CN114705124A - Intelligent detection platform for refractory bricks and control method thereof - Google Patents
Intelligent detection platform for refractory bricks and control method thereof Download PDFInfo
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- CN114705124A CN114705124A CN202210468270.XA CN202210468270A CN114705124A CN 114705124 A CN114705124 A CN 114705124A CN 202210468270 A CN202210468270 A CN 202210468270A CN 114705124 A CN114705124 A CN 114705124A
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- 239000011449 brick Substances 0.000 title claims abstract description 111
- 238000001514 detection method Methods 0.000 title claims abstract description 46
- 238000000034 method Methods 0.000 title claims abstract description 10
- 238000005096 rolling process Methods 0.000 claims abstract description 60
- 238000005303 weighing Methods 0.000 claims abstract description 25
- 239000000428 dust Substances 0.000 claims abstract description 18
- 238000010408 sweeping Methods 0.000 claims abstract description 13
- 238000005259 measurement Methods 0.000 claims abstract description 9
- 238000012546 transfer Methods 0.000 claims description 24
- 230000007246 mechanism Effects 0.000 claims description 16
- 230000005540 biological transmission Effects 0.000 claims description 9
- 238000004140 cleaning Methods 0.000 claims description 7
- 230000001680 brushing effect Effects 0.000 claims description 6
- 238000003825 pressing Methods 0.000 claims description 6
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 239000004615 ingredient Substances 0.000 claims description 4
- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 17
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 239000004566 building material Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B11/00—Apparatus or processes for treating or working the shaped or preshaped articles
- B28B11/18—Apparatus or processes for treating or working the shaped or preshaped articles for removing burr
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B11/00—Apparatus or processes for treating or working the shaped or preshaped articles
- B28B11/22—Apparatus or processes for treating or working the shaped or preshaped articles for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G13/00—Weighing apparatus with automatic feed or discharge for weighing-out batches of material
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Ceramic Engineering (AREA)
- Mechanical Engineering (AREA)
- Devices For Post-Treatments, Processing, Supply, Discharge, And Other Processes (AREA)
Abstract
The invention belongs to the technical field of refractory brick detection, and discloses an intelligent refractory brick detection platform and a control method thereof. The invention integrates the functions of carrying, ash sweeping and burr removing, weighing, thickness measuring, dust collecting and the like of the refractory bricks, avoids the time consumption of repeated operation of the refractory bricks and the damage caused by collision, improves the production efficiency and the quality, reduces the size of the detection platform and directly improves the field utilization rate. The invention is provided with two sets of servo moving modules in the horizontal direction and the vertical direction, the positions of the electric rolling brush, the sponge suction tool and the 3D vision module can be flexibly adjusted according to the brick shapes with different shapes, sizes and thicknesses, and the invention has stronger adaptability and more flexibility; the high-precision refractory brick production line has the advantages that the high-automation production and high-precision measurement functions of refractory bricks are realized, the manual labor intensity and the damage of dust to human bodies are reduced, and the production efficiency and the production qualified rate of products are improved.
Description
Technical Field
The invention belongs to the technical field of refractory brick detection, and particularly relates to an intelligent refractory brick detection platform and a control method thereof.
Background
At present, the refractory brick is a necessary material in the production of various building materials, and in recent years, research on the production of the refractory brick focuses on improving materials and technical links used for production, and neglects other links such as refractory brick detection and the like. The existing size detection mainly depends on a detection mode of a manual contact type, if a graduated scale is used for direct measurement or a contact type sensor is used for contact measurement, the labor amount is large, the detection precision is low, the abrasion of detection equipment is serious due to long-time detection, and the detection precision cannot be guaranteed.
Through the above analysis, the problems and defects of the prior art are as follows:
(1) the manual detection result is unstable and is influenced by the factor of the main pipe.
(2) The labor intensity is high and the cost is high.
(3) The field environment is severe, and the detection precision cannot be ensured.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an intelligent detection platform for refractory bricks and a control method thereof.
The invention is realized in this way, a firebrick intelligent detection platform includes:
the automatic carrying module is used for carrying the green bricks to the rack;
the ash sweeping and burr removing module is used for moving the electric rolling brush to a brick brushing position by using the servo lifting module, then the driving system drives the brush to rotate, and the horizontal transfer module drives the rotating rolling brush to clean dust and burrs on the top surface of the brick;
the weighing module is used for detecting the weight of the green bricks by using a weighing sensor arranged at the upper end of the rack;
the thickness measuring module is used for measuring the thickness of the green brick by using the 3D line scanning module;
and the control system is connected with the automatic conveying module, the ash sweeping and burr removing module, the weighing module and the thickness measuring module and is used for intelligently controlling the coordination work of each module.
Further, sweep grey unhairing limit module and include that electronic round brush, servo lift module and level move the load module, the level moves the load module and installs in the frame rear side, servo lift module is installed and is moved the load module upside at the level, electronic round brush is installed in servo lift module outer end.
Further, the electric rolling brush is composed of a control system, a motor, a synchronous belt transmission mechanism, a rolling brush and a pneumatic lifting mechanism, the motor and the synchronous belt transmission mechanism drive the rolling brush to rotate, the control system adjusts the rotating speed of the motor to control the rotating speed of the rolling brush, and the brush rotates to clean and remove burrs on the surface of a brick.
Furthermore, the rolling brush and the rolling shaft are connected in a split mode and are used for cleaning adobes and removing burrs of refractory bricks made of various ingredients.
Further, the pneumatic lifting mechanism consists of a cylinder and a linear bearing and is used for adjusting the height of the rolling brush.
Furthermore, the servo lifting module and the horizontal transfer module are respectively composed of a control system, a servo motor, a speed reducer, a gear rack transmission mechanism, a linear guide rail and a rack.
Furthermore, the side surface of the electric rolling brush is provided with a sponge sucker, and the sponge sucker, the vacuum generator and the filter are split. The vacuum generator provides vacuum negative pressure for the sponge sucker, and the split filter filters moisture, dust and the like in the air adsorbed by the split filter.
Further, a plurality of ground feet are installed to the frame lower extreme.
Further, the lower end of one side of the rack is provided with a dust collecting basket.
Another object of the present invention is to provide a method for controlling an intelligent detection platform for firebricks, comprising:
(1) after the pressing machine finishes the brick pressing, the robot grabs and places the green bricks on a detection platform brick placing position;
(2) the detection platform servo horizontal transfer module moves towards the direction of the green bricks, the electric rolling brush lifting module moves the rolling brushes to a brick brushing position and then drives the brushes to rotate, the servo lifting module automatically adjusts the electric rolling brushes to a proper height according to the height of the bricks, and the horizontal transfer module drives the rotating rolling brushes to clean dust and burrs on the top surfaces of the bricks;
(3) after cleaning, the electric rolling brush lifting module lifts the rolling brush to a safe position, the servo jacking rotary platform rises to a brick receiving position, the servo horizontal and lifting module drives the sponge suction tool to suck the green bricks and then place the green bricks on the servo jacking rotary platform to be connected with the brick receiving platform, the servo jacking rotary platform descends, the green bricks are placed on the weighing platform, and weight detection is carried out by the weighing sensor;
(4) after weighing is finished, the horizontal transfer module drives the 3D line scanning module to measure the thickness of the green bricks;
(5) and (4) finishing thickness measurement, moving the horizontal transfer module to a safe position, and taking away the bricks by the robot for stacking.
In combination with the technical solutions and the technical problems to be solved, please analyze the advantages and positive effects of the technical solutions to be protected in the present invention from the following aspects:
first, aiming at the technical problems existing in the prior art and the difficulty in solving the problems, the technical problems to be solved by the technical scheme of the present invention are closely combined with results, data and the like in the research and development process, and some creative technical effects are brought after the problems are solved. The specific description is as follows:
the invention integrates the functions of carrying, ash sweeping and burr removing, weighing, thickness measuring, dust collecting and the like of the refractory bricks, integrates the integrated multifunction of the detection platform, avoids the time consumption of the repeated operation of the refractory bricks and the damage caused by collision, improves the production efficiency and the quality, reduces the size of the detection platform and directly improves the field utilization rate.
The invention is provided with two sets of servo moving modules in the horizontal direction and the vertical direction, can flexibly adjust the positions of the electric rolling brush, the sponge suction tool and the 3D vision module according to brick shapes with different shapes, sizes and thicknesses, and has stronger adaptability and more flexibility.
A servo jacking rotary platform is arranged at the brick placing position, the direction of the bricks can be flexibly adjusted, a robot (or other equipment) can conveniently take and stack the bricks, and the weighing sensor is prevented from being damaged when the green bricks accidentally drop and the sponge suction tool places the bricks. Meanwhile, the control system can display the measurement data in real time and record the production quantity, and the intelligent production and detection of various refractory bricks are realized.
Adopt electronic round brush to clear up dust and deckle edge, solved ordinary row brush unclean and can't get rid of the deckle edge problem.
The automatic ash sweeping and burr removing and high-precision weighing and thickness measuring of the refractory bricks can be realized through system integration, the high-automation production and high-precision measuring functions of the refractory bricks are realized, the manual labor intensity and the damage of dust to human bodies are reduced, and the production efficiency and the production qualified rate of products are improved.
Secondly, considering the technical scheme as a whole or from the perspective of products, the technical effect and advantages of the technical scheme to be protected by the invention are specifically described as follows:
according to the invention, automatic ash removal and burr removal, high-precision weighing and thickness measurement of the refractory bricks can be realized through system integration, high-automation production and high-precision measurement functions of the refractory bricks are realized, the manual labor intensity and the damage of dust to human bodies are reduced, and the production efficiency and the production qualified rate of products are improved.
Drawings
FIG. 1 is a schematic structural diagram of an intelligent detection platform for refractory bricks, provided by an embodiment of the invention.
Fig. 2 is a schematic structural diagram of an ash sweeping and burr removing module according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a weighing module according to an embodiment of the present invention.
In the figure: 1. a load-bearing platform; 2. servo lifting the rotary platform; 3. a sponge suction tool; 4. a 3D vision module; 5. electric rolling brush; 6. placing a brick position; 7. and (4) collecting the ash basket.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
This section is an explanatory embodiment expanding on the claims so as to fully understand how the present invention is embodied by those skilled in the art.
As shown in fig. 1 to 3, an intelligent detection platform for refractory bricks provided by an embodiment of the present invention includes an automatic handling module, an ash sweeping and burr removing module, a weighing module, a thickness measuring module, and a control system.
The automatic carrying module is used for carrying the green bricks to the rack;
the ash sweeping and burr removing module is used for moving the electric rolling brush to a brick brushing position by using the servo lifting module, then the driving system drives the brush to rotate, and the horizontal transfer module drives the rotating rolling brush to clean dust and burrs on the top surface of the brick;
the weighing module is used for detecting the weight of the green bricks by using a weighing sensor arranged at the upper end of the rack;
the thickness measuring module is used for measuring the thickness of the green brick by using the 3D line scanning module;
and the control system is connected with the automatic conveying module, the ash sweeping and burr removing module, the weighing module and the thickness measuring module and is used for intelligently controlling the coordination work of each module.
The ash sweeping and burr removing module comprises an electric rolling brush, a servo lifting module and a horizontal transfer module, wherein the horizontal transfer module is installed on the rear side of a rack, the servo lifting module is installed on the upper side of the horizontal transfer module, and the electric rolling brush is installed at the outer end of the servo lifting module.
The electric rolling brush in the embodiment of the invention consists of a control system, a motor, a synchronous belt transmission mechanism, a rolling brush and a pneumatic lifting mechanism, wherein the motor and the synchronous belt transmission mechanism drive the rolling brush to rotate, the control system adjusts the rotating speed of the motor so as to control the rotating speed of the rolling brush, and the rolling brush rotates to clean and remove burrs on the surface of a brick.
The rolling brush and the rolling shaft in the embodiment of the invention are connected in a split mode and are used for cleaning adobes and removing burrs of refractory bricks with various ingredients.
The pneumatic lifting mechanism in the embodiment of the invention consists of the cylinder and the linear bearing and is used for adjusting the height of the rolling brush.
The servo lifting module and the horizontal transfer module in the embodiment of the invention are respectively composed of a control system, a servo motor, a speed reducer, a gear rack transmission mechanism, a linear guide rail and a rack.
The sponge sucker is arranged on the side face of the electric rolling brush in the embodiment of the invention, and the sponge sucker, the vacuum generator and the filter are in a split type. The vacuum generator provides vacuum negative pressure for the sponge sucker, and the split filter filters moisture and dust in the air adsorbed by the split filter.
The lower end of the frame in the embodiment of the invention is provided with a plurality of feet.
The ash receiving basket is arranged at the lower end of one side of the rack in the embodiment of the invention.
Two servo module of perpendicular and level make the transport, clearance and the size detection that detect the platform and be applicable to multiple brick type. Sponge sucking disc and vacuum generator and filter are split type, and the filter can be collected the dust, can be manual will collect the box and dismantle and clear up, and the sponge sucking disc also can be cleaned with the air gun, has avoided the easy problem of blockking up of conventional integral type sponge suction tool to easy maintenance, easy clean, frivolous have improved space utilization.
The rolling brush and the rolling shaft are connected in a split mode, the brush can be flexibly replaced, and the rolling brush is suitable for cleaning adobes and removing burrs of refractory bricks made of various ingredients. The pneumatic lifting mechanism consists of a cylinder and a linear bearing, can adjust the height of the rolling brush, and avoids the interference of taking bricks from the sponge sucker.
The control method of the intelligent detection platform for the refractory bricks in the embodiment of the invention comprises the following steps:
(1) after the pressing machine finishes the brick pressing, the robot grabs and places the green bricks on a detection platform brick placing position;
(2) the detection platform servo horizontal transfer module moves towards the direction of a green brick, the electric rolling brush lifting module moves the rolling brush to a brick brushing position and then drives the brush to rotate, the servo lifting module automatically adjusts the electric rolling brush to a proper height according to the height of the brick, and the horizontal transfer module drives the rotating rolling brush to clean dust and rough edges on the top surface of the brick;
(3) after cleaning, the electric rolling brush lifting module lifts the rolling brush to a safe position, the servo jacking rotary platform rises to a brick receiving position, the servo horizontal and lifting module drives the sponge suction tool to suck the green bricks and then place the green bricks on the servo jacking rotary platform to be connected with the brick receiving platform, the servo jacking rotary platform descends, the green bricks are placed on the weighing platform, and weight detection is carried out by the weighing sensor;
(4) after weighing is finished, the horizontal transfer module drives the 3D line scanning module to measure the thickness of the green bricks;
(5) and (4) finishing thickness measurement, moving the horizontal transfer module to a safe position, and taking away the bricks by the robot for stacking.
In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The above description is only for the purpose of illustrating the present invention and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents and improvements that are within the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. An intelligent detection platform for refractory bricks, which is characterized by comprising:
the automatic carrying module is used for carrying the green bricks to the rack;
the ash sweeping and burr removing module is used for moving the electric rolling brush to a brick brushing position by using the servo lifting module, then the driving system drives the brush to rotate, and the horizontal transfer module drives the rotating rolling brush to clean dust and burrs on the top surface of the brick;
the weighing module is used for detecting the weight of the green bricks by using a weighing sensor arranged at the upper end of the rack;
the thickness measuring module is used for measuring the thickness of the green brick by using the 3D line scanning module;
and the control system is connected with the automatic conveying module, the ash sweeping and burr removing module, the weighing module and the thickness measuring module and is used for intelligently controlling the coordination work of each module.
2. The intelligent detection platform for refractory bricks according to claim 1, wherein the ash sweeping and deburring module comprises an electric rolling brush, a servo lifting module and a horizontal transfer module, the horizontal transfer module is installed at the rear side of the frame, the servo lifting module is installed at the upper side of the horizontal transfer module, and the electric rolling brush is installed at the outer end of the servo lifting module.
3. The intelligent detection platform for refractory bricks according to claim 1, wherein the electric rolling brush is composed of a control system, a motor, a synchronous belt transmission mechanism, a rolling brush and a pneumatic lifting mechanism, wherein the motor and the synchronous belt transmission mechanism drive the rolling brush to rotate, the control system adjusts the rotation speed of the motor so as to control the rotation speed of the rolling brush, and the rotation of the rolling brush cleans and removes burrs on the brick surface.
4. The intelligent detection platform for refractory bricks according to claim 3, wherein the rolling brush and the rolling shaft are connected in a split manner and are used for green brick cleaning and burr removal of refractory bricks with various ingredients.
5. The intelligent refractory brick detection platform as claimed in claim 3, wherein the pneumatic lifting mechanism consists of a cylinder and a linear bearing and is used for adjusting the height of the rolling brush.
6. The intelligent refractory brick detection platform of claim 1, wherein the servo lifting module and the horizontal transfer module are respectively composed of a control system, a servo motor, a speed reducer, a gear rack transmission mechanism, a linear guide rail and a frame.
7. The intelligent detection platform for refractory bricks according to claim 1, wherein the sponge sucker is separated from the vacuum generator and the filter; the vacuum generator provides vacuum negative pressure for the sponge sucker, and the filter filters moisture and dust in the air adsorbed by the sponge sucker.
8. The intelligent detection platform for refractory bricks according to claim 1, wherein a plurality of ground feet are installed at the lower end of the rack.
9. The intelligent detection platform for refractory bricks according to claim 1, wherein a dust collecting basket is arranged at the lower end of one side of the rack.
10. A control method for implementing the intelligent detection platform for refractory bricks according to any one of claims 1 to 9, wherein the control method for the intelligent detection platform for refractory bricks comprises:
(1) after the pressing machine finishes the brick pressing, the robot grabs and places the green bricks on a detection platform to put the green bricks in a brick placing position;
(2) the detection platform servo horizontal transfer module moves towards the direction of a green brick, the electric rolling brush lifting module moves the rolling brush to a brick brushing position and then drives the brush to rotate, the servo lifting module automatically adjusts the electric rolling brush to a proper height according to the height of the brick, and the horizontal transfer module drives the rotating rolling brush to clean dust and rough edges on the top surface of the brick;
(3) after cleaning, the electric rolling brush lifting module lifts the rolling brush to a safe position, the servo jacking rotary platform rises to a brick receiving position, the servo horizontal and lifting module drives the sponge suction tool to suck the green bricks and then place the green bricks on the servo jacking rotary platform to be connected with the brick receiving platform, the servo jacking rotary platform descends, the green bricks are placed on the weighing platform, and weight detection is carried out by the weighing sensor;
(4) after weighing is finished, the horizontal transfer module drives the 3D line scanning module to measure the thickness of the green bricks;
(5) and (4) finishing thickness measurement, moving the horizontal transfer module to a safe position, and taking away the bricks by the robot for stacking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210468270.XA CN114705124A (en) | 2022-04-29 | 2022-04-29 | Intelligent detection platform for refractory bricks and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210468270.XA CN114705124A (en) | 2022-04-29 | 2022-04-29 | Intelligent detection platform for refractory bricks and control method thereof |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206028189U (en) * | 2016-08-29 | 2017-03-22 | 河源市罗曼缔克实业有限公司 | A surperficial dust collector for ceramic tile production |
| CN206287293U (en) * | 2016-12-27 | 2017-06-30 | 惠安华佑机械有限公司 | A kind of non-baking brick machine main body mechanism that can voluntarily clear up base plate |
| US20180120093A1 (en) * | 2016-10-31 | 2018-05-03 | Tyco Electronics (Shanghai) Co. Ltd. | Thickness Detection Experiment Platform |
| CN113834522A (en) * | 2021-09-01 | 2021-12-24 | 福州舜鑫科技有限公司 | Detection conveying line and detection conveying method for refractory bricks |
| CN215338525U (en) * | 2021-06-10 | 2021-12-28 | 埃斯顿（湖北）机器人工程有限公司 | Mobile automatic detection workstation for refractory materials |
-
2022
- 2022-04-29 CN CN202210468270.XA patent/CN114705124A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206028189U (en) * | 2016-08-29 | 2017-03-22 | 河源市罗曼缔克实业有限公司 | A surperficial dust collector for ceramic tile production |
| US20180120093A1 (en) * | 2016-10-31 | 2018-05-03 | Tyco Electronics (Shanghai) Co. Ltd. | Thickness Detection Experiment Platform |
| CN206287293U (en) * | 2016-12-27 | 2017-06-30 | 惠安华佑机械有限公司 | A kind of non-baking brick machine main body mechanism that can voluntarily clear up base plate |
| CN215338525U (en) * | 2021-06-10 | 2021-12-28 | 埃斯顿（湖北）机器人工程有限公司 | Mobile automatic detection workstation for refractory materials |
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