CN114130979A - Billet reciprocating motion control method and system - Google Patents
Billet reciprocating motion control method and system Download PDFInfo
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- CN114130979A CN114130979A CN202111240701.9A CN202111240701A CN114130979A CN 114130979 A CN114130979 A CN 114130979A CN 202111240701 A CN202111240701 A CN 202111240701A CN 114130979 A CN114130979 A CN 114130979A
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- 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
- B22D11/16—Controlling or regulating processes or operations
- B22D11/20—Controlling or regulating processes or operations for removing cast stock
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- 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
- B22D11/124—Accessories for subsequent treating or working cast stock in situ for cooling
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- 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
- B22D11/128—Accessories for subsequent treating or working cast stock in situ for removing
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- 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
- B22D11/16—Controlling or regulating processes or operations
- B22D11/22—Controlling or regulating processes or operations for cooling cast stock or mould
- B22D11/225—Controlling or regulating processes or operations for cooling cast stock or mould for secondary cooling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D2/00—Arrangement of indicating or measuring devices, e.g. for temperature or viscosity of the fused mass
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Abstract
The invention relates to a billet reciprocating motion control method and a billet reciprocating motion control system, and belongs to the technical field of metallurgy automatic control methods and systems. The technical scheme of the invention is as follows: carrying out coordinatization on the conveying roller way, and calibrating the position coordinates of a starting point and an end point of forward and reverse movement and the position of a laser positioning detection point; the unidirectional motion path, the motion speed slope curve parameters and the reversing pause time are set by an L2 system and an L1 system; after the motion control process is started, the L1 system reads the parameters and then controls the motion of the repeated motion, the billet carries out reciprocating back and forth motion on an output roller way, and after the operation is circulated for N cycles, when the condition of starting the motion is not met, the motion is finished. The invention has the beneficial effects that: the automatic control of the reciprocating motion of the steel billet on the continuous casting output roller way is realized, the automatic calibration function of the one-way motion end point position is realized, the accumulated error can be corrected in time, the slipping of the steel billet and the roller way can be researched and judged in time, the labor intensity of personnel is reduced, the fault rate of roller way control is reduced, the production efficiency is improved, and the efficient and stable operation of production is ensured.
Description
Technical Field
The invention relates to a billet reciprocating motion control method and a billet reciprocating motion control system, and belongs to the technical field of metallurgy automatic control methods and systems.
Background
When the continuous casting machine is used for casting, the slab is pulled out from the tail of the casting machine, then passes through the cutting area and the deburring roller way area in sequence, and then enters the output roller way area for up-line and down-line operation. The casting blank in the area needs to reciprocate back and forth on the roller way regularly during waiting of the up-line operation and the down-line operation so as to achieve the purposes of uniformly cooling the casting blank and uniformly heating the roller way. After the steel billet passes through the output roller way, the target steel billet is conveyed to the steel loading roller way of the heating furnace by the transverse trolley. Therefore, the run-out table is an important pivot for the up-down bearing, which is an important part of the billet conveying operation, and is also one of the areas with large workload and complicated operation on the continuous casting conveying table. The reciprocating motion control of the steel billet in the output area mostly adopts a manual operation method. The disadvantage of this method is that the automation level of the control method is too low, the switch direction needs to be switched back and forth manually, the control effect and stability directly depend on the experience and business level of the operator, compared with the automatic control, the manual control method is easily limited by the emotion and technical level of the operator, and once the manual control is neglected, billet stacking or collision can be caused, accidents can be caused, and the production can be influenced.
Disclosure of Invention
The invention aims to provide a billet reciprocating motion control method and a billet reciprocating motion control system, which can reduce the labor intensity of personnel and effectively realize the swinging action of an intermediate billet by designing and implementing an automatic control method of a billet reciprocating motion track, are beneficial to uniform cooling of billets and uniform heating of a roller way, and avoid equipment damage caused by local heating of the roller way; the motion trail control is accurate and stable, the repeatability is high, and the estimation and the control of the billet cooling effect are facilitated; the device has the functions of periodic motion correction and automatic correction, is favorable for finding out the control error accumulation caused by the steel billet slipping in time, and ensures the control accuracy and stability; the device has a position detection redundancy function, can realize a fault automatic switching function, and can automatically switch the speed feedback of the frequency converter to obtain a position value through integral operation if a field encoder fault occurs; the steel grades with different widths are matched with the control parameters adaptive to the steel grades, the control pertinence and the control accuracy are achieved, the control effect is unified, and the problems in the background art are effectively solved.
The technical scheme of the invention is as follows: a billet reciprocating motion control method comprises the following steps: (1) a coupler and a roller encoder are arranged on the motor side of the run-out roller; (2) acquiring position data, coordinating the conveying roller way, and calibrating the position coordinates of a starting point and an end point of forward and reverse movement and the position of a laser positioning detection point; (3) the unidirectional motion path, the motion speed slope curve parameters and the reversing pause time are set by an L2 system and an L1 system; (4) after the starting conditions are met, when the steel billet enters a roller way for outputting, the L1 system transmits the steel billet information to the L2 system, and the L2 system transmits the parameters for controlling the steel billet back to the L1 system after looking up the table in the database; (5) after the motion control process begins, an L1 system reads parameters and then carries out motion control of repeated motion, a billet carries out reciprocating back and forth motion on an output roller way, after the reverse motion reaches the end point mark positioning, the forward motion is changed after a certain time interval, and after the forward motion reaches the end point mark positioning, the billet enters the next motion period after the same time delay; (6) and after the circulation is carried out for N periods, when the condition of starting the movement is not met, ending the movement.
The position data acquisition modes comprise two modes, wherein one mode is signal acquisition through a roller encoder, the other mode is obtained through speed feedback communication state words of a frequency converter, and when the failure condition is acquired by adopting the first mode, the position data acquisition mode is switched to the second mode to recalibrate position coordinates and then the motion control process is continued.
In the step (1), the end point calibration position is provided with a grating position detection device, and the position can be automatically calibrated and corrected when the billet is detected to be in position, so that the accumulated position deviation of the reciprocating motion is reduced.
The moving speed and the moving speed slope curve parameters are matched with the width of the slab, and the mapping relation of the parameters is stored in an L2 system database in the form of a data table.
Judging whether the starting condition is met or not after the billet enters the starting point calibration position, after the billet stops at the starting point calibration position, delaying 2S to detect the rising edge, and after detecting that the running state of the roller way is not in forward rotation or reverse rotation, judging that the condition allows the movement to be started and run; the following conditions are the conditions for resetting the start operation signal:
5.1 when the rising edge of the remote anti-point signal is detected to be effective;
5.2 the lifting baffle is at the lower limit, the steel conveying trolley of the current flow is used for receiving the billets at the billet receiving position, and the steel billets are carried when the steel conveying trolley signal and the heating furnace steel loading signal are at the low level;
5.3 starting movement signal, billet on-position signal, forward movement stop signal, billet head output one and slab output one signal, when the high level signal of off-line mode comes.
A reciprocating motion control system for steel billets comprises a position motion control module, a position data acquisition module, a condition judgment module, a data storage module and an alarm module, wherein the output ends of the position data acquisition module and the condition judgment module are respectively connected with the position motion control module, the output end of the position motion control module is connected with the alarm module, the data storage module is connected with the position motion control module, and the input end of the data storage module is connected with a database report.
The invention has the beneficial effects that: through the design and implementation of the automatic control method of the reciprocating motion trail of the steel billet, the labor intensity of personnel can be reduced, the swinging action of the intermediate billet is effectively realized, the uniform cooling of the steel billet is facilitated, the uniform heating of the roller way is facilitated, and the equipment damage caused by the local heating of the roller way is avoided; the motion trail control is accurate and stable, the repeatability is high, and the estimation and the control of the billet cooling effect are facilitated; the device has the functions of periodic motion correction and automatic correction, is favorable for finding out the control error accumulation caused by the steel billet slipping in time, and ensures the control accuracy and stability; the device has a position detection redundancy function, can realize a fault automatic switching function, and can automatically switch the speed feedback of the frequency converter to obtain a position value through integral operation if a field encoder fault occurs; the steel grades with different widths are matched with the control parameters adaptive to the steel grades, so that the control pertinence and accuracy are achieved, and the control effect is ensured to be uniform.
Drawings
FIG. 1 is a flow chart of the reciprocating motion control method of the billet of the present invention;
FIG. 2 is a block diagram of the billet reciprocating motion control system according to the present invention;
in the figure: the device comprises a position motion control module 1, a position data acquisition module 2, a condition judgment module 3, a data storage module 4, an alarm module 5 and a database report 6.
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.
A billet reciprocating motion control method comprises the following steps: (1) a coupler and a roller encoder are arranged on the motor side of the run-out roller; (2) acquiring position data, coordinating the conveying roller way, and calibrating the position coordinates of a starting point and an end point of forward and reverse movement and the position of a laser positioning detection point; (3) the unidirectional motion path, the motion speed slope curve parameters and the reversing pause time are set by an L2 system and an L1 system; (4) after the starting conditions are met, when the steel billet enters a roller way for outputting, the L1 system transmits the steel billet information to the L2 system, and the L2 system transmits the parameters for controlling the steel billet back to the L1 system after looking up the table in the database; (5) after the motion control process begins, an L1 system reads parameters and then carries out motion control of repeated motion, a billet carries out reciprocating back and forth motion on an output roller way, after the reverse motion reaches the end point mark positioning, the forward motion is changed after a certain time interval, and after the forward motion reaches the end point mark positioning, the billet enters the next motion period after the same time delay; (6) and after the circulation is carried out for N periods, when the condition of starting the movement is not met, ending the movement.
The position data acquisition modes comprise two modes, wherein one mode is signal acquisition through a roller encoder, the other mode is obtained through speed feedback communication state words of a frequency converter, and when the failure condition is acquired by adopting the first mode, the position data acquisition mode is switched to the second mode to recalibrate position coordinates and then the motion control process is continued.
In the step (1), the end point calibration position is provided with a grating position detection device, and the position can be automatically calibrated and corrected when the billet is detected to be in position, so that the accumulated position deviation of the reciprocating motion is reduced.
The moving speed and the moving speed slope curve parameters are matched with the width of the slab, and the mapping relation of the parameters is stored in an L2 system database in the form of a data table.
Judging whether the starting condition is met or not after the billet enters the starting point calibration position, after the billet stops at the starting point calibration position, delaying 2S to detect the rising edge, and after detecting that the running state of the roller way is not in forward rotation or reverse rotation, judging that the condition allows the movement to be started and run; the following conditions are the conditions for resetting the start operation signal:
5.1 when the rising edge of the remote anti-point signal is detected to be effective;
5.2 the lifting baffle is at the lower limit, the steel conveying trolley of the current flow is used for receiving the billets at the billet receiving position, and the steel billets are carried when the steel conveying trolley signal and the heating furnace steel loading signal are at the low level;
5.3 starting movement signal, billet on-position signal, forward movement stop signal, billet head output one and slab output one signal, when the high level signal of off-line mode comes.
The utility model provides a steel billet reciprocating motion control system, contains position motion control module 1, position data acquisition module 2, condition decision module 3, data storage module 4 and alarm module 5, position data acquisition module 2 and condition decision module 3's output is connected with position motion control module 1 respectively, and alarm module 5 is connected to position motion control module 1's output, and data storage module 4 is connected with position motion control module 2, and database report 6 is connected to data storage module 4's input.
In practical application, the method comprises the following specific implementation steps:
a. hardware preparation in the control scheme. A coupler and an incremental encoder are arranged on the motor side of the output roller way, a grating position detection device is arranged at the starting and stopping points of the roller way billet movement, and the selection and configuration of a PLC module of the system are controlled;
b. and (4) designing a control program and writing logic. Starting signal judgment, position signal conversion calculation, safety linkage conditions and sequential control logic programming. Signals required for program control, including various input and output signals, are determined. After collecting corresponding signals, the signals are converted and combined by a PLC and then used as input signals of a program block, and the input signals mainly comprise a starting activation signal (Activate) in a switching value form and a billet positioning signal (Position); and an encoder acquisition value signal (Encode) in analog form; positive and negative motion interval TIME constants TT1, TT2 in S5TIME format. The output control signal mainly comprises: the roller way forwards transmits a command, the roller way forwards transmits a stop command, the roller way backwards transmits a command and the roller way backwards transmits a stop command. The control signal is combined with the speed signal and then transmitted to the frequency converter in a control word form through communication. The position signal is firstly collected by an encoder, and simultaneously, a path value can be obtained by a speed feedback signal in a state word of a frequency converter through integral operation S = ^ vdt, and the switching between the position signal and the path value can be manually clicked or automatically converted when a fault occurs.
c. Further, the program downloads tests. After the interface is configured, the program on the programming equipment is downloaded to a CPU module of the PLC, and the program can be periodically stored in a memory card for backup. If interruption occurs in the sequence control program debugging process, faults can be checked and processed in an auxiliary mode according to fault alarm codes;
d. preferably, the L1 control system parameters and the transmission parameters are adjusted. After the initial parameter setting is finished, the parameters are adjusted and optimized according to the tested operation effect so as to achieve the optimal control effect, for example, the optimization of the movement speed and the speed slope is carried out so as to inhibit the sliding movement between the billet and the roller way;
e. preferably, when the heating furnace needs steel, the stop button is pressed, the steel conveying switch is turned on, and the steel plate is conveyed to the lower transverse moving trolley.
A control system for the reciprocating motion of a steel billet aims to realize a control method for the reciprocating motion of the steel billet, and comprises a position motion control module, a position data acquisition module connected with the motion control module, a condition judgment module, a data storage module and an alarm module.
And the position data acquisition module is used for acquiring position data for calculating the reciprocating distance of the steel billet and also comprises position coordinate calibration of an automatic correction position.
And the condition judging module is used for judging the reciprocating motion starting operation condition. And (3) delaying for 2S after the billet is stopped at the steel position, detecting the rising edge, detecting the running state of the roller way not rotating forwards or backwards, and judging the condition to allow the movement to start and run. The following conditions are the conditions for resetting the start operation signal:
5.1, when the rising edge of the remote anti-point signal is detected to be effective;
5.2, the lifting baffle is at the lower limit, the steel conveying trolley of the current flow is used for receiving billets at the billet receiving position, and when the steel conveying trolley signal and the heating furnace steel loading signal are both at low level;
and 5.3, starting a motion signal, a billet on-position signal, a forward motion stop signal, a first billet head output signal, a second billet head output signal and a high-level signal of a down-line mode when the slab outputs a signal.
And the motion control module is used for controlling the reciprocating motion track control started under the starting running condition after the billet is in place. The comparator compares the difference value between the position target of the unidirectional motion and the current actual position coordinate, and judges to execute the unidirectional motion command signal and the stop signal, so that the periodic correction of the position value can be completed to compensate the position accumulated error.
And the data storage module is used for storing variable parameter data required for controlling the reciprocating motion of the steel billets with different widths. The data are essentially key value pairs mapped between slab width and speed ramp profile parameters, motion speed thresholds.
And the alarm module is used for outputting various alarm information during motion control.
The specific operation steps of the reciprocating motion are as follows:
and 101, starting working when the system is on line.
And step 103, setting a movement distance value delta D. By reading the data information in the DB block, the absolute distance value Δ D of the motion is determined.
And step 104, collecting position data D1 of the moving positions. When the start-up condition is met and the billet seating signal is at a high level, the program will automatically collect the current billet position information D1.
And step 105, calculating a reverse motion stop distance value D2. The data D1 will increase linearly when the billet moves in the forward direction, and the data D1 will decrease linearly when the billet moves in the reverse direction. Thus, D2= D1- Δ D.
And step 106, resetting the control signal. In this step, the program resets the forward moving running signal Swing _ fwd, the forward moving stop signal Swing _ fwd _ stop, the reverse moving running signal Swing _ rev, and the reverse moving stop signal Swing _ rev _ stop.
And step 108, setting the Swing _ rev signal to 1. At this time, the reverse motion signal Swing _ rev is transmitted to the variable frequency driving unit through the control word, and the roller way drives the billet to move reversely.
And step 109, judging whether the reverse movement end position signal is in a low level. When the conditions are met, step 112 will be entered; when the conditions are not met, step 110 will be entered.
And 110, calibrating the current billet position sampling value D0 to be a position coordinate D3 corresponding to the reverse movement end position, wherein the numerical value of D3 is slightly smaller than D1.
And step 111, setting a reverse motion stop signal to 1, stopping the roller way from rotating, and keeping the billet in a static state.
And 113, judging whether the current position sampling value D0 is larger than D1, if so, advancing the step 116, and if not, advancing the step 114.
And step 114, judging whether the signal of the forward motion track end position is in a high level. If the condition is true, step 115 is entered, and if not, step 113 is skipped.
And step 115, calibrating the current sampling value D0 as the position coordinate D4 of the forward motion end point detection position.
And step 117, after the Swing _ fwd _ stop is cleared, the process returns to the step 102, and the starting condition judgment before the next movement cycle is carried out.
And step 118, ending the process.
In summary, the following steps:
the method and the system for controlling the reciprocating motion of the steel billet have the function of automatically correcting the position, can realize the automatic control of the reciprocating motion of the steel billet on a continuous casting output roller way, have the function of automatically calibrating the end point position of one-way motion, and can correct accumulated errors in time and judge the slippage of the steel billet and the roller way in time. It should be noted that although the embodiments according to the present invention have been described above with reference to the drawings, those skilled in the art will appreciate that various modifications can be made to the embodiments without departing from the scope of the present invention. Therefore, the scope of the invention should be determined by the contents of the appended claims.
Claims (6)
1. A method for controlling the reciprocating motion of a steel billet is characterized by comprising the following steps: (1) a coupler and a roller encoder are arranged on the motor side of the run-out roller; (2) acquiring position data, coordinating the conveying roller way, and calibrating the position coordinates of a starting point and an end point of forward and reverse movement and the position of a laser positioning detection point; (3) the unidirectional motion path, the motion speed slope curve parameters and the reversing pause time are set by an L2 system and an L1 system; (4) after the starting conditions are met, when the steel billet enters a roller way for outputting, the L1 system transmits the steel billet information to the L2 system, and the L2 system transmits the parameters for controlling the steel billet back to the L1 system after looking up the table in the database; (5) after the motion control process begins, an L1 system reads parameters and then carries out motion control of repeated motion, a billet carries out reciprocating back and forth motion on an output roller way, after the reverse motion reaches the end point mark positioning, the forward motion is changed after a certain time interval, and after the forward motion reaches the end point mark positioning, the billet enters the next motion period after the same time delay; (6) and after the circulation is carried out for N periods, when the condition of starting the movement is not met, ending the movement.
2. The method of claim 1, wherein the step of controlling the reciprocation of the billet comprises: the position data acquisition modes comprise two modes, wherein one mode is signal acquisition through a roller encoder, the other mode is obtained through speed feedback communication state words of a frequency converter, and when the failure condition is acquired by adopting the first mode, the position data acquisition mode is switched to the second mode to recalibrate position coordinates and then the motion control process is continued.
3. The method of claim 1, wherein the step of controlling the reciprocation of the billet comprises: in the step (1), the end point calibration position is provided with a grating position detection device, and the position can be automatically calibrated and corrected when the billet is detected to be in position, so that the accumulated position deviation of the reciprocating motion is reduced.
4. The method of claim 1, wherein the step of controlling the reciprocation of the billet comprises: the moving speed and the moving speed slope curve parameters are matched with the width of the slab, and the mapping relation of the parameters is stored in an L2 system database in the form of a data table.
5. The method of claim 1, wherein the step of controlling the reciprocation of the billet comprises: judging whether the starting condition is met or not after the billet enters the starting point calibration position, after the billet stops at the starting point calibration position, delaying 2S to detect the rising edge, and after detecting that the running state of the roller way is not in forward rotation or reverse rotation, judging that the condition allows the movement to be started and run; the following conditions are the conditions for resetting the start operation signal:
5.1 when the rising edge of the remote anti-point signal is detected to be effective;
5.2 the lifting baffle is at the lower limit, the steel conveying trolley of the current flow is used for receiving the billets at the billet receiving position, and the steel billets are carried when the steel conveying trolley signal and the heating furnace steel loading signal are at the low level;
5.3 starting movement signal, billet on-position signal, forward movement stop signal, billet head output one and slab output one signal, when the high level signal of off-line mode comes.
6. A billet reciprocating motion control system is characterized in that: contain position motion control module (1), position data acquisition module (2), condition decision module (3), data storage module (4) and alarm module (5), the output of position data acquisition module (2) and condition decision module (3) is connected with position motion control module (1) respectively, and alarm module (5) is connected to the output of position motion control module (1), and data storage module (4) are connected with position motion control module (2), and database report (6) are connected to the input of data storage module (4).
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| CN202111240701.9A CN114130979A (en) | 2021-10-25 | 2021-10-25 | Billet reciprocating motion control method and system |
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| JPH06145819A (en) * | 1992-01-08 | 1994-05-27 | Toshiba Corp | Device for controlling rocking drive of slab in slab edge heater equipment |
| CN2822816Y (en) * | 2005-04-15 | 2006-10-04 | 上海龙阳精密复合铜管有限公司 | Servo control system |
| CN102506678A (en) * | 2011-10-25 | 2012-06-20 | 中南大学 | Position detecting system for edge of winding-up H-shaped wheel of wire drawing machine and control method thereof |
| CN205274557U (en) * | 2015-12-26 | 2016-06-01 | 平湖市东川电气有限公司 | Reciprocating engine control system based on encoder |
| CN112570677A (en) * | 2020-10-27 | 2021-03-30 | 唐山钢铁集团微尔自动化有限公司 | Automatic blank conveying control method |
| CN214140320U (en) * | 2020-12-29 | 2021-09-07 | 永城煤电控股集团有限公司 | Automatic control system for roller way conveying of shot blasting type derusting machine |
-
2021
- 2021-10-25 CN CN202111240701.9A patent/CN114130979A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06145819A (en) * | 1992-01-08 | 1994-05-27 | Toshiba Corp | Device for controlling rocking drive of slab in slab edge heater equipment |
| CN2822816Y (en) * | 2005-04-15 | 2006-10-04 | 上海龙阳精密复合铜管有限公司 | Servo control system |
| CN102506678A (en) * | 2011-10-25 | 2012-06-20 | 中南大学 | Position detecting system for edge of winding-up H-shaped wheel of wire drawing machine and control method thereof |
| CN205274557U (en) * | 2015-12-26 | 2016-06-01 | 平湖市东川电气有限公司 | Reciprocating engine control system based on encoder |
| CN112570677A (en) * | 2020-10-27 | 2021-03-30 | 唐山钢铁集团微尔自动化有限公司 | Automatic blank conveying control method |
| CN214140320U (en) * | 2020-12-29 | 2021-09-07 | 永城煤电控股集团有限公司 | Automatic control system for roller way conveying of shot blasting type derusting machine |
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Application publication date: 20220304 |