CN109318359A - A kind of concrete spreader based on optoelectronic switch pre- scaling method automatically - Google Patents
A kind of concrete spreader based on optoelectronic switch pre- scaling method automatically Download PDFInfo
- Publication number
- CN109318359A CN109318359A CN201811219811.5A CN201811219811A CN109318359A CN 109318359 A CN109318359 A CN 109318359A CN 201811219811 A CN201811219811 A CN 201811219811A CN 109318359 A CN109318359 A CN 109318359A
- Authority
- CN
- China
- Prior art keywords
- cloth
- distributing machine
- material distributing
- optoelectronic switch
- axis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B13/00—Feeding the unshaped material to moulds or apparatus for producing shaped articles; Discharging shaped articles from such moulds or apparatus
- B28B13/02—Feeding the unshaped material to moulds or apparatus for producing shaped articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B17/00—Details of, or accessories for, apparatus for shaping the material; Auxiliary measures taken in connection with such shaping
- B28B17/0063—Control arrangements
- B28B17/0081—Process control
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Ceramic Engineering (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of concrete spreader based on optoelectronic switch pre- scaling method automatically, is related to prefabricated components concrete spreader automation field in building industrialization.Include: installation optoelectronic switch, while determining X-axis and Y-axis；Controller controls cloth cart and trolley drives material distributing machine to reach the initial position outside area of cloth, detects magnetic side mode by optoelectronic switch, utilizes the pre- calibration point of PLC controller record material distributing machine optoelectronic switch；Controller at a distance from the endpoint of cloth material mouth outer, calculates material distributing machine calibration point in conjunction with the pre- calibration point of optoelectronic switch according to optoelectronic switch installation site；Material distributing machine relative position is calculated, and material distributing machine walking is controlled to pre- calibration point by controller, is ready for cloth production.This method is small to existing equipment and detection system change, improvement cost is low, with existing cloth system good compatibility, it is easy to accomplish, while material distributing machine can be automatically performed and demarcated in advance, it improves concrete spreader and determines the accuracy of pre- calibration point and demarcate efficiency in advance.
Description
Technical field
The present invention relates to prefabricated components concrete spreader automatic control technology fields in building industrialization, and in particular to one
Plant the pre- scaling method automatically of the concrete spreader based on optoelectronic switch.
Background technique
The concrete component and fitting majority that domestic construction uses now is produced using cast-in-place mode, and there are environmental pollutions for which
Greatly, the problems such as construction efficiency is low and unstable product quality.With the quickening of China's process of industrialization, concrete prefabricated element work
Factory's metaplasia produce by be China's building industrialization development important trend, wherein concrete distributing is concrete prefabricated element batch production
The key link of production, process are: concrete spreader is controlled according to system and is required, in cloth after having loaded concrete
Under the drive for expecting cart and trolley, walk along trapped orbit；In the process of walking, it will be stirred by the screw rod for being assemblied in discharge port
Mixed concrete release is poured within the scope of magnetic side mode assembled on bed die pallet, and that completes prefabricated components pours life
It produces, cloth process is as shown in Figure 1, wherein distributing trolley can be with material distributing machine along cloth direction back-and-forth motion, cloth cart energy
It is enough to be moved left and right with material distributing machine.
Concrete spreader can require to carry out cloth according to control system, most important premise is that precise positioning cloth
Expect initial position when operation, that is, determine the position of material distributing machine relative magnetism side mode, and then guarantees that cloth function is providing
Cloth production is carried out according to sets requirement in region, while can also prevent concrete in cloth process from spreading to outside magnetic side mode.
Cloth system of the country for concrete prefabricated element production generallys use manual control mode, i.e., operator is in cloth
The position for examining material distributing machine is looked in material region, and the initial position of material distributing machine is moved to by remote control control material distributing machine.It is this artificial
Operation material distributing machine is demarcated in advance the problem is that material distributing machine positioning is inaccurate and location efficiency is low, it is often more important that is limited
The exploitation and realization of later period cloth automatic control system.So to improve material distributing machine automatic control level, improving its positioning accuracy
And efficiency, it is badly in need of a kind of pre- calibration technique for concrete spreader in the industry.
Summary of the invention
In view of the problems of the existing technology, it is automatically pre- to provide a kind of concrete spreader based on optoelectronic switch by the present invention
Scaling method detects magnetic side by the optoelectronic switch added below concrete spreader wherein one side edge cloth material mouth
Mould, in conjunction with controller, the material distributing machine cloth cart and small in control cabinet in the big car crossbeam of cloth in original cloth machine control system
Two encoders on vehicle driving motor realize the detection of magnetic side mode position, and then pass through the controller of original cloth system
Determine the pre- calibration point of concrete spreader, hence it is evident that accuracy and efficiency that concrete spreader determines pre- calibration point are improved,
And then reduce positioning time, improve production efficiency.
To achieve the goals above, a kind of concrete spreader based on optoelectronic switch pre- scaling method automatically, including with
Lower step:
Step 1: an optoelectronic switch, while, it is specified that and cloth are added below material distributing machine wherein one side edge cloth material mouth
The parallel direction of machine distributing trolley track route is X-axis, and the direction vertical with X-axis is Y-axis, wherein distributing trolley is round-trip along X-axis
Walking, cloth cart go and back running along Y-axis；
Step 2: controller controls cloth cart and trolley drives material distributing machine to reach the initial position outside area of cloth, then
It walks into area of cloth, the detection by optoelectronic switch to magnetic side mode determines position of the magnetism side mode relative to material distributing machine,
Utilize the pre- calibration point (X of controller record material distributing machine optoelectronic switchJ0, YJ0), the specific steps are as follows:
Step 2.1: controller controls distributing trolley and material distributing machine is driven to reach the initial position outside area of cloth, then along X
Axis when the optoelectronic switch below cloth material mouth detects magnetic side mode, shows to examine by walking in area of cloth extroversion area of cloth
The magnetic side mode for measuring the close initial position side vertical with X-axis, is denoted as AA side mode, and what is detected at this time is AA side mode in cloth
Expect the outer of areas outside；
Step 2.2: controller control distributing trolley drives material distributing machine continuation to walk along X axis area of cloth, works as cloth
When the magnetic side mode blackout of the optoelectronic switch detection below mouthful, controller controls distributing trolley parking, detects at this time
It is interior edge of the AA magnetism side mode in area of cloth side, controller records position X of the distributing trolley in X-direction at this timeJ0；
Step 2.3: controller controls distributing trolley and material distributing machine is driven to move backward along X-axis, back to outside area of cloth
Initial position；
Step 2.4: controller control cloth cart drives material distributing machine to move along the pre- calibration point side of Y-axis, until along Y-axis
Direction, detection of the material distributing machine position apart from the pre- calibration point side magnetic side mode outer parallel with X-axis more than optoelectronic switch
Radius, controller control distributing trolley again and material distributing machine are driven to be moved to the close pre- calibration point side parallel with X-axis along the x axis
Magnetic side mode on the outside of, be denoted as on the outside of BB magnetism side mode；
Step 2.5: controller controls cloth cart and drives material distributing machine along Y-axis by area of cloth extroversion area of cloth expert
It walks, when the optoelectronic switch below cloth material mouth detects magnetic side mode, shows the outer for detecting BB magnetism side mode, continue to control
Cloth cart is along former direction walking, until optoelectronic switch detects magnetic side mode blackout, the parking of cloth cart, controller note
Record position Y of the cloth cart in Y direction at this timeJ0, so far obtain the pre- calibration point (X of concrete spreader optoelectronic switchJ0,
YJ0)；
Step 3: controller (X at a distance from the endpoint of cloth material mouth outer according to the installation site of optoelectronic switchJ, YJ), in conjunction with cloth
Pre- calibration point (the X of material machine optoelectronic switchJ0, YJ0), material distributing machine cloth material mouth outer endpoint is calculated in the corresponding cloth of bed die tray surface
The pre- calibration point M (X of material machine0, Y0), wherein X0=XJ0-XJ, Y0=YJ0-YJ；
Step 4: according to the pre- calibration point (X of material distributing machine0, Y0) and the position (X that is currently located of material distributing machinecrt, Ycrt), it determines
Material distributing machine and pre- calibration point M (X0, Y0) relative position (Xrel, Yrel), and material distributing machine walking is controlled to pre- calibration by controller
Point M (X0, Y0), it is ready for cloth production.
Beneficial effects of the present invention:
The present invention proposes a kind of concrete spreader based on optoelectronic switch pre- scaling method automatically, only need to be in existing coagulation
An optoelectronic switch is added below native material distributing machine cloth material mouth, the detection by optoelectronic switch to magnetic side mode can determine mixed
The pre- calibration point of solidifying soil material distributing machine, it is small to existing equipment and detection system change, improvement cost is low, it is compatible with existing cloth system
Property it is good, it is easy to accomplish, while material distributing machine can be automatically performed and demarcated in advance, improved concrete spreader and determine the accurate of pre- calibration point
Property and demarcate efficiency in advance, in addition, the present invention fully considers in pre- calibration process reinforcing bar and other external factor inside magnetic side mode
Interference for calibration result is demarcated using edge in magnetic side mode, improves the reality of the pre- calibration technique of concrete spreader
With property and accuracy.
Detailed description of the invention
Fig. 1 is concrete spreader cloth process schematic diagram in background of invention；
Fig. 2 is the pre- scaling method flow chart automatically of the concrete spreader based on optoelectronic switch in the embodiment of the present invention；
Fig. 3 is the pre- scaling method schematic diagram automatically of the concrete spreader based on optoelectronic switch in the embodiment of the present invention；
Fig. 4 is the position view of optoelectronic switch installation site and No. 1 cloth material mouth outer terminal A in the embodiment of the present invention.
In figure, 1, distributing trolley；2, concrete spreader；3, spiral reamer；4, No. 1 cloth material mouth of material distributing machine；5, cloth
Cart；6, bed die pallet；7, magnetic side mode；8, guide rail；9, optoelectronic switch；10, control cabinet.
Specific embodiment
It is right in the following with reference to the drawings and specific embodiments in order to be more clear the purpose of the present invention, technical solution and advantage
The present invention is described in further details.Described herein specific examples are only used to explain the present invention, is not used to limit this
Invention.
A kind of concrete spreader based on optoelectronic switch pre- scaling method automatically, process is as shown in Fig. 2, principle such as Fig. 3
Shown, the arrow in Fig. 3 is illustrated as the moving line that controller drives material distributing machine, and it is described that the specific method is as follows:
Step 1: a photoelectric proximity switch is added below No. 1 cloth material mouth of material distributing machine, while, it is specified that with material distributing machine cloth
The parallel direction of carriage walking route is X-axis, and the direction vertical with X-axis is Y-axis, wherein distributing trolley goes and back running along X-axis,
Cloth cart goes and back running along Y-axis.
Step 2: controller controls cloth cart and trolley drives material distributing machine to reach the initial position outside area of cloth, then
It walks into area of cloth, the detection by optoelectronic switch to magnetic side mode determines position of the magnetism side mode relative to material distributing machine,
Utilize the pre- calibration point (X of controller record material distributing machine optoelectronic switchJ0,YJ0), the specific steps are as follows:
Step 2.1: controller controls distributing trolley and material distributing machine is driven to reach the initial position outside area of cloth, then along X
Axis when the optoelectronic switch below cloth material mouth detects magnetic side mode, shows to examine by walking in area of cloth extroversion area of cloth
The magnetic side mode for measuring the close initial position side vertical with X-axis, is denoted as AA side mode, and what is detected at this time is AA side mode in cloth
Expect the outer of areas outside.
Step 2.2: controller control distributing trolley drives material distributing machine continuation to walk along X axis area of cloth, works as cloth
When the magnetic side mode blackout of the optoelectronic switch detection below mouthful, controller controls distributing trolley parking, detects at this time
It is interior edge of the AA magnetism side mode in area of cloth side, controller records position X of the distributing trolley in X-direction at this timeJ0。
Step 2.3: controller controls distributing trolley and material distributing machine is driven to move backward along X-axis, back to outside area of cloth
Initial position.
Step 2.4: controller control cloth cart drives material distributing machine to move along the pre- calibration point side of Y-axis, until along Y-axis
Direction, detection of the material distributing machine position apart from the pre- calibration point side magnetic side mode outer parallel with X-axis more than optoelectronic switch
Radius, controller control distributing trolley again and material distributing machine are driven to be moved to the close pre- calibration point side parallel with X-axis along the x axis
Magnetic side mode on the outside of, be denoted as on the outside of BB magnetism side mode.
Step 2.5: controller controls cloth cart and drives material distributing machine along Y-axis by area of cloth extroversion area of cloth expert
It walks, when the optoelectronic switch below cloth material mouth detects magnetic side mode, shows the outer for detecting BB magnetism side mode, continue to control
Cloth cart is along former direction walking, until optoelectronic switch detects magnetic side mode blackout, the parking of cloth cart, controller note
Record position Y of the cloth cart in Y direction at this timeJ0, so far obtain the pre- calibration point (X of concrete spreader switchJ0,YJ0)。
Step 3: controller (X at a distance from the terminal A of cloth material mouth outer according to the installation site of optoelectronic switchJ, YJ), such as Fig. 4
It is shown, in conjunction with the pre- calibration point (X of material distributing machine optoelectronic switchJ0,YJ0) material distributing machine cloth material mouth outer terminal A is calculated in bed die pallet table
The pre- calibration point M (X of the corresponding material distributing machine in face0, Y0), wherein X0=XJ0-XJ, Y0=YJ0-YJ。
Step 4: according to the pre- calibration point (X of material distributing machine0, Y0) and the position (X that is currently located of material distributing machinecrt, Ycrt), it determines
Material distributing machine and pre- calibration point M (X0, Y0) relative position (Xrel, Yrel), and material distributing machine walking is controlled to pre- calibration by controller
Point M (X0, Y0), it is ready for cloth production.
The material distributing machine controls material distributing machine walking to pre- calibration point M (X by controller0, Y0) control formula it is as follows:
Xrel=Xcrt-X0；
Yrel=Ycrt-Y0；
Xcrt(t)=Xcrt(t-1)±Vxtsc；
Ycrt(t)=Ycrt(t-1)±VDtsc；
Wherein, Xcrt(t) and Ycrt(t) be respectively material distributing machine at t-th of period in the position of coordinate system X-axis and Y-axis, Vx
For the speed of travel of the distributing trolley of the encoder detection on distributing trolley driving motor, VDFor on cloth cart driving motor
The speed of travel of the cloth cart of encoder detection, when distributing trolley or cart are walked to X-axis or Y-axis numerical value augment direction,
Symbol in formula before speed takes "+" number, otherwise takes "-" number, tscFor the fixed cycle, taken according to different controllers different
Value.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that；It still may be used
To modify to technical solution documented by previous embodiment, or some or all of the technical features are equal
Replacement；Thus these are modified or replaceed, defined by the claims in the present invention that it does not separate the essence of the corresponding technical solution
Range.
Claims (1)
1. a kind of concrete spreader based on optoelectronic switch pre- scaling method automatically, which comprises the following steps:
Step 1: an optoelectronic switch is added below material distributing machine wherein one side edge cloth material mouth, while, it is specified that with material distributing machine cloth
The parallel direction of trolley track route is X-axis, and the direction vertical with X axis is Y-axis, wherein distributing trolley is along the round-trip row of X-axis
It walks, cloth cart goes and back running along Y-axis；
Step 2: controller controls cloth cart and trolley drives material distributing machine to reach the initial position outside area of cloth, then to cloth
Expect to walk in region, the detection by optoelectronic switch to magnetic side mode determines position of the magnetism side mode relative to material distributing machine, utilizes
Pre- calibration point (the X of controller record material distributing machine optoelectronic switchJ0, YJ0), the specific steps are as follows:
Step 2.1: controller control distributing trolley drive material distributing machine reach area of cloth outside initial position, then along X-axis by
Walking, when the optoelectronic switch below cloth material mouth detects magnetic side mode, shows to detect in area of cloth extroversion area of cloth
The magnetic side mode of the close initial position side vertical with X-axis, is denoted as AA side mode, and what is detected at this time is AA side mode in cloth area
The outer of overseas side；
Step 2.2: controller control distributing trolley drives material distributing machine continuation to walk along X axis area of cloth, when under cloth material mouth
When the magnetic side mode blackout of the optoelectronic switch detection of side, controller controls distributing trolley parking, and that detect at this time is AA
Magnetic side mode records position X of the distributing trolley in X-direction at this time in the interior edge of area of cloth side, controllerJ0；
Step 2.3: controller control distributing trolley drive material distributing machine along X-axis move backward, back to area of cloth outside it is initial
Position；
Step 2.4: controller control cloth cart drives material distributing machine to move along the pre- calibration point side of Y-axis, until along Y-axis side
To detection half of the material distributing machine position apart from the pre- calibration point side magnetic side mode outer parallel with X-axis more than optoelectronic switch
Diameter, controller control distributing trolley again and material distributing machine are driven to be moved to the close pre- calibration point side parallel with X-axis along the x axis
On the outside of magnetic side mode, it is denoted as on the outside of BB magnetism side mode；
Step 2.5: controller controls cloth cart and drives material distributing machine along Y-axis by walking in area of cloth extroversion area of cloth, when
When optoelectronic switch below cloth material mouth detects magnetic side mode, show the outer for detecting BB magnetism side mode, continues to control cloth
Cart is along former direction walking, until optoelectronic switch detects that magnetic side mode blackout, the parking of cloth cart, controller record this
When cloth cart Y direction position YJ0, so far obtain the pre- calibration point (X of concrete spreader optoelectronic switchJ0, YJ0)；
Step 3: controller (X at a distance from the endpoint of cloth material mouth outer according to the installation site of optoelectronic switchJ, YJ), in conjunction with material distributing machine
Pre- calibration point (the X of optoelectronic switchJ0, YJ0), material distributing machine cloth material mouth outer endpoint is calculated in the corresponding material distributing machine of bed die tray surface
Pre- calibration point M (X0, Y0), wherein X0=XJ0-XJ, Y0=YJ0-YJ；
Step 4: according to the pre- calibration point (X of material distributing machine0, Y0) and material distributing machine be currently located with position (Xcrt, Ycrt), determine cloth
Material machine and pre- calibration point M (X0, Y0) relative position (Xrel, Yrel), and material distributing machine walking is controlled to pre- calibration point by controller
M(X0, Y0), it is ready for cloth production.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811219811.5A CN109318359B (en) | 2018-10-19 | 2018-10-19 | Automatic pre-calibration method of concrete spreader based on photoelectric switch |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811219811.5A CN109318359B (en) | 2018-10-19 | 2018-10-19 | Automatic pre-calibration method of concrete spreader based on photoelectric switch |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109318359A true CN109318359A (en) | 2019-02-12 |
| CN109318359B CN109318359B (en) | 2020-07-07 |
Family
ID=65262737
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811219811.5A Active CN109318359B (en) | 2018-10-19 | 2018-10-19 | Automatic pre-calibration method of concrete spreader based on photoelectric switch |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109318359B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114102827A (en) * | 2020-09-01 | 2022-03-01 | 广东博智林机器人有限公司 | Distributing method and device of distributing machine, distributing machine and storage medium |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1463658A (en) * | 2002-06-21 | 2003-12-31 | 泰怡凯电器(苏州)有限公司 | Method for identifying automatic dust collector cleanable area and obstacle area |
| CN102590245A (en) * | 2012-02-23 | 2012-07-18 | 丹东华日理学电气有限公司 | Intelligent X-ray digital flat imaging detection system device and detection method |
| CN203994190U (en) * | 2014-06-16 | 2014-12-10 | 深圳海龙建筑制品有限公司 | A kind of concrete distributing equipment |
| CN104950801A (en) * | 2015-06-12 | 2015-09-30 | 北方重工集团有限公司 | Electric controlling device for side form placing equipment of precast member by adopting automatic path optimization |
| CN105690555A (en) * | 2016-03-28 | 2016-06-22 | 北京星航机电装备有限公司 | Control system and control method for automatic pouring of concrete prefabricated slabs with door and window holes |
| CN107214834A (en) * | 2017-05-19 | 2017-09-29 | 中民筑友科技投资有限公司 | A kind of cloth control system and method for material distributing machine |
| CN108637850A (en) * | 2018-06-28 | 2018-10-12 | 广州神力机器人科技有限公司 | A kind of the milling robot system and control method of movement locus self study |
-
2018
- 2018-10-19 CN CN201811219811.5A patent/CN109318359B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1463658A (en) * | 2002-06-21 | 2003-12-31 | 泰怡凯电器(苏州)有限公司 | Method for identifying automatic dust collector cleanable area and obstacle area |
| CN102590245A (en) * | 2012-02-23 | 2012-07-18 | 丹东华日理学电气有限公司 | Intelligent X-ray digital flat imaging detection system device and detection method |
| CN203994190U (en) * | 2014-06-16 | 2014-12-10 | 深圳海龙建筑制品有限公司 | A kind of concrete distributing equipment |
| CN104950801A (en) * | 2015-06-12 | 2015-09-30 | 北方重工集团有限公司 | Electric controlling device for side form placing equipment of precast member by adopting automatic path optimization |
| CN105690555A (en) * | 2016-03-28 | 2016-06-22 | 北京星航机电装备有限公司 | Control system and control method for automatic pouring of concrete prefabricated slabs with door and window holes |
| CN107214834A (en) * | 2017-05-19 | 2017-09-29 | 中民筑友科技投资有限公司 | A kind of cloth control system and method for material distributing machine |
| CN108637850A (en) * | 2018-06-28 | 2018-10-12 | 广州神力机器人科技有限公司 | A kind of the milling robot system and control method of movement locus self study |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114102827A (en) * | 2020-09-01 | 2022-03-01 | 广东博智林机器人有限公司 | Distributing method and device of distributing machine, distributing machine and storage medium |
| CN114102827B (en) * | 2020-09-01 | 2024-03-12 | 广东博智林机器人有限公司 | Distributing method and device of distributing machine, distributing machine and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109318359B (en) | 2020-07-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109291231B (en) | Automatic pre-calibration method of concrete spreader based on laser ranging | |
| CN109550929B (en) | Intelligent slag skimming system and method | |
| CN109057273B (en) | Automatic seam beautifying robot and using method thereof | |
| CN101912995B (en) | High-performance online cutting-off device | |
| CN201242687Y (en) | Synchronous drive control device for lifting platform position | |
| CN113816270B (en) | Control method for cleaning pit of grab bucket | |
| CN112230655B (en) | Walking control system and method of four-way shuttle | |
| CN111830975A (en) | Automatic positioning control method and system for concrete torpedo tank and storage medium | |
| CN109397506B (en) | Automatic pre-calibration method of concrete spreader based on laser ranging sensor | |
| CN109318359A (en) | A kind of concrete spreader based on optoelectronic switch pre- scaling method automatically | |
| CN110685686A (en) | Continuous mining machine cutting control system, working method thereof and continuous mining machine | |
| CN109203206A (en) | The pre- scaling method of concrete spreader based on bed die pallet mark and close switch | |
| CN210798967U (en) | Continuous mining machine cutting control system and continuous mining machine | |
| CN109318360B (en) | Automatic pre-calibration method of concrete spreader based on proximity switch | |
| CN204918910U (en) | Automatic control device of doffer | |
| CN1322966C (en) | Digital control device of flyash brick shaping equipment | |
| CN202169356U (en) | Moulding machine | |
| CN202894310U (en) | Automatic pouring machine for achieving equipressure and equal quantity of sector ladle and liquid iron through parameter control of tilting angle and cutting angle | |
| CN112000076B (en) | Concrete torpedo tank on-site debugging method, debugging system and readable storage medium | |
| CN211877095U (en) | Interior wall plastering measurement system | |
| CN208441556U (en) | A kind of automatic parking system of parking | |
| CN111502311B (en) | Grouting machine and grouting method for automatically inserting and filling mortar in vertical joint of wall brick | |
| CN207749805U (en) | A kind of device based on monolithic processor controlled automatic full-filling tile adhesives | |
| CN216238414U (en) | Accurate alignment mechanism for hoist and hoist with same | |
| CN111788900B (en) | Intelligent electric-drive self-propelled water injection hole making machine and method for tobacco well cellar |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20190212 Assignee: SHENYANG SANYO BUILDING MACHINERY Co.,Ltd. Assignor: SHENYANG JIANZHU University Contract record no.: X2020210000029 Denomination of invention: Automatic pre calibration method of concrete spreader based on photoelectric switch Granted publication date: 20200707 License type: Common License Record date: 20201203 |
|
| EE01 | Entry into force of recordation of patent licensing contract |