (en) | 2017-05-05 | 2017-05-05 | A kind of building block precuring induction system and its carrying method based on PLC |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106986156A true CN106986156A (en) | 2017-07-28 |
Family
ID=59417206
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710306277.0A Pending CN106986156A (en) | 2017-05-05 | 2017-05-05 | A kind of building block precuring induction system and its carrying method based on PLC |
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| CN (1) | CN106986156A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112339096A (en) * | 2020-10-26 | 2021-02-09 | 广东博智林机器人有限公司 | Concrete curing system |
| CN112987714A (en) * | 2019-12-17 | 2021-06-18 | 集佳绿色建筑科技有限公司 | Mold vehicle control system and method |
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| CN204935227U (en) * | 2015-08-26 | 2016-01-06 | 浙江恒久机械集团有限公司 | High speed pin machine feeding mechanism |
| CN105881522A (en) * | 2016-03-10 | 2016-08-24 | 济南大学 | Material carrying mechanical arm structure and moving type kitchen carrying robot with material carrying mechanical arm structure |
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| CN112339096A (en) * | 2020-10-26 | 2021-02-09 | 广东博智林机器人有限公司 | Concrete curing system |
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Application publication date: 20170728 |