CN108499904A - Building refuse brick concrete aggregate sorting unit and method - Google Patents
Building refuse brick concrete aggregate sorting unit and method Download PDFInfo
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- CN108499904A CN108499904A CN201810264249.1A CN201810264249A CN108499904A CN 108499904 A CN108499904 A CN 108499904A CN 201810264249 A CN201810264249 A CN 201810264249A CN 108499904 A CN108499904 A CN 108499904A
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- Prior art keywords
- aggregate
- brick
- outlet
- concrete
- concrete aggregate
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/363—Sorting apparatus characterised by the means used for distribution by means of air
- B07C5/365—Sorting apparatus characterised by the means used for distribution by means of air using a single separation means
- B07C5/366—Sorting apparatus characterised by the means used for distribution by means of air using a single separation means during free fall of the articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/38—Collecting or arranging articles in groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0054—Sorting of waste or refuse
Abstract
The invention discloses a kind of building refuse brick concrete aggregate sorting unit and methods, using the technology of the powerful computation capability and color image sensor Quick Acquisition image of FPGA, the method of choosing is blown using image recognition, high pressure nozzle, the characteristics of in combination with building waste aggregate itself, is by constant light source system, pan feeding buffer structure, dust removal design organically combine to form a kind of novel building aggregate separation system.The present invention solves the problems, such as that current building waste aggregate can not sort, and changes traditional architecture garbage disposal pattern, while the present invention is in line with the principle of low-cost high-efficiency so that being promoted on a large scale in Practical Project for building waste aggregate treatment process is possibly realized.
Description
Technical field
The present invention relates to environmental protection machinery apparatus fields more particularly to construction refuse resource to utilize equipment technical field, tool
Body is a kind of building refuse brick concrete aggregate sorting unit and method.
Background technology
Building waste is in the solid waste for implementing to generate in newly-built, renovating and enlarging or demolishing process to building
Object.With fast urbanization in current china, a large amount of building waste is produced.China's building waste is made a low multiple use at present,
It exerts heavy pressures on to resource and environment.
In building waste, considerable part product is the mixture of brick aggregate and concrete aggregate.Due to brick aggregate and concrete aggregate
Energy index difference is very big, therefore mixes, and utility value is very low.If separating them use, can be promoted respective
Utility value.This utilizes China's construction refuse resource horizontal raising, meaningful.
Other enterprises and individuals also studied building refuse brick concrete method for separating and determined corresponding achievement.Patent
CN201710573370.8 propose it is a kind of sorted according to the density difference of brick concrete using buoyancy method, this method exist sorting matter
Amount is difficult stable problem, reason be to provide density of liquid medium of buoyancy itself can because of the pollution by building waste and
Variation, to influence separating effect.A kind of special shape and size using brick of patent CN201710543961.0 and concrete block
The difference of shape material is sorted out from brick concrete aggregate mixture brick aggregate using the sieve for having specific dimensions and mesh.However,
Since building waste is in building demolition and handling process, brick is typically subject to serious damage, and most of brick cannot all keep it
Distinctive shape and size.Therefore, the precision of this method sorting is very low.
Invention content
The purpose of the present invention is being directed to brick aggregate and low concrete aggregate sharpness of separation in existing building rubbish, one is provided
Kind high efficiency, low-power consumption, high-precision building refuse brick concrete aggregate sorting unit and method, using photoelectricity vision technique, to brick
The much informations comprehensive descisions such as the spectral signature of aggregate and concrete aggregate, shape, size, position, accurately identify, and utilize high speed gas
Valve group controls the aggregate that compressed air blows off to needs and is precisely separated.
Technical scheme is as follows:
A kind of building refuse brick concrete aggregate sorting unit includes casing, material dispersion component, the constant component of light source, material sieve
Select component and master control unit, it is characterised in that:The material dispersion component includes the pan feeding for being set to the cabinet top
Mouthful, the striker plate that is set in feeding mouth and be connected with feeding mouth and extend to the blanking pipeline in the casing;Described
The constant component of light source includes the double LED light being set in the casing and in front of the blanking lower end of duct;It is described
Material screening part include industrial camera, high pressure nozzle and the high pressure nozzle being made of FPGA and color image sensor
It the electric-air valve that is connected, the brick aggregate outlet for being respectively arranged at the bottom of shell and the outlet of concrete aggregate and is separately mounted to
Electronic baiting valve in the brick aggregate outlet and the outlet of concrete aggregate, the industrial camera and high pressure nozzle are respectively arranged at institute
It states in casing, and is located at the forward and backward side of the blanking lower end of duct;The master control unit includes master control borad and touch
Screen;Being provided with vertically extending and deflection angle between brick aggregate outlet and concrete aggregate outlet in the casing can
The demarcation strip of adjusting;The master control borad is electrically connected with the industrial camera and electric-air valve electronic baiting valve respectively, described
Touch screen is electrically connected with the industrial camera.
A kind of building refuse brick concrete aggregate sorting unit, it is characterised in that:In the blanking in the casing
It is provided with glass between the lower end of pipeline and the double LED light.
A kind of building refuse brick concrete aggregate sorting unit, it is characterised in that:The industrial camera with it is described double
Row's LED light is in homonymy, and is set to the front of the double LED light, and the model of the FPGA can not limited to still
It can be TCD2901D in the model of EP4CE55F23I7, the chip of the color image sensor, can also be other high
Fast linear array colored CCD.
A kind of building refuse brick concrete aggregate sorting unit, it is characterised in that:It is provided on the side wall of the casing
Dust removal port.
A kind of building refuse brick concrete aggregate method for separating, it is characterised in that:Following steps are specifically included:
(1), sorting unit is accurately installed, and pass through touch screen be arranged industrial camera running parameter;
(2), aggregate from feeding mouth enter, striker plate reduce aggregate fall into speed, to being flushed to material blanking tube road by aggregate even
Scatter;
(3), aggregate fall along blanking pipeline, into the angular field of view of industrial camera, aggregate by double LED light uniform illumination,
Industrial camera obtains aggregate image, and the FPGA in industrial camera under program control, carries out the aggregate image information of acquisition
Processing carries out the identification of brick aggregate and concrete aggregate according to the feature of brick aggregate and the respective rgb value of concrete aggregate, and by identification information
It is sent to master control borad;
(4), aggregate by after industrial camera identification region, under fall on high pressure nozzle region, whether needed by master control borad transmission
Open the instruction of electric-air valve, electric-air valve, which receives, usually requires delay time t after instruction, and the value of t and aggregate are from brick aggregate
Outlet exports to that the height of electric-air valve is related with concrete aggregate, when the identification information that master control borad receives is determined as the aggregate of whereabouts
For brick aggregate when, send open command to electric-air valve, high pressure nozzle sprays high pressure gas at this time, and the aggregate of whereabouts is blown off original
The fall trajectory come;When the identification information that master control borad receives is determined as that the aggregate to fall is concrete aggregate, not to electric-air valve
Open command is sent, aggregate continues to fall along original fall trajectory at this time, is sorted to brick aggregate and concrete aggregate;
(5), enter the lower space of casing after aggregate sorting, demarcation strip is used to adjust the aggregate whereabouts sieved by high pressure nozzle
When the position that sorts, i.e. the left side of demarcation strip is the range that brick aggregate falls, and the right side of demarcation strip is the range that concrete aggregate falls;
(6), after brick aggregate after sorting and concrete aggregate respectively fall in the outlet of brick aggregate and the outlet of concrete aggregate, be stacked into brick bone respectively
On electronic baiting valve in material outlet and the outlet of concrete aggregate, electronic baiting valve is in closed state when no aggregate is accumulated, and comes
Coordinate dust removal port, allows the inside of casing to be in a kind of closed state, improve dust removing effects as far as possible;When aggregate accumulates certain weight
After amount, the electronic baiting valve in master control borad control brick aggregate outlet and the outlet of concrete aggregate is separately turned on, brick aggregate and concrete aggregate
It flows out, after the completion of blowing, the electronic baiting valve in master control borad control brick aggregate outlet and the outlet of concrete aggregate is closed again respectively.
The present invention is according to the number of the brick aggregate in brick aggregate exit and the concrete aggregate in concrete aggregate exit come adjusting brick bone
The size that electronic baiting valve in material outlet and the outlet of concrete aggregate is opened, in this way, both may insure that brick aggregate and concrete aggregate could
It is smoothly exported respectively from brick aggregate and the outlet of concrete aggregate is flowed out, the outlet of brick aggregate and concrete aggregate exit can also be minimized
Air is flowed into inside sorting machine, can improve dust removing effects in this way.
Beneficial effects of the present invention:
1, industrial camera of the invention uses high speed camera, and the speed of 1000 frame per second can be at least up within the scope of camera perspective
Degree, it is assumed that when aggregate passes through camera with 1m/s speed, camera can reach grade to the precision that aggregate captures, and meet big portion
Volume of material selection is divided to require.
2, the present invention uses object color, and is converted to other color model and carrys out identification and classification aggregate, compared to existing
Component is distinguished more simple and practical by density, weight, while being greatly improved in the structure efficiency of separation.
3, it can only be classified under the background that can not complete class hierarchy problem and carry according to volume the present invention be directed to current aggregate
A kind of building refuse brick concrete aggregate sorting unit and method are gone out, a part cannot be substituted by largely solving current aggregate
Raw material problem, the material after sorting is all increased substantially in economy, utility value, while the present invention is in line with low-cost high-efficiency
Principle so that being promoted on a large scale in Practical Project for building refuse brick concrete aggregate treatment process is possibly realized.
Description of the drawings
Fig. 1 is structure of the invention front view.
Fig. 2 is structure of the invention left view.
Fig. 3 is fundamental diagram of the present invention.
Specific implementation mode
Referring to Fig. 1,2,3, a kind of building refuse brick concrete aggregate sorting unit includes casing 10, material dispersion component, light
The constant component in source, material screening part and master control unit, material dispersion component include the feeding mouth for being set to 10 top of casing
1, the striker plate 2 that is set in feeding mouth 1 and it is connected with feeding mouth 1 and extends to the blanking pipeline 3 in casing 10;Light source is permanent
It includes the double LED light 5 being set in casing 10 and in front of 3 lower end of blanking pipeline to determine component;Material screening part packet
It includes by the industrial camera 6, high pressure nozzle 9, the electronic gas being connected with high pressure nozzle 9 being made of FPGA and color image sensor
Valve 14, the brick aggregate outlet 15 for being respectively arranged at 10 bottom of casing and concrete aggregate export 16 and are separately mounted to the outlet of brick aggregate
15 and concrete aggregate outlet 16 in electronic baiting valve 12, industrial camera 6 and high pressure nozzle 9 be respectively arranged in casing 10, and point
Not Wei Yu 3 lower end of blanking pipeline forward and backward side;Master control unit includes master control borad 8 and touch screen 7;In brick aggregate in casing 10
It is provided with the adjustable demarcation strip of vertically extending and deflection angle 11 between outlet 15 and concrete aggregate outlet 16;Master control borad 8 is distinguished
It is electrically connected with industrial camera 6 and 14 electronic baiting valve 12 of electric-air valve, touch screen 7 is electrically connected with industrial camera 6.
Glass 4 is provided between the lower end of blanking pipeline 3 and double LED light 5 in casing 10.
Industrial camera 6 and double LED light 5 are in homonymy, and are set to the front of double LED light 5, and the model of FPGA can be with
It is but is not limited to EP4CE55F23I7, has the characteristics that high-performance, low-power consumption;The model of the chip of color image sensor
It can be TCD2901D, there is the characteristics of high sensitive, low-power consumption, high-resolution, can also be other high speed linear array colored CCDs.
Dust removal port 13 is provided on the side wall of casing 10.
A kind of building refuse brick concrete aggregate method for separating, has specifically included following steps:
(1), sorting unit is accurately installed, and pass through touch screen 7 be arranged industrial camera 6 running parameter;
(2), aggregate from feeding mouth 1 enter, striker plate 2 reduce aggregate fall into speed, it is to being flushed to material blanking tube road 3 that aggregate is steadily equal
Even scatter;
(3), aggregate along blanking pipeline 3 fall, into the angular field of view of industrial camera 6, aggregate by double LED light 5 uniformly shine
Bright, industrial camera 6 obtains aggregate image, the FPGA in industrial camera 6 under program control, to the aggregate image information of acquisition
It is processed, the identification of brick aggregate and concrete aggregate is carried out according to the feature of brick aggregate and the respective rgb value of concrete aggregate, and will identification
Information is sent to master control borad 8,
I.e. industrial camera 6 obtains whole image rgb format data of most original aggregate(Rgb color pattern is a kind of face of industrial quarters
Colour standard, be by red (R), green (G), the variation of blue (B) three Color Channels and their mutual superpositions come
To miscellaneous color, RGB is the color for representing three channels of red, green, blue, this standard includes almost that the mankind regard
The all colours that power can perceive are current with most wide one of color system)Data, then face is converted by following formula
Color table reaches another model YUV(YUV, is divided into three components, and " Y " indicates brightness, that is, gray value;And " U " and " V " is indicated
It is then coloration, effect is description colors of image and saturation degree, is used for the color of specified pixel):
After the rgb format data of image are converted to yuv format data, it is only necessary to by the value of U or V and the experience threshold set
Value is compared, if the value of U or V is smaller than empirical value, judges that the aggregate to fall is concrete aggregate;If the value ratio of U or V passes through
It tests that threshold value is big, then judges that the aggregate to fall is brick aggregate, wherein empirical value is to discriminate between the boundary of aggregate, in building waste aggregate
In mainly differentiation to brick aggregate and concrete aggregate, the setting of empirical value is the modified parameter in real process;
(4), aggregate by after 6 identification region of industrial camera, under fall on 9 region of high pressure nozzle, whether needed by the transmission of master control borad 8
Open the instruction of electric-air valve 14, electric-air valve 14, which receives, usually requires delay time t after instruction, the value of t and aggregate from
Brick aggregate outlet 15 is related with the height of concrete aggregate outlet 16 to electric-air valve 14, when the identification information that master control borad 8 receives is sentenced
When the aggregate for being set to whereabouts is brick aggregate, open command is sent to electric-air valve 14, high pressure nozzle 9 sprays high pressure gas at this time,
The aggregate of whereabouts is blown off original fall trajectory;When the identification information that master control borad 8 receives is determined as that the aggregate to fall is concrete
When aggregate, do not send open command to electric-air valve 14, aggregate continues to fall along original fall trajectory at this time, to brick aggregate and
Concrete aggregate is sorted;
(5), enter the lower space of casing 10 after aggregate sorting, demarcation strip 11 is for adjusting the bone sieved by high pressure nozzle 9
The position that material sorts when falling, the i.e. left side of demarcation strip 11 are the range that brick aggregate falls, and the right side of demarcation strip 11 is concrete aggregate
The range of whereabouts;
(6), after brick aggregate after sorting and concrete aggregate respectively fall in brick aggregate outlet 15 and concrete aggregate outlet 16, be stacked into respectively
On electronic baiting valve 12 in brick aggregate outlet 15 and concrete aggregate outlet 16, electronic baiting valve 12 is in when no aggregate is accumulated
Closed state allows the inside of casing 10 to be in a kind of closed state, improves dust removing effects as far as possible to coordinate dust removal port 13;
After aggregate accumulates constant weight, master control borad 8 controls the electronic baiting valve 12 in brick aggregate outlet 15 and concrete aggregate outlet 16
It is separately turned on, brick aggregate and the outflow of concrete aggregate, after the completion of blowing, master control borad 8 controls brick aggregate outlet 15 and concrete aggregate outlet 16
Interior electronic baiting valve 12 is closed again respectively.
The present invention is according to the number of the brick aggregate in brick aggregate exit and the concrete aggregate in concrete aggregate exit come adjusting brick bone
The size that electronic baiting valve in material outlet and the outlet of concrete aggregate is opened, in this way, both may insure that brick aggregate and concrete aggregate could
It is smoothly exported respectively from brick aggregate and the outlet of concrete aggregate is flowed out, the outlet of brick aggregate and concrete aggregate exit can also be minimized
Air is flowed into inside sorting machine, can improve dust removing effects in this way.
Industrial camera 6 is suspended in oblique upper, the dust that aggregate sorting generates in order to prevent, by double LED light 5 and industrial phase
Machine 6 is placed on a closed space, ensures the clean of 6 camera lens of industrial camera, while the glass 4 contacted with aggregate also has correspondence
Dust removal installation.
The foregoing is merely the specific implementation modes of the present invention, but scope of protection of the present invention is not limited thereto, any
Belong to those skilled in the art in the technical scope disclosed by the present invention, the change or replacement that can be readily occurred in all are answered
It is included within the scope of the present invention.
Claims (5)
1. a kind of building refuse brick concrete aggregate sorting unit includes casing, material dispersion component, the constant component of light source, material
Screening part and master control unit, it is characterised in that:The material dispersion component includes to be set to entering for the cabinet top
Material mouth, the striker plate being set in feeding mouth and it is connected with feeding mouth and extends to the blanking pipeline in the casing;It is described
The constant component of light source include to be set in the casing and the double LED light in front of the blanking lower end of duct;Institute
The material screening part stated includes industrial camera, high pressure nozzle and the high pressure spray being made of FPGA and color image sensor
It electric-air valve that mouth is connected, the brick aggregate outlet for being respectively arranged at the bottom of shell and the outlet of concrete aggregate and installs respectively
Electronic baiting valve in brick aggregate outlet and the outlet of concrete aggregate, the industrial camera and high pressure nozzle are respectively arranged at
In the casing, and it is located at the forward and backward side of the blanking lower end of duct;The master control unit includes master control borad and touches
Touch screen;In the casing vertically extending and deflection angle is provided between brick aggregate outlet and concrete aggregate outlet
Adjustable demarcation strip;The master control borad is electrically connected with the industrial camera and electric-air valve electronic baiting valve respectively, described
Touch screen be electrically connected with the industrial camera.
2. a kind of building refuse brick concrete aggregate sorting unit according to claim 1, it is characterised in that:In the casing
It is provided with glass between the lower end of the blanking pipeline and the double LED light.
3. a kind of building refuse brick concrete aggregate sorting unit according to claim 1, it is characterised in that:The industrial phase
Machine is in homonymy with the double LED light, and is set to the front of the double LED light, and the model of the FPGA can be
But it is not limited to EP4CE55F23I7, the model of the chip of the color image sensor can be TCD2901D, also may be used
To be other high speed linear array colored CCDs.
4. a kind of building refuse brick concrete aggregate sorting unit according to claim 1, it is characterised in that:The side of the casing
Dust removal port is provided on wall.
5. a kind of method for separating based on building refuse brick concrete aggregate sorting unit described in claim 1, it is characterised in that:Specifically
Include following steps:
(1), sorting unit is accurately installed, and pass through touch screen be arranged industrial camera running parameter;
(2), aggregate from feeding mouth enter, striker plate reduce aggregate fall into speed, to being flushed to material blanking tube road by aggregate even
Scatter;
(3), aggregate fall along blanking pipeline, into the angular field of view of industrial camera, aggregate by double LED light uniform illumination,
Industrial camera obtains aggregate image, and the FPGA in industrial camera under program control, carries out the aggregate image information of acquisition
Processing carries out the identification of brick aggregate and concrete aggregate according to the feature of brick aggregate and the respective rgb value of concrete aggregate, and by identification information
It is sent to master control borad;
(4), aggregate by after industrial camera identification region, under fall on high pressure nozzle region, whether needed by master control borad transmission
Open the instruction of electric-air valve, electric-air valve, which receives, usually requires delay time t after instruction, and the value of t and aggregate are from brick aggregate
Outlet exports to that the height of electric-air valve is related with concrete aggregate, when the identification information that master control borad receives is determined as the aggregate of whereabouts
For brick aggregate when, send open command to electric-air valve, high pressure nozzle sprays high pressure gas at this time, and the aggregate of whereabouts is blown off original
The fall trajectory come;When the identification information that master control borad receives is determined as that the aggregate to fall is concrete aggregate, not to electric-air valve
Open command is sent, aggregate continues to fall along original fall trajectory at this time, is sorted to brick aggregate and concrete aggregate;
(5), enter the lower space of casing after aggregate sorting, demarcation strip is used to adjust the aggregate whereabouts sieved by high pressure nozzle
When the position that sorts, i.e. the left side of demarcation strip is the range that brick aggregate falls, and the right side of demarcation strip is the range that concrete aggregate falls;
(6), after brick aggregate after sorting and concrete aggregate respectively fall in the outlet of brick aggregate and the outlet of concrete aggregate, be stacked into brick bone respectively
On electronic baiting valve in material outlet and the outlet of concrete aggregate, electronic baiting valve is in closed state when no aggregate is accumulated, and comes
Coordinate dust removal port, allows the inside of casing to be in a kind of closed state, improve dust removing effects as far as possible;When aggregate accumulates certain weight
After amount, the electronic baiting valve in master control borad control brick aggregate outlet and the outlet of concrete aggregate is separately turned on, brick aggregate and concrete aggregate
It flows out, after the completion of blowing, the electronic baiting valve in master control borad control brick aggregate outlet and the outlet of concrete aggregate is closed again respectively.
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CN111438064A (en) * | 2020-04-01 | 2020-07-24 | 郑州轻工业大学 | Automatic book sorting machine |
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