CN109702870A - A kind of the demoulding agent spray system and spraying method of view-based access control model - Google Patents
A kind of the demoulding agent spray system and spraying method of view-based access control model Download PDFInfo
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- CN109702870A CN109702870A CN201910182167.7A CN201910182167A CN109702870A CN 109702870 A CN109702870 A CN 109702870A CN 201910182167 A CN201910182167 A CN 201910182167A CN 109702870 A CN109702870 A CN 109702870A
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Abstract
A kind of the demoulding agent spray system and spraying method of view-based access control model, belong to concrete prefabricated plate production equipment technology.It is made of spray equipment, steel form and die station.The spray equipment uses truss structure, and use the jet pipe for being covered with electronic nozzle as spraying apparatus, so that spraying uniform high-efficiency, identification positioning is carried out using computer vision, detect the distribution situation of the position of each steel form, and by certain treatment principle to achieve the effect that only to steel form and its internal spray, compared to the spray equipment of simple unified covering jet printing type, reduce waste, and pass through the movement speed of the adjustable spray equipment of quantity for spray regulation button, to adjust average spray amount, rationally to adjust spraying rate and quantity for spray according to actual needs, to reach best spraying effect, improve the efficiency of spraying.
Description
Technical field
The present invention relates to the demoulding agent spray system and spraying method of a kind of view-based access control model, specifically a kind of assembled
Demoulding agent spray system on the precast rc slab production line of house belongs to concrete prefabricated plate production equipment technology
Field.
Background technique
In modern architecture industry, assembled architecture obtains more and more favors with its exclusive advantage, drives simultaneously
The development of precast rc slab processing industry, in precast rc slab production process, to make precast reinforced
Easily steel form can be separated with prefabricated board after the completion of concrete slab preparation, needed before casting concrete to die station and steel
Spary release agent on the inside of template, at present most of brushing release agent work are that separately had using manually brushing or spraying
It is some using flush coater or large size spraying system, most of paint finishing is all the spraying method of whole cover type, can not
It is adjusted according to different steel form ornaments schemes, to be sprayed in unnecessary portion, causes the waste of material, and
Spray efficiency is low.
Summary of the invention
In view of the above-mentioned deficiencies, the present invention provides the demoulding agent spray system and spraying method of a kind of view-based access control model, it is
The features such as a kind of truss-like spray equipment, has at low cost, can be adjusted flexibly spraying position, easy to use.
The present invention is achieved by the following technical solutions:
A kind of demoulding agent spray system of view-based access control model, is made of, the mould spray equipment, steel form and die station
Platform is placed in suitable position below the spray equipment, and the steel form is required in the die station according to prefabricated board
Show specific shape.
The spray equipment be by sub-truss, power bus, control module, sliding rail, camera support, industrial camera,
What release agent holding tank, movable stand, hydraulic system, jet pipe and jet pipe crane formed, the camera support is fixed to described
Sub-truss top appropriate location, the industrial camera be fixed to the camera support on so that the industry
The field range of camera can cover entire die station, be slidably matched between the movable stand and the sliding rail, described
Movable stand can be moved along the sliding rail, and the release agent holding tank and the hydraulic system are fixed to the movable stand
On, so that the release agent holding tank and the hydraulic system are moved together with the movable stand, the release agent
Holding tank is connect by pipeline with the hydraulic system, and the hydraulic system ejiction opening is connect with the jet pipe, so that
Release agent in the release agent holding tank is by being pumped into the jet pipe after hydraulic system, the jet pipe lifting
Frame is fixed to the movable stand lower end, and the jet pipe is fixed on the jet pipe crane, so that by described in adjusting
The extension elongation of jet pipe crane change the height of jet pipe, the control module is fixed to the one of the sub-truss
Side appropriate location provides electric power by the power bus for whole device.
As a preference, the sub-truss is semi-hollow structure, so that can pass through control line inside it.
As a preference, what the movable stand was made of motor, movable pulley and bracket, in the band of the motor
The dynamic lower movable pulley can be rolled along the sliding rail, so that entire movable stand be driven to move on the sub-truss.
As a preference, what the jet pipe was made of soft pipeline body, rigid tubing body and electric spray, the electricity
The control line of dynamic spray head is first postponed along the jet pipe crane cloth, by the sub-truss inside and the control
Module connection.
As a preference, the jet pipe is dual segment structure, two sections of material is different, connect with the hydraulic system
Partly belong to soft pipeline body, what is connect with the electric spray partly belongs to rigid tubing body, the rigid tubing of the jet pipe
Body is fixed on the jet pipe crane, can adjust up and down height with the jet pipe crane.
As a preference, the electric spray has multiple and is evenly arranged in the rigid tubing according to a fixed spacing
On body, the spacing between electric spray described in every two should be less than the thickness of the steel form.
As a preference, what the jet pipe crane was made of casing, telescoping tube and screw, the set
Pipe is fixed on the movable stand, and the telescoping tube can adjust collapsing length in the set in-pipe, and pass through
The screw is fixed.
As a preference, the control module is by control driving plate, display, start-stop button, adopts figure button, spray
Painting amount regulation button and mobile control button composition, motor, hydraulic system, electric spray and the industrial camera is and institute
The control driving plate connection stated, carries out coordinated control by the control module.
A kind of release agent spraying method of view-based access control model, the specific steps are as follows:
A. the steel form is placed in the die station according to preset shape, the die station is placed on institute
Suitable position below the spray equipment stated allows the jet pipe to cover the die station, by the power bus with
Power supply connection, powers for the spray equipment；
B. the movable stand is moved on the sub-truss without industry by the mobile control button
That one end of camera to start to spray from the end, and the jet pipe is adjusted to higher position, so that the industry
Only have the die station and the steel form within the scope of camera fields of view, to collect ideal image, the convenient control
Molding block is handled, to determine the position of the steel form；
C. the industrial camera is demarcated using scaling board, obtains the inside and outside parameter of the industrial camera, presses
The lower figure button of adopting carries out capture to the die station and steel form, and the image that the control module processing obtains leads to
It crosses image processing techniques and obtains the location information of the steel form；
D. the height of the jet pipe is adjusted by the jet pipe crane according to the height of the die station and steel form
Degree, so as to reach best spraying effect, and will be modulated at upper end 5-10CM of the electric spray apart from steel form
Release agent pour into the release agent holding tank；
E. it presses the start-stop button to start to spray, the jet pipe is under the drive of the movable stand, from described
One end of die station move to one end so that the jet pipe is mobile to cover entire die station, in the jet pipe moving process,
The control module issues control information, controls the electric spray according to the location information of the obtained steel form of step c
Open or close, with complete in real time according to the opening quantity of the shape adjustment electric spray of the punching block board placing and which
The electric spray of position is opened, in this way can be in the movable stand moving process, only in the steel form and its interior
Portion sprays release agent, rather than sprays to entire die station, avoids wasting；
F. by the movement speed of the adjustable movable stand of quantity for spray regulation button, to adjust average spray
Amount, rationally to adjust spraying rate and quantity for spray according to actual needs, to reach best spraying effect.
The usefulness of the invention is that the spray equipment uses truss structure, and using the jet pipe for being covered with electronic nozzle
As spraying apparatus, so that spraying uniform high-efficiency, carries out identification positioning using computer vision, detects the position of each steel form
Distribution situation, and by certain treatment principle to achieve the effect that only to steel form and its internal spray, compared to simple
Unified covering jet printing type spray equipment, reduce waste, and pass through the adjustable spray equipment of quantity for spray regulation button
Movement speed, to adjust average spray amount, rationally to adjust spraying rate and quantity for spray according to actual needs, to reach most
Good spraying effect, improves the efficiency of spraying.
Detailed description of the invention
Attached drawing 1 is spraying schematic diagram of the invention.
Attached drawing 2 is the structural schematic diagram of spray equipment.
Attached drawing 3 is cross-sectional view of the spray equipment at jet pipe.
Attached drawing 4 is the structural schematic diagram of jet pipe.
Attached drawing 5 is control module schematic diagram.
Attached drawing 6 is the structural schematic diagram of movable stand.
Attached drawing 7 is the structural schematic diagram of jet pipe crane.
In figure, 1, spray equipment, 1.1, sub-truss, 1.2, power bus, 1.3, control module, 1.3.1, control driving
1.3.3, plate, 1.3.2, start-stop button adopt figure button, 1.3.4, display, 1.3.5, quantity for spray regulation button, 1.3.6, movement
Control button, 1.4, sliding rail, 1.5, camera support, 1.6, industrial camera, 1.7, release agent holding tank, 1.8, movable stand,
1.8.1, motor, 1.8.2, movable pulley, 1.8.3, bracket, 1.9, hydraulic system, 1.10, jet pipe, 1.10.1, soft pipeline body,
1.10.2, rigid tubing body, 1.10.3, electric spray, 1.11, jet pipe crane, 1.11.1, casing, 1.11.2, telescoping tube,
1.11.3, screw, 2, steel form, 3, die station.
Specific embodiment
A kind of demoulding agent spray system of view-based access control model, is made of spray equipment 1, steel form 2 and die station 3, described
Die station 3 be placed in the 1 lower section suitable position of spray equipment, the steel form 2 is required according to prefabricated board described
Die station 3 on show specific shape.
The spray equipment 1 is by sub-truss 1.1, power bus 1.2, control module 1.3, sliding rail 1.4, camera branch
Frame 1.5, industrial camera 1.6, release agent holding tank 1.7, movable stand 1.8, hydraulic system 1.9, jet pipe 1.10 and jet pipe crane
1.11 compositions, the camera support 1.5 is fixed to the top appropriate location of the sub-truss 1.1, the industry
Camera 1.6 is fixed on the camera support 1.5, and the field range of the industrial camera 1.6 is covered entirely
Die station 3 is slidably matched between the movable stand 1.8 and the sliding rail 1.4, and the movable stand 1.8 can be along described
Sliding rail 1.4 is mobile, and the release agent holding tank 1.7 and the hydraulic system 1.9 are fixed on the movable stand 1.8,
So that the release agent holding tank 1.7 and the hydraulic system 1.9 are moved together with the movable stand 1.8, it is described
Release agent holding tank 1.7 is connect by pipeline with the hydraulic system 1.9,1.9 ejiction opening of hydraulic system with it is described
Jet pipe 1.10 connect so that release agent in the release agent holding tank 1.7 is by being pumped into institute after hydraulic system 1.9
In the jet pipe 1.10 stated, the jet pipe crane 1.11 is fixed to 1.8 lower end of movable stand, and the jet pipe 1.10 is solid
Determine onto the jet pipe crane 1.11, so that changing spray by the extension elongation for adjusting the jet pipe crane 1.11
The height of pipe 1.10, the control module 1.3 is fixed to the side appropriate location of the sub-truss 1.1, by described
Power bus 1.2 provide electric power for whole device.
As a preference, the sub-truss 1.1 is semi-hollow structure, so that can pass through control line inside it.
As a preference, the movable stand 1.8 is made of motor 1.8.1, movable pulley 1.8.2 and bracket 1.8.3
, the movable pulley 1.8.2 can be rolled along the sliding rail 1.4 under the drive of the motor 1.8.1, to drive whole
A movable stand 1.8 moves on the sub-truss 1.1.
As a preference, the jet pipe 1.10 is by soft pipeline body 1.10.1, rigid tubing body 1.10.2 and electronic spray
Head 1.10.3 composition, the control line of the electric spray 1.10.3 is first postponed along 1.11 cloth of jet pipe crane,
It is connect by 1.1 inside of sub-truss with the control module 1.3.
As a preference, the jet pipe 1.10 is dual segment structure, two sections of material is different, with the hydraulic system
1.9 connections partly belong to soft pipeline body 1.10.1, partly belong to rigid tubing body with what the electric spray 1.10.3 was connect
1.10.2, the rigid tubing body 1.10.2 of the jet pipe 1.10 is fixed on the jet pipe crane 1.11, can be with described
About 1.11 jet pipe crane adjustment height.
As a preference, the electric spray 1.10.3 has multiple and is evenly arranged according to a fixed spacing described
On rigid tubing body 1.10.2, the spacing between electric spray 1.10.3 described in every two should be less than the thickness of the steel form 2
Degree.
As a preference, the jet pipe crane 1.11 is by casing 1.11.1, telescoping tube 1.11.2 and clamp screw
Silk 1.11.3 composition, the casing 1.11.1 is fixed on the movable stand 1.8, and the telescoping tube 1.11.2 can be
It moves in the casing 1.11.1 to adjust collapsing length, and is fixed by the screw 1.11.3.
As a preference, the control module 1.3 be by control driving plate 1.3.1, display 1.3.4, start and stop by
Button 1.3.2, figure button 1.3.3, quantity for spray regulation button 1.3.5 are adopted and moves control button 1.3.6 composition, the motor
1.8.1, hydraulic system 1.9, electric spray 1.10.3 and industrial camera 1.6 are connect with the control driving plate 1.3.1, are led to
It crosses the control module 1.3 and carries out coordinated control.
A kind of release agent spraying method of view-based access control model, the specific steps are as follows:
A. the steel form 2 is placed in the die station 3 according to preset shape, the die station 3 is placed
The suitable position below the spray equipment 1 allows the jet pipe 1.10 to cover the die station 3, will be described
Power bus 1.2 connects to power supply, and powers for the spray equipment 1；
B. the movable stand 1.8 is moved to by the mobile control button 1.3.6 by the sub-truss 1.1
That one end of upper no industrial camera 1.6 to start to spray from the end, and the jet pipe 1.10 is adjusted to higher position
It sets, so that the industrial camera 1.6 only has the die station 3 and the steel form 2 within sweep of the eye, to collect reason
The image thought, the convenient control module 1.3 are handled, to determine the position of the steel form 2；
C. the industrial camera 1.6 is demarcated using scaling board, obtains the inside and outside ginseng of the industrial camera 1.6
Number, press it is described adopt figure button 1.3.3 capture carried out to the die station 3 and steel form 2, at the control module 1.3
The image obtained is managed, the location information of the steel form 2 is obtained by image processing techniques；
D. the spray is adjusted by the jet pipe crane 1.11 according to the height of the die station 3 and steel form 2
The height of pipe 1.10, so that at upper end 5-10CM of the electric spray 1.10.3 apart from steel form 2, to reach best spray
Effect is applied, and the release agent modulated is poured into the release agent holding tank 1.7；
E. it presses the start-stop button 1.3.2 to start to spray, band of the jet pipe 1.10 in the movable stand 1.8
Under dynamic, one end is moved to from one end of the die station 3, so that the jet pipe 1.10 is mobile to cover entire die station 3, described
1.10 moving process of jet pipe in, the control module 1.3 issues control according to the location information of the obtained steel form 2 of step c
Information processed controls opening or closing for the electric spray 1.10.3, is put in real time according to the steel form 2 with completion
The opening quantity of shape adjustment electric spray 1.10.3 and the electric spray 1.10.3 of which position are opened, in this way can be in institute
In 1.8 moving process of movable stand stated, only in the steel form 2 and its internal spray release agent, rather than to entire die station 3
It is sprayed, avoids wasting；
F. by the movement speed of the adjustable movable stand 1.8 of quantity for spray regulation button 1.3.5, to adjust flat
Equal quantity for spray, rationally to adjust spraying rate and quantity for spray according to actual needs, to reach best spraying effect.
In actually spraying, first passes through step a-c and obtain the image of steel form 2 and die station 3, by the control module
1.3 calculation processings obtain the location information of steel form 2, after jet pipe 1.10 is then adjusted to suitable height, can carry out
Spray coating operations, with the steel form 2 that in the mobile spraying process of jet pipe 1.10, control module 1.3 is calculated according to processing in real time
Location information control electric spray 1.10.3 state, make it only in the steel form 2 and its internal spray release agent,
After movable stand 1.8 is moved to 1.1 other end of sub-truss, just precise and high efficiency completes spray coating operations.
For the ordinary skill in the art, introduction according to the present invention, do not depart from the principle of the present invention with
In the case where spirit, changes, modifications that embodiment is carried out, replacement and variant still fall within protection scope of the present invention it
It is interior.
Claims (9)
1. a kind of demoulding agent spray system of view-based access control model, is made of spray equipment, steel form and die station, the die station
It is placed in suitable position below the spray equipment, the steel form is required to put in the die station according to prefabricated board
Specific shape out.
The spray equipment is by sub-truss, power bus, control module, sliding rail, camera support, industrial camera, demoulding
What agent holding tank, movable stand, hydraulic system, jet pipe and jet pipe crane formed, the camera support is fixed to the branch
The top appropriate location of truss is supportted, the industrial camera is fixed on the camera support, so that the industrial camera
Field range can cover entire die station, to be slidably matched between the movable stand and the sliding rail, the movement
Frame can be moved along the sliding rail, and the release agent holding tank and the hydraulic system are fixed on the movable stand,
So that the release agent holding tank and the hydraulic system are moved together with the movable stand, the release agent storage
Slot is connect by pipeline with the hydraulic system, and the hydraulic system ejiction opening is connect with the jet pipe, so that described
Release agent holding tank in release agent by after hydraulic system, being pumped into the jet pipe, the jet pipe crane is solid
Surely the movable stand lower end is arrived, the jet pipe is fixed on the jet pipe crane, so that by adjusting the spray
The extension elongation of pipe crane changes the height of jet pipe, and the side that the control module is fixed to the sub-truss is suitable
Work as position, provides electric power by the power bus for whole device.
2. liquid discharging device as described in claim 1, which is characterized in that the sub-truss is semi-hollow structure, so that its
Inside can pass through control line.
3. liquid discharging device as described in claim 1, which is characterized in that the movable stand is by motor, movable pulley and bracket
Composition, the movable pulley can be rolled along the sliding rail under the drive of the motor, to drive entire movable stand
It is moved on the sub-truss.
4. liquid discharging device as described in claim 1, which is characterized in that the jet pipe be by soft pipeline body, rigid tubing body and
Electric spray composition, the control line of the electric spray is first postponed along the jet pipe crane cloth, by described
It is connect inside sub-truss with the control module.
5. jet pipe as claimed in claim 4, which is characterized in that the jet pipe is dual segment structure, and two sections of material is different, with
The hydraulic system connection partly belongs to soft pipeline body, and what is connect with the electric spray partly belongs to rigid tubing body,
The rigid tubing body of the jet pipe is fixed on the jet pipe crane, can adjust up and down height with the jet pipe crane
Degree.
6. jet pipe as claimed in claim 4, which is characterized in that the electric spray has multiple and uniform according to a fixed spacing
It is arranged on the rigid tubing body, the spacing between electric spray described in every two should be less than the thickness of the steel form
Degree.
7. liquid discharging device as described in claim 1, which is characterized in that the jet pipe crane be by casing, telescoping tube and
Screw composition, the casing is fixed on the movable stand, and the telescoping tube can move in the casing
It moves to adjust collapsing length, and fixed by the screw.
8. liquid discharging device as described in claim 1, which is characterized in that the control module is by control driving plate, display
Device, start-stop button adopt figure button, quantity for spray regulation button and mobile control button composition, the motor, hydraulic system,
Electric spray and industrial camera are connect with the control driving plate, carry out coordinated control by the control module.
9. a kind of release agent spraying method of view-based access control model, the specific steps are as follows:
A. the steel form is placed in the die station according to preset shape, the die station is placed on described
Suitable position below spray equipment allows the jet pipe to cover the die station, by the power bus and power supply
Connection is powered for the spray equipment；
B. the movable stand is moved on the sub-truss by the mobile control button does not have industrial camera
That one end and the jet pipe is adjusted to higher position, to start to spray from the end so that the industrial camera
Only have the die station and the steel form, within sweep of the eye to collect ideal image, the convenient control mould
Block is handled, to determine the position of the steel form；
C. the industrial camera is demarcated using scaling board, obtains the inside and outside parameter of the industrial camera, presses institute
The figure button of adopting stated carries out capture to the die station and steel form, and the image that the control module processing obtains passes through figure
As processing technique obtains the location information of the steel form；
D. the height for adjusting the jet pipe by the jet pipe crane according to the height of the die station and steel form, makes
It obtains at upper end 5-10CM of the electric spray apart from steel form, to reach best spraying effect, and it is de- by what is modulated
Mould agent is poured into the release agent holding tank；
E. it presses the start-stop button to start to spray, the jet pipe is under the drive of the movable stand, from the mould
One end of platform moves to one end, so that the mobile entire die station of covering of the jet pipe, described in the jet pipe moving process
Control module according to the location information of the obtained steel form of step c, issue control information, control beating for the electric spray
On or off is closed, to complete in real time according to the opening quantity of the shape adjustment electric spray of the punching block board placing and which position
Electric spray open, in this way can be in the movable stand moving process, only in the steel form and its internal spray
Coating release agent, rather than entire die station is sprayed, it avoids wasting；
F. by the movement speed of the adjustable movable stand of quantity for spray regulation button, so that average spray amount is adjusted, with
Spraying rate and quantity for spray are adjusted, rationally according to actual needs to reach best spraying effect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910182167.7A CN109702870A (en) | 2019-03-11 | 2019-03-11 | A kind of the demoulding agent spray system and spraying method of view-based access control model |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910182167.7A CN109702870A (en) | 2019-03-11 | 2019-03-11 | A kind of the demoulding agent spray system and spraying method of view-based access control model |
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| Publication Number | Publication Date |
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| CN109702870A true CN109702870A (en) | 2019-05-03 |
Family
ID=66266695
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910182167.7A Pending CN109702870A (en) | 2019-03-11 | 2019-03-11 | A kind of the demoulding agent spray system and spraying method of view-based access control model |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110027102A (en) * | 2019-05-19 | 2019-07-19 | 山东易码智能科技股份有限公司 | A kind of cement material distributing machine of view-based access control model |
| CN110899023A (en) * | 2019-12-17 | 2020-03-24 | 江西南方锅炉股份有限公司 | Corrosion-resistant layer spraying device of boiler for municipal refuse combustion |
| CN113687052A (en) * | 2021-07-16 | 2021-11-23 | 鞍山三冶建筑工程有限公司 | Automatic production detection system and method for concrete test block |
| CN115179304A (en) * | 2022-06-14 | 2022-10-14 | 广东天太机器人有限公司 | Mechanical arm spraying control method and system based on high-efficiency servo drive |
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| US20080124417A1 (en) * | 2006-11-29 | 2008-05-29 | Johann Schluesselbauer | Device for applying a release agent to a molding ring for a front centering shoulder of a tubular or annular workpiece |
| CN203527631U (en) * | 2013-11-26 | 2014-04-09 | 河北雪龙机械制造有限公司 | Demoulding agent spraying device for die tables in production system of concrete components |
| CN204450961U (en) * | 2015-02-04 | 2015-07-08 | 陈建铭 | Footwear moulding/demoulding agent automatic spray apparatus |
| CN204564413U (en) * | 2015-01-14 | 2015-08-19 | 四川大广厦机械设备有限公司 | A kind of ash wall body plate automatic assembly line mold releasing agent spraying device |
| CN106824630A (en) * | 2017-01-18 | 2017-06-13 | 安吉八塔机器人有限公司 | A kind of glue spraying robot system and its glue spraying method for processing office chair |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080124417A1 (en) * | 2006-11-29 | 2008-05-29 | Johann Schluesselbauer | Device for applying a release agent to a molding ring for a front centering shoulder of a tubular or annular workpiece |
| CN203527631U (en) * | 2013-11-26 | 2014-04-09 | 河北雪龙机械制造有限公司 | Demoulding agent spraying device for die tables in production system of concrete components |
| CN204564413U (en) * | 2015-01-14 | 2015-08-19 | 四川大广厦机械设备有限公司 | A kind of ash wall body plate automatic assembly line mold releasing agent spraying device |
| CN204450961U (en) * | 2015-02-04 | 2015-07-08 | 陈建铭 | Footwear moulding/demoulding agent automatic spray apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110027102A (en) * | 2019-05-19 | 2019-07-19 | 山东易码智能科技股份有限公司 | A kind of cement material distributing machine of view-based access control model |
| CN110899023A (en) * | 2019-12-17 | 2020-03-24 | 江西南方锅炉股份有限公司 | Corrosion-resistant layer spraying device of boiler for municipal refuse combustion |
| CN113687052A (en) * | 2021-07-16 | 2021-11-23 | 鞍山三冶建筑工程有限公司 | Automatic production detection system and method for concrete test block |
| CN113687052B (en) * | 2021-07-16 | 2024-04-02 | 鞍山三冶建筑工程有限公司 | Automatic production detection system and method for concrete test block |
| CN115179304A (en) * | 2022-06-14 | 2022-10-14 | 广东天太机器人有限公司 | Mechanical arm spraying control method and system based on high-efficiency servo drive |
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