CN113102705A - Operation method and device for performing blank building and number spraying by using manipulator automatic number spraying device - Google Patents
Operation method and device for performing blank building and number spraying by using manipulator automatic number spraying device Download PDFInfo
- Publication number
- CN113102705A CN113102705A CN202110272578.2A CN202110272578A CN113102705A CN 113102705 A CN113102705 A CN 113102705A CN 202110272578 A CN202110272578 A CN 202110272578A CN 113102705 A CN113102705 A CN 113102705A
- Authority
- CN
- China
- Prior art keywords
- blank
- building
- spraying
- manipulator
- automatic
- 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.)
- Pending
Links
- 238000005507 spraying Methods 0.000 title claims abstract description 67
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000012790 confirmation Methods 0.000 claims abstract description 5
- 230000004048 modification Effects 0.000 claims abstract description 4
- 238000012986 modification Methods 0.000 claims abstract description 4
- 230000007246 mechanism Effects 0.000 claims description 42
- 239000007921 spray Substances 0.000 claims description 23
- 238000001514 detection method Methods 0.000 claims description 18
- 229910000831 Steel Inorganic materials 0.000 claims description 15
- 239000010959 steel Substances 0.000 claims description 15
- 238000007599 discharging Methods 0.000 claims description 13
- 230000000630 rising effect Effects 0.000 claims description 5
- 238000005520 cutting process Methods 0.000 claims description 4
- OAICVXFJPJFONN-UHFFFAOYSA-N Phosphorus Chemical compound [P] OAICVXFJPJFONN-UHFFFAOYSA-N 0.000 claims description 3
- 229910052698 phosphorus Inorganic materials 0.000 claims description 3
- 239000011574 phosphorus Substances 0.000 claims description 3
- 238000011017 operating method Methods 0.000 claims 1
- 238000009749 continuous casting Methods 0.000 abstract description 6
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 4
- 238000009628 steelmaking Methods 0.000 abstract description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 10
- 230000008901 benefit Effects 0.000 description 7
- 238000005096 rolling process Methods 0.000 description 7
- 230000006698 induction Effects 0.000 description 6
- 229910052742 iron Inorganic materials 0.000 description 5
- 238000007689 inspection Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000002436 steel type Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
- B22D11/12—Accessories for subsequent treating or working cast stock in situ
- B22D11/1233—Accessories for subsequent treating or working cast stock in situ for marking strands
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention relates to an operation method and device for a manipulator automatic number spraying device to perform blank building number spraying, and belongs to the technical field of steelmaking continuous casting billet production. The technical scheme of the invention is as follows: through modification of a PLC program, manual buttons for putting each stream blank in place are added to a computer picture, program linkage is added, and connection of two schemes of digital signal input setting, a touch type automatic mode and a field confirmation manual mode is achieved. The invention has the beneficial effects that: on the automatic number spraying robot picture of manipulator, increase the device of manual number signal of spouting, realize under the unusual state to equipment, guarantee to spout number robot and spout the number in succession, improved the operation rate of use, furthest avoids appearing takeaway base and mixes the number accident.
Description
Technical Field
The invention relates to an operation method and device for performing building blank number spraying by using a manipulator automatic number spraying device, and belongs to the technical field of production methods of steelmaking continuous casting billets.
Background
In the continuous casting billet production of a continuous casting machine, in order to facilitate the production and operation of the quality inspection and rolling process of the subsequent process, the finished continuous casting billet needs to be subjected to billet building and number spraying. When the billet is conveyed by the billet discharging roller way in the last process of the continuous casting machine, the in-place number spraying signal of the billet is given by the collision of the billet with the collision ball, and the surrounding environment is under the adverse factors of multiple vibration, high temperature, complex environment and the like, so that equipment such as even number spraying signals, lines, relays and the like are damaged, and the automatic number spraying starting operation of a manipulator is influenced. And in the continuous operation of production, the automatic number spraying robot of the manipulator can not spray numbers normally in the maintenance process of the maintenance workshop section, thereby greatly reducing the operation rate of equipment. Meanwhile, the manipulator automatic number spraying robot has no starting signal and cannot spray numbers, and has great influence on blank building inspection, steel type transmission, transportation rolling, rolling forming of a steel rolling mill according to orders and process requirements, furnace number tracing and the like in a quality inspection section of a subsequent procedure. The blank building and number spraying can greatly reduce the accident of mixed numbers of steel rolling takeout blanks, so that the guarantee of the automatic number spraying operation rate of the manipulator is very important for iron and steel enterprises.
At present, the initial blank-building and spraying signals of the domestic manipulator automatic number-spraying robot are mainly divided into a contact type signal and an induction type signal. The working principles of the two signals are respectively as follows: 1. contact is that a ball is knocked or something else is knocked at the tail of the billet, so that a position starting signal is given. 2. And in the induction type, the in-place of the building blank is induced through non-contact remote laser scanning, so that an in-place initial signal is given. The two modes have the advantages and the disadvantages that the contact type structure is simple, the error rate is small, the cost is low, but the contact type structure is limited to the vibration environment and other unfavorable factors are occasionally damaged. The induction type structure is complicated, the technology is high and deep, deviation and error signals are easy to occur, the cost is high, and the induction type structure is limited to adverse factors such as vibration and high-temperature environment and occasionally damaged. The advantages and the disadvantages of the two modes are combined, the existing equipment environment finally selects a contact type, and the induction type is also provided with a special laser induction device and a distance measuring device, so that the transformation difficulty is increased.
Disclosure of Invention
The invention aims to provide an operation method and a device for a manipulator automatic number spraying device to perform blank building and number spraying, wherein a manual number spraying signal device is added on a picture of the manipulator automatic number spraying robot, so that the number spraying robot is ensured to continuously spray numbers under the abnormal state of equipment, the use operation rate is improved, and the accidents of blank takeout and number mixing are avoided to the maximum extent; the automatic number spraying device has the advantages of being reasonable in structure, convenient to use, popular and easy to understand in operation, small in equipment investment, free of occupied land, beneficial to improvement on original number spraying equipment, capable of effectively avoiding number mixing accidents in furnace number transmission of subsequent procedures, rolling and the like, reducing quality objections of order takeout blanks, reducing high-volume claims caused by the number mixing accidents and return claim losses of subsequent downstream enterprises for selling products, improving customer credit of iron and steel enterprises, having remarkable economic benefits and long-term development for the iron and steel enterprises, and effectively solving the problems existing in the background technology.
The technical scheme of the invention is as follows: an operation method for a manipulator automatic number spraying device to perform blank building number spraying comprises the following steps:
(1) through modification of a PLC program, adding flow blank-building in-place manual buttons to a computer picture, adding program linkage, and realizing connection of two schemes of digital signal input setting, a touch type automatic mode and a field confirmation manual mode; (2) the building blanks are conveyed to the building blank baffle plates through the blank discharging roller way conveying roller and are aligned, the collision balls are touched as building blank in-place signals during the period, and an operator operates the steel lifting mechanism to lift the building blanks from the conveying roller, so that the building blanks are prevented from moving and the condition that a manipulator automatically sprays numbers is met; (3) the mechanical arm drives the six-axis servo motor in a combined manner according to the contact sequence of each flow contact ball and the three-dimensional space coordinate and enables the spraying mechanism to move to a building blank detection scanning initial area of a corresponding flow according to a point position set by a program, the laser position detection switch starts scanning, when the laser scans the edge of a building blank, the phosphorus removal operation of a cutting surface is carried out according to a specified path, the writing spray gun is started, the PLC receives an identification number and carries out track movement according to the input furnace number rule by the control system, and thus characters are formed; (4) and after the spraying is finished, returning the manipulator to the original position to wait for a next blank building in-place signal.
In the step (1), when a blank-building arrival manual button is clicked, the corresponding stream manual trigger control signal is switched on, positive jump is detected through a corresponding stream manual signal rising edge set variable instruction, Q outputs energy flow or logic state TRUE, so that the corresponding stream to-be-sprayed signal is switched on, an automatic flow data block program is called to be in a to-be-sprayed state, and spraying is carried out according to an automatic flow.
An operating device of a manipulator automatic number spraying device for building blanks comprises a manipulator platform, six servo motors, a spraying mechanism, a ball collision hanging mechanism, a ball collision, building blanks, a blank discharging roller way conveying roller, a steel lifting mechanism, a building blank baffle, a laser position detection switch and a writing spray gun, wherein the building blanks are conveyed to the building blank baffle through the blank discharging roller way conveying roller and are aligned, the ball collision is hung at the lower end of the ball collision hanging mechanism, the building blanks are touched with the ball collision to generate blank building in-place signals, and the steel lifting mechanism is arranged below the building blanks; six servo motor and spraying mechanism set up on the manipulator platform, six servo motor drive spraying mechanism, and laser position detection switch and writing spray gun set up on spraying mechanism, and writing spray gun passes through laser position detection switch and starts laser scanning and builds base position phase-match.
The invention has the beneficial effects that: a manual number spraying signal device is added on a picture of the automatic number spraying robot with the manipulator, so that the number spraying robot can continuously spray numbers under the abnormal state of equipment, the use operation rate is improved, and the occurrence of blank takeout and number mixing accidents is avoided to the maximum extent; the automatic number spraying device has the advantages of being reasonable in structure, convenient to use, popular and easy to understand in operation, small in equipment investment, free of occupied land, beneficial to improvement on original number spraying equipment, capable of effectively avoiding number mixing accidents in furnace number transmission of subsequent procedures such as quality inspection and rolling, reducing quality objections of order takeout blanks, reducing high-volume claims caused by the number mixing accidents and return claim losses of subsequent downstream enterprises for selling products, improving customer credit of iron and steel enterprises, and having remarkable economic benefits and long-term development for the iron and steel enterprises.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the spray mechanism of the present invention;
FIG. 3 is a ladder diagram of a PLC program of the present invention;
in the figure: the automatic blank-making machine comprises a manipulator platform 1, a six-axis servo motor 2, a spraying mechanism 3, a ball-touching hanging mechanism 4, a ball-touching 5, a blank-building 6, a blank-discharging roller way conveying roller 7, a steel-lifting mechanism 8, a blank-building baffle plate 9, a laser position detection switch 10, a writing spray gun 11, each flow manual trigger control signals 12, corresponding flow manual signal rising edge setting variables 13 and corresponding flow to-be-sprayed signals 14.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions of the embodiments of the present invention with reference to the drawings of the embodiments, and it is obvious that the described embodiments are a small part of the embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative work based on the embodiments of the present invention belong to the protection scope of the present invention.
An operation method for a manipulator automatic number spraying device to perform blank building number spraying comprises the following steps:
(1) through modification of a PLC program, adding flow blank-building in-place manual buttons to a computer picture, adding program linkage, and realizing connection of two schemes of digital signal input setting, a touch type automatic mode and a field confirmation manual mode; (2) the building blanks are conveyed to the building blank baffle plates through the blank discharging roller way conveying roller and are aligned, the collision balls are touched as building blank in-place signals during the period, and an operator operates the steel lifting mechanism to lift the building blanks from the conveying roller, so that the building blanks are prevented from moving and the condition that a manipulator automatically sprays numbers is met; (3) the mechanical arm drives the six-axis servo motor in a combined manner according to the contact sequence of each flow contact ball and the three-dimensional space coordinate and enables the spraying mechanism to move to a building blank detection scanning initial area of a corresponding flow according to a point position set by a program, the laser position detection switch starts scanning, when the laser scans the edge of a building blank, the phosphorus removal operation of a cutting surface is carried out according to a specified path, the writing spray gun is started, the PLC receives an identification number and carries out track movement according to the input furnace number rule by the control system, and thus characters are formed; (4) and after the spraying is finished, returning the manipulator to the original position to wait for a next blank building in-place signal.
In the step (1), when a blank-building arrival manual button is clicked, the corresponding stream manual trigger control signal is switched on, positive jump is detected through a corresponding stream manual signal rising edge set variable instruction, Q outputs energy flow or logic state TRUE, so that the corresponding stream to-be-sprayed signal is switched on, an automatic flow data block program is called to be in a to-be-sprayed state, and spraying is carried out according to an automatic flow.
An operating device of a manipulator automatic number spraying device for building blanks comprises a manipulator platform 1, a six-axis servo motor 2, a spraying mechanism 3, a ball collision hanging mechanism 4, a collision ball 5, a building blank 6, a blank discharging roller way conveying roller 7, a steel lifting mechanism 8, a building blank baffle plate 9, a laser position detection switch 10 and a writing spray gun 11, wherein the building blank 6 is conveyed to the building blank baffle plate 9 through the blank discharging roller way conveying roller 7 and multiple blanks are aligned, the collision ball 5 is hung at the lower end of the ball collision hanging mechanism 4, the building blank 6 is touched with the collision ball 5 to generate a blank building in-place signal, and the steel lifting mechanism 8 is arranged below the building blank 6; six servo motor 2 and spraying mechanism 3 set up on manipulator platform 1, and six servo motor 2 drive spraying mechanism 3, and laser position detection switch 10 and write spray gun 11 set up on spraying mechanism 3, write spray gun 11 and start laser scanning and build 6 position phase-matches through laser position detection switch 10.
As shown in figure 1, a building blank 6 is conveyed to a building blank baffle plate 9 through a discharging roller way conveying roller 7 and a plurality of building blanks are aligned, during the period, the building blank 6 touches a collision ball 5 to serve as a building blank in-place signal, an operator operates a steel lifting mechanism 8 to lift the building blank 6 from the discharging roller way conveying roller 7, the building blank 6 is prevented from moving and the condition that the manipulator automatically sprays numbers is met, the manipulator touches the ball according to the sequence, and according to the three-dimensional space coordinate, the six-axis servo motor 2 is driven in a combined manner, the spraying mechanism 3 is moved to the initial area of the corresponding stream of the building blank detection scanning according to the point position set by the program, the laser position detection switch 10 starts scanning, when the laser scans the edge of the building blank 6, the dephosphorization operation is carried out on the cutting surface according to the specified path, the writing spray gun 11 is started, the PLC receives the identification number, and the track movement is carried out according to the control system and the input furnace number rule, so that the character is formed. And after the spraying is finished, returning the manipulator to the original position to wait for a next blank building in-place signal.
As shown in fig. 3, a PLC manual trigger program segment is added, corresponding stream blank-building in-place manual buttons are added to the operation screen, when the buttons are clicked, each stream manual trigger control signal 12 is turned on, positive jump (off-to-on) is detected by a corresponding stream manual signal rising edge set variable 13 instruction, Q output energy flow or logic state is TRUE, so that a corresponding stream to-be-sprayed signal 14 is turned on, an automatic flow data block program is called to be in a to-be-sprayed state, and spraying is performed according to an automatic flow.
The manual in-place signal of the invention does not need to reinstall equipment, and the signal is manually given through a monitoring system and on-site confirmation according to an operator, so that the number spraying of the root of the building blank is realized.
Claims (3)
1. An operation method for a manipulator automatic number spraying device to perform blank building number spraying is characterized by comprising the following steps:
(1) through modification of a PLC program, adding flow blank-building in-place manual buttons to a computer picture, adding program linkage, and realizing connection of two schemes of digital signal input setting, a touch type automatic mode and a field confirmation manual mode; (2) the building blanks are conveyed to the building blank baffle plates through the blank discharging roller way conveying roller and are aligned, the collision balls are touched as building blank in-place signals during the period, and an operator operates the steel lifting mechanism to lift the building blanks from the conveying roller, so that the building blanks are prevented from moving and the condition that a manipulator automatically sprays numbers is met; (3) the mechanical arm drives the six-axis servo motor in a combined manner according to the contact sequence of each flow contact ball and the three-dimensional space coordinate and enables the spraying mechanism to move to a building blank detection scanning initial area of a corresponding flow according to a point position set by a program, the laser position detection switch starts scanning, when the laser scans the edge of a building blank, the phosphorus removal operation of a cutting surface is carried out according to a specified path, the writing spray gun is started, the PLC receives an identification number and carries out track movement according to the input furnace number rule by the control system, and thus characters are formed; (4) and after the spraying is finished, returning the manipulator to the original position to wait for a next blank building in-place signal.
2. The operating method for performing building and number spraying by using the automatic number spraying device with the manipulator according to claim 1 is characterized in that: in the step (1), when a blank-building arrival manual button is clicked, the corresponding stream manual trigger control signal is switched on, positive jump is detected through a corresponding stream manual signal rising edge set variable instruction, Q outputs energy flow or logic state TRUE, so that the corresponding stream to-be-sprayed signal is switched on, an automatic flow data block program is called to be in a to-be-sprayed state, and spraying is carried out according to an automatic flow.
3. The utility model provides an automatic number device that spouts of manipulator carries out operation device that founding spouts the number which characterized in that: the automatic blank-making machine comprises a manipulator platform (1), six servo motors (2), a spraying mechanism (3), a ball-touching hanging mechanism (4), a ball-touching mechanism (5), a blank-making mechanism (6), a blank-discharging roller-way conveying roller (7), a steel-lifting mechanism (8), a blank-making baffle (9), a laser position detection switch (10) and a writing spray gun (11), wherein the blank-making mechanism (6) is conveyed to the blank-making baffle (9) through the blank-discharging roller-way conveying roller (7) and enables a plurality of blanks to be aligned, the ball-touching mechanism (5) is hung at the lower end of the ball-touching hanging mechanism (4), the blank-making mechanism (6) touches the ball-touching mechanism (5) to generate a blank-making in-place signal, and the steel-lifting mechanism (8); six servo motor (2) and spraying mechanism (3) set up on manipulator platform (1), and six servo motor (2) drive spraying mechanism (3), and laser position detection switch (10) and write spray gun (11) set up on spraying mechanism (3), and write spray gun (11) start laser scanning and build base (6) position phase-match through laser position detection switch (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110272578.2A CN113102705A (en) | 2021-03-12 | 2021-03-12 | Operation method and device for performing blank building and number spraying by using manipulator automatic number spraying device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110272578.2A CN113102705A (en) | 2021-03-12 | 2021-03-12 | Operation method and device for performing blank building and number spraying by using manipulator automatic number spraying device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113102705A true CN113102705A (en) | 2021-07-13 |
Family
ID=76711192
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110272578.2A Pending CN113102705A (en) | 2021-03-12 | 2021-03-12 | Operation method and device for performing blank building and number spraying by using manipulator automatic number spraying device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113102705A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001340945A (en) * | 2000-06-02 | 2001-12-11 | Sumitomo Metal Ind Ltd | Marking device for round billet and method for stop position control of round billet |
| CN1827226A (en) * | 2006-04-10 | 2006-09-06 | 浙江大学 | Machine set for spraying number on hot steel billet in real time based on PLC control system |
| KR20100115047A (en) * | 2009-04-17 | 2010-10-27 | 주식회사 포스코 | Portable slab serial number marking apparatus of slab |
| CN202421841U (en) * | 2011-11-07 | 2012-09-05 | 攀钢集团攀枝花钢钒有限公司 | Marking robot system with mode switching function for hot continuous rolling |
| CN208197865U (en) * | 2018-04-27 | 2018-12-07 | 湖南乾源冶金设备有限公司 | A kind of robotic paint mark system for identifying steel billet |
| CN110369684A (en) * | 2019-07-02 | 2019-10-25 | 山东钢铁股份有限公司 | A kind of intelligent spray system and method for continuous casting billet automatic positioning |
| CN211892519U (en) * | 2019-12-31 | 2020-11-10 | 上海中冶横天智能科技股份有限公司 | Automatic number spraying system for end face of continuous casting square billet |
-
2021
- 2021-03-12 CN CN202110272578.2A patent/CN113102705A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001340945A (en) * | 2000-06-02 | 2001-12-11 | Sumitomo Metal Ind Ltd | Marking device for round billet and method for stop position control of round billet |
| CN1827226A (en) * | 2006-04-10 | 2006-09-06 | 浙江大学 | Machine set for spraying number on hot steel billet in real time based on PLC control system |
| KR20100115047A (en) * | 2009-04-17 | 2010-10-27 | 주식회사 포스코 | Portable slab serial number marking apparatus of slab |
| CN202421841U (en) * | 2011-11-07 | 2012-09-05 | 攀钢集团攀枝花钢钒有限公司 | Marking robot system with mode switching function for hot continuous rolling |
| CN208197865U (en) * | 2018-04-27 | 2018-12-07 | 湖南乾源冶金设备有限公司 | A kind of robotic paint mark system for identifying steel billet |
| CN110369684A (en) * | 2019-07-02 | 2019-10-25 | 山东钢铁股份有限公司 | A kind of intelligent spray system and method for continuous casting billet automatic positioning |
| CN211892519U (en) * | 2019-12-31 | 2020-11-10 | 上海中冶横天智能科技股份有限公司 | Automatic number spraying system for end face of continuous casting square billet |
Non-Patent Citations (3)
| Title |
|---|
| 何倩: "机器手喷号在连铸上的应用", 《电子测试》 * |
| 千勇等: "《现代连续铸钢实用手册》", 31 March 2010, 冶金工业出版社 * |
| 李雁龙: "基于PLC多流钢坯自动标识控制系统的研究", 《中国优秀博硕士学位论文全文数据库（硕士） 工程科技I辑》 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102935547B (en) | System for removing slab burrs | |
| CN106903172B (en) | It is a kind of to realize steel plate in the control method of rolling different zones position tracking switching | |
| CN105080764B (en) | Multi-station spraying tool | |
| CN104444821B (en) | The control method that a kind of iron and steel slab storehouse loop wheel machine runs | |
| CN202427938U (en) | Automatic tracking system for continuous casting slab numbers | |
| CN106607474B (en) | The control method swung for straightener front spring | |
| CN112570677A (en) | Automatic blank conveying control method | |
| CN113102705A (en) | Operation method and device for performing blank building and number spraying by using manipulator automatic number spraying device | |
| CN115193658A (en) | Bumper surface spraying method, device, equipment and storage medium | |
| CN103302116A (en) | 270-degree turnover method for hook turn-over device at hot rolled section steel production line | |
| CN103506615A (en) | Full-automatic crawler loader for pig moulding machine | |
| CN107153927B (en) | Steel production malfunction management method | |
| CN103817216B (en) | A kind of uncoiling method for blanking punched | |
| CN206484130U (en) | Intelligent welding system for Analysis of Ship Grillages constructed machine people | |
| CN207171186U (en) | A kind of suspension type plasma robot removes the device of hot rolling base slag | |
| CN207724298U (en) | A kind of novel truss robot | |
| CN111408697A (en) | Automatic descaling and cooling device for high-temperature slab section | |
| CN204448910U (en) | A kind of device of Fast Correction arc reveal rail embedded part on veneer reeling machine | |
| CN112893824A (en) | Ladle hot repair method and ladle hot repair device | |
| CN201735929U (en) | Steel plate outline scanning mechanism used on steel plate cutting machine | |
| CN101308376B (en) | Electrode bar product double-station moving device numerical control system | |
| CN210755032U (en) | Ten-station hot mold method centrifugal pipe casting machine set | |
| CN112947114A (en) | Ladle turnover simulation system and use method thereof | |
| CN204824592U (en) | Curved surface is glass positioning mechanism for toughened glass equipment | |
| CN108861486B (en) | Common type UV (ultraviolet) turnover device and method for square billets and rectangular billets |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210713 |
|
| RJ01 | Rejection of invention patent application after publication |