CN115857392A - Remote operation and maintenance expert system of continuous casting robot - Google Patents
Remote operation and maintenance expert system of continuous casting robot Download PDFInfo
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- CN115857392A CN115857392A CN202211495073.3A CN202211495073A CN115857392A CN 115857392 A CN115857392 A CN 115857392A CN 202211495073 A CN202211495073 A CN 202211495073A CN 115857392 A CN115857392 A CN 115857392A
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- 238000012423 maintenance Methods 0.000 title claims abstract description 164
- 238000009749 continuous casting Methods 0.000 title claims abstract description 23
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- 238000000034 method Methods 0.000 claims description 29
- 238000012544 monitoring process Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000007689 inspection Methods 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000003745 diagnosis Methods 0.000 abstract description 5
- 238000007726 management method Methods 0.000 description 8
- 239000007789 gas Substances 0.000 description 5
- 229910000831 Steel Inorganic materials 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- XKRFYHLGVUSROY-UHFFFAOYSA-N Argon Chemical compound [Ar] XKRFYHLGVUSROY-UHFFFAOYSA-N 0.000 description 2
- 238000013475 authorization Methods 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 229910052786 argon Inorganic materials 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- 230000004927 fusion Effects 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
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- 229910052760 oxygen Inorganic materials 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
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Abstract
The invention discloses a remote operation and maintenance expert system of a continuous casting robot, which comprises an operation and maintenance system, terminal equipment, a data platform and a network unit, wherein the operation and maintenance system, the terminal equipment and the data platform are in communication connection through the network unit, the terminal equipment collects various data of the robot, a robot PLC and peripheral auxiliary equipment, the operation and maintenance system judges the working state of the robot according to the data, stores, analyzes and counts the data when the operation and maintenance system operates, and displays the operation state parameters of the robot, the robot PLC and the peripheral auxiliary equipment in real time in a configuration mode. The operation and maintenance system designed by the invention can analyze the working state of the robot according to the data of the robot body in the production process, timely give out fault reason diagnosis when the system fails, give certain maintenance help, reduce the difficulty of robot maintenance and facilitate the operator to visually know the working state of the robot.
Description
Technical Field
The invention relates to the technical field of digitization in the field of metallurgy, in particular to a continuous casting robot remote operation and maintenance expert system.
Background
With the advancement of systems, industrial robots are increasingly used to move to more production lines and factories. Especially in the industries where non-robots are widely used conventionally, such as the steel industry, robots are increasingly used, but for field operators and inspectors, the robots belong to new equipment, and the use and maintenance of the robots increase much workload for field personnel. Therefore, a system which is convenient for operators to intuitively know the working state of the robot is urgently needed for users. And when the robot breaks down, technical support can be effectively obtained, diagnosis can be carried out according to the prompt of the system, and simple field maintenance can be carried out.
If the authorization notice number is CN114102618A, and the authorization notice date is 2022-03-01, an operation and maintenance robot, and an operation and maintenance method and system for a machine room based on the operation and maintenance robot, wherein the operation and maintenance method includes: acquiring a first image matched with a target operation and maintenance task instruction by a device to be operated and maintained in a target machine room; receiving target state information fed back by the remote operation and maintenance platform based on the first image; the target state information represents that the current state of the equipment to be operated and maintained is abnormal; acquiring a target AR operation and maintenance operation guide image based on the target state information; the target AR operation and maintenance operation guide image comprises a virtual operation and maintenance scene image representing the equipment to be operated and maintained and a target machine room and an AR image generated by a remote expert after virtual operation and maintenance image information fusion of virtual operation and maintenance operation executed by a remote expert based on the virtual operation and maintenance scene image; and executing the operation and maintenance operation based on the target AR operation and maintenance operation guide image. The method realizes the purpose that the operation and maintenance robot guides the image to execute the operation and maintenance operation based on the target AR operation and maintenance operation, reduces the operation and maintenance labor cost and improves the operation and maintenance efficiency of the machine room.
If the authorized notice number is CN106514655A, and the authorized notice date is 2017-03-22, the robot control system convenient for the user to monitor the running state of the robot in real time comprises control equipment, a main control module and a function module, wherein the control equipment can send a control program to the main control module in a wireless communication mode, the control device is provided with a display module, and the display module displays the execution condition of the control program to the user; the main control module comprises a central processing unit, monitors the running state of the functional module, executes the control program when the running state of the functional module meets the preset condition of the control program, sends an instruction to control the functional module to run, and feeds back the execution condition of the control program to the control equipment in a wireless communication mode at the same time or after a certain time delay; the functional module comprises a functional element and acts according to the instruction. By the invention, the robot can be monitored in real time; the control program can be edited to send the robot, and multi-element control is realized.
Although the system can monitor the robot, when the robot breaks down, the system cannot provide effective help for maintenance of the robot, and therefore, a need exists for designing a remote operation and maintenance expert system for a continuous casting robot to solve the problems.
Disclosure of Invention
The invention aims to provide a remote operation and maintenance expert system of a continuous casting robot to solve the defects in the prior art.
In order to achieve the above purpose, the invention provides the following technical scheme:
the long-range fortune dimension expert system of continuous casting robot, including fortune dimension system, terminal equipment, data platform and network element, be communication connection through the network element between fortune dimension system, terminal equipment and the data platform, terminal equipment collects the various data of robot, robot PLC, peripheral auxiliary assembly, fortune dimension system judges the operating condition of robot according to data, and stores, analysis, statistics to data during fortune dimension system's operation to show robot, robot PLC, peripheral auxiliary assembly running state parameter in real time with the mode of configuration, the data that fortune dimension system operation produced and the data of terminal equipment collection are deposited in the data platform, fortune dimension system adopts the mode of hierarchical structure to carry out the multiple control to the robot, the function that fortune dimension system can realize includes: and monitoring whether the robot body is normal, whether the starting condition is met, whether the grabbing tool is finished, whether the grabbing tool is carried out according to a preset step sequence and whether the flow is normally finished.
Furthermore, the network unit transmits through the ethernet, and the transmission cycle of the operation and maintenance system is less than or equal to 1s.
Further, the data collected by the terminal device includes axis coordinates of the robot, world coordinates, torques of each axis, alarm signals, sensors related to the robot (e.g., limit, distance meter, etc.), start signals, start conditions, etc.
Furthermore, the operation and maintenance system monitors whether the robot body is normal or not and judges whether the robot is normal or not according to the robot body signal, and whether the robot has the situation of collision or not is judged in the mode.
Furthermore, the operation and maintenance system judges whether the robot normally completes the process according to the process signal, and can judge the reason for process interruption.
Further, the operation and maintenance system judges whether the starting condition is met according to the parameters of whether the robot is in the original position, whether the limit signal is normal, whether the field gas pressure is normal and the like.
Furthermore, the state of the auxiliary equipment can prompt whether the auxiliary equipment can work normally when the operation and maintenance system monitors the robot, and the fault of the field equipment can prompt the maintenance content and the maintenance method.
Further, the network unit is composed of conventional wired network equipment and wireless network equipment, and the wired network equipment and the wireless network equipment include an MEC, a core network, an edge gateway, an industrial CPE and a campus 5G base station.
Furthermore, the operation and maintenance system can integrate a plurality of robot scenes when the operation and maintenance system remotely controls the control end, and simultaneously performs tracking access.
Furthermore, the data platform is established based on the internet of things, unified operation and maintenance management is achieved through a mixed IT architecture of a traditional IT system and a cloud architecture IT system, and the data platform adopts a cloud computing system with a layered architecture.
In the technical scheme, the operation and maintenance expert system for the continuous casting robot provided by the invention (1) can analyze the working state of the robot according to the data of the robot body in the production process, timely give out fault reason diagnosis when the system breaks down, give certain maintenance help, reduce the difficulty of robot maintenance and facilitate operators to visually know the working state of the robot; (2) The operation and maintenance system designed by the invention is configured in each robot system in the steel industry, and can simultaneously track a plurality of robots during remote control, thereby realizing the multivariate control of the robots and meeting the operation and maintenance management requirements of production sites with poor site observation conditions, untimely application and maintenance and the like; (3) The operation and maintenance system designed by the invention adopts a layered architecture, so that the robustness and the expandability of the system are improved, and the problems of management, safety, cost and the like in the operation and maintenance system are effectively solved.
Drawings
In order to more clearly illustrate the embodiments of the present application or technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.
Fig. 1 is a system flowchart provided by an embodiment of a remote operation and maintenance expert system of a continuous casting robot.
Fig. 2 is a schematic diagram of a network unit provided by an embodiment of the remote operation and maintenance expert system of the continuous casting robot of the invention.
Fig. 3 is network transmission of a remote operation and maintenance system provided by an embodiment of the remote operation and maintenance expert system of the continuous casting robot of the invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, those skilled in the art will now describe the present invention in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 3, the remote operation and maintenance expert system for a continuous casting robot according to the embodiment of the present invention includes an operation and maintenance system, a terminal device, a data platform, and a network unit, where the operation and maintenance system, the terminal device, and the data platform are in communication connection through the network unit, the terminal device collects various data of the robot, the PLC of the robot, and peripheral auxiliary devices, the operation and maintenance system judges a working state of the robot according to the data, stores, analyzes, and counts the data during operation of the operation and maintenance system, and displays operation state parameters of the robot, the PLC of the robot, and the peripheral auxiliary devices in a configuration manner, the data generated by operation and maintenance of the operation and maintenance system and the data collected by the terminal device are stored in the data platform, the operation and maintenance system performs multi-element control on the robot in a layered architecture manner, and the operation and maintenance system can implement functions including: monitoring whether the robot body is normal, whether the starting condition is met, whether the grabbing tool is finished, whether the grabbing tool is carried out according to a preset step sequence and whether the flow is normally finished.
Specifically, in this embodiment, the operation and maintenance system includes an operation and maintenance system, a terminal device, a data platform and a network unit, the operation and maintenance system, the terminal device and the data platform are in communication connection through the network unit, the terminal device collects various data of the robot, the robot PLC and the peripheral auxiliary devices, the operation and maintenance system judges the working state of the robot according to the data, and stores, analyzes and counts the data when the operation and maintenance system operates, and displays the operating state parameters of the robot, the robot PLC and the peripheral auxiliary devices in a configuration manner in real time, the data generated by the operation and maintenance system and the data collected by the terminal device are stored in the data platform, the operation and maintenance system performs multivariate control on the robot in a layered architecture manner, and the functions that the operation and maintenance system can implement include: monitoring whether the robot body is normal, whether the starting condition is met, whether the grabbing tool is finished, whether the grabbing tool is carried out according to a preset step sequence and whether the flow is normally finished.
It should be noted that the operation and maintenance system supports containerized deployment by using a micro-service architecture, and has good agile delivery and scalability capabilities. The agile delivery means that each micro-service is independently developed, released and evolved, and can be iterated rapidly; the easy expansion means that each micro service can be independently deployed and elastically expanded, so that the whole operation and maintenance system has strong expansibility, the deployment can be minimized in small scale, and then resources are increased as required along with the increase of the scale; and the cost and the expense of the management node are greatly reduced by supporting the containerization deployment.
It should be noted that, because of the little interactive capability of the PLC system, it is not very friendly if any because of the display contents, so it is not convenient for the field operator to know the specific situation of the robot system. The robot expert system can thus make up for the associated deficiencies. The specific execution steps are as follows:
after a button for starting the robot function is pressed, whether the starting conditions of the robot are met is judged firstly, such as whether the robot is in the original position, whether the limiting signal is normal, whether the gas pressure on the site is normal and the like.
When the robot cannot continue to follow up the running track, a prompt is given on the picture, so that the field operator can be reminded of what happens conveniently, and how to solve the problem in the follow-up process.
And prompting the robot to which position the next action is to be operated in the whole working process of the robot. The situation is convenient to know.
The operation and maintenance system designed by the invention can analyze the working state of the robot according to the data of the robot body in the production process, timely give out fault reason diagnosis when the system breaks down, give certain maintenance help, reduce the difficulty of robot maintenance and facilitate the operator to visually know the working state of the robot.
In another embodiment provided by the present invention, the network unit transmits through the ethernet, and the transmission period of the operation and maintenance system is less than or equal to 1s.
In another embodiment provided by the present invention, the data collected by the terminal device includes axis coordinates of the robot, world coordinates, torques of each axis, alarm signals, sensors related to the robot (e.g., limit, range finder, etc.), start signals, start conditions, etc.
In another embodiment of the invention, the operation and maintenance system monitors whether the robot body is normal or not and judges whether the robot is normal or not according to the robot body signal, and whether the robot has an over-impact or not is judged by the method.
It should be noted that, after the robot is debugged, the torque of the motor is tested when the robot runs in the full orbit. As a rule of thumb, the torque cannot exceed 50% of the maximum value when the robot is in operation. If the normal torque is 35%, the maximum torque is set to 55%. When the torque exceeds 55%, the robot stops in time, alarm information can be given, and an expert system can give an overrun alarm about which axis of the robot is specified.
In another embodiment of the present invention, the operation and maintenance system determines whether the robot completes the process normally according to the process signal, and can determine the reason for the process interruption.
It should be noted that there are some limit signals and contact signals in the robot process. For example, a robot may have a touch signal active when grasping a tool. When the signal is absent, a prompt may be given.
In another embodiment provided by the invention, the operation and maintenance system judges whether the starting condition is met according to the parameters of whether the robot is in the original position, whether the limit signal is normal, whether the field gas pressure is normal and the like.
In another embodiment provided by the invention, the state of the auxiliary equipment can prompt whether the auxiliary equipment can work normally or not when the operation and maintenance system monitors the robot, and the maintenance content and the maintenance method can be prompted when the field equipment fails;
it should be noted that, the robot needs compressed air for gripping tools, pick-and-place equipment, etc. during the production process, and in addition, the robot may need other gases such as argon, oxygen, etc. during the real-time action process, and information of relevant valve stations and actions of valves may be performed in the system in a friendly interactive manner.
When the field equipment can not work normally, such as a proximity switch fails, the subsequent maintenance method can provide a maintenance method and maintenance steps through the system provided by the invention for field guidance.
When the operation and maintenance system monitors the robot, if the robot body fails, the operation and maintenance system can prompt the failure position and the maintenance mode;
it should be noted that, for the fault of the robot body, the field personnel may not have the maintenance ability, and the system automatically gives the contact information of the robot maintenance personnel, the purchase information of the robot, the equipment code and the like, so that the maintenance speed can be accelerated, and the time for collecting the information can be reduced
The operation and maintenance system operates the robot according to the point inspection standard, and can prompt maintenance contents required to be carried out in a preset time.
In another embodiment provided by the present invention, the network unit is formed by conventional wired network equipment and wireless network equipment, and the wired network equipment and the wireless network equipment include an MEC, a core network, an edge gateway, an industrial CPE, and a campus 5G base station.
In another embodiment provided by the invention, the operation and maintenance system can integrate a plurality of robot scenes when the operation and maintenance system remotely controls the control end, and simultaneously performs tracking access.
In another embodiment provided by the invention, the data platform is established based on the internet of things, unified operation and maintenance management is performed through a mixed IT architecture of a traditional IT system and a cloud architecture IT system, the data platform adopts a cloud computing system with a layered architecture, the layered architecture comprises an edge computing layer, a border sea gateway layer and a cloud center layer, and the operation and maintenance system can conveniently manage robots in different areas.
It should be noted that the minimum unit of composition of the edge computing layer is an edge node, and the edge node is a device of the internet of things, or the edge computing layer has a function of implementing acquisition of multidimensional sensing data and intelligent front-end processing.
The edge gateway layer is responsible for sensing convergence, distribution, exchange, transmission, processing, storage and regional application of data, is a role starting from the top, and provides computing power for the regional application.
The cloud center collects and analyzes multi-dimensional data of the wheat-loading Internet of things, provides various comprehensive intelligent applications, and is responsible for unified agreement and supervision of rules and authority management in the aspect of equipment management.
Example 1
The long-distance operation and maintenance expert system for the continuous casting robot comprises an operation and maintenance system, a terminal device, a data platform and a network unit, wherein the operation and maintenance system, the terminal device and the data platform are in communication connection through the network unit, the terminal device collects various data of the robot, the robot PLC and peripheral auxiliary devices, the operation and maintenance system judges the working state of the robot according to the data, stores, analyzes and counts the data when the operation and maintenance system operates, displays the operation state parameters of the robot, the robot PLC and the peripheral auxiliary devices in a configuration mode in real time, stores the data generated by the operation and maintenance system and the data collected by the terminal device into the data platform, the operation and maintenance system performs multi-element control on the robot in a distributed architecture mode, and the functions which can be realized by the operation and maintenance system comprise: monitoring whether the robot body is normal, whether the starting condition is met, whether the grabbing tool is finished, whether the grabbing tool is carried out according to a preset step sequence and whether the flow is normally finished
Example 2
The embodiment is further limited on the basis of embodiment 1, wherein the network unit transmits through an ethernet, and the transmission cycle of the operation and maintenance system is less than or equal to 1s; the data collected by the terminal equipment comprises axis coordinates and world coordinates of the robot, torque of each axis, an alarm signal, relevant sensors (such as a limit sensor, a distance meter and the like) of the robot, a starting signal, starting conditions and the like; the operation and maintenance system judges whether the robot is normal or not according to the robot body signal when monitoring whether the robot body is normal or not, and judges whether the robot has the conditions of collision and the like or not in the mode; the operation and maintenance system judges whether the robot normally completes the process according to the process signal and can judge the reason of process interruption; the operation and maintenance system judges whether the starting condition is met according to the parameters of whether the robot is in the original position, whether the limiting signal is normal, whether the gas pressure on the site is normal and the like; the state of the auxiliary equipment can prompt whether the auxiliary equipment can work normally when the operation and maintenance system monitors the robot, and when the field equipment fails, the operation and maintenance system can prompt the maintenance content and the maintenance method; the network unit is composed of conventional wired network equipment and wireless network equipment, and the wired network equipment and the wireless network equipment comprise an MEC, a core network, an edge gateway, an industrial CPE and a campus 5G base station; the operation and maintenance system can integrate a plurality of robot scenes when the operation and maintenance system remotely controls a control end, and simultaneously performs tracking access; the data platform is established based on the Internet of things, unified operation and maintenance management is achieved through a mixed IT architecture of a traditional IT system and a cloud architecture IT system, and the data platform adopts a cloud computing system with a distributed architecture.
The working principle is as follows: when the operation and maintenance system is used for managing and monitoring the robot in the steel industry, the terminal equipment can transmit monitored data and robot operation data to the operation and maintenance system and the data platform, all state information related to robot diagnosis can be obtained through a PLC, the robot and other related auxiliary systems at the moment, then the operation and maintenance system analyzes and judges the data, at the moment, the operation and maintenance system mainly manages and monitors whether the robot is normal or not, whether starting conditions are met or not, whether a gripping tool is completed or not, whether the robot is performed according to a preset step sequence or not, whether the process is normally completed or not and the like, when the operation and maintenance system manages the robot, the operation and maintenance system collects various data related to the robot in real time, judges the working state of the robot according to the data, particularly when the system fails to repair, a fault point is given according to experience, and a field handling suggestion is given, at the moment, when the equipment cannot normally work, such as a proximity switch fault occurs, subsequent repair can be maintained through a repair method and maintenance steps provided by the operation and maintenance system, and maintenance information of the robot maintenance personnel can be collected quickly, and maintenance time of maintenance personnel can be reduced.
While certain exemplary embodiments of the present invention have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that the described embodiments may be modified in various different ways without departing from the spirit and scope of the invention. Accordingly, the drawings and description are illustrative in nature and should not be construed as limiting the scope of the invention.
Claims (10)
1. The long-distance operation and maintenance expert system of the continuous casting robot comprises an operation and maintenance system, a terminal device, a data platform and a network unit, and is characterized in that: the operation and maintenance system, the terminal equipment and the data platform are in communication connection through a network unit, the terminal equipment collects various data of the robot, the robot PLC and the peripheral auxiliary equipment, the operation and maintenance system judges the working state of the robot according to the data, stores, analyzes and counts the data during operation of the operation and maintenance system, displays the operation state parameters of the robot, the robot PLC and the peripheral auxiliary equipment in real time in a configuration mode, the data generated by operation and maintenance of the operation and maintenance system and the data collected by the terminal equipment are stored in the data platform, the operation and maintenance system conducts multi-element control on the robot in a layered architecture mode, and the functions which can be realized by the operation and maintenance system include: monitoring whether the robot body is normal, whether the starting condition is met, whether the grabbing tool is finished, whether the grabbing tool is carried out according to a preset step sequence and whether the flow is normally finished.
2. The remote operation and maintenance expert system for the continuous casting robot of claim 1, wherein the network unit transmits through Ethernet, and the transmission period of the operation and maintenance system is less than or equal to 1s.
3. The remote operation and maintenance expert system for continuous casting robots according to claim 1, characterized in that the data collected by the terminal equipment comprises axis coordinates of the robot, world coordinates, torques of each axis, alarm signals, robot related sensors (e.g. limit, distance meter, etc.), start signals, start conditions, etc.
4. The remote operation and maintenance expert system for the continuous casting robot as claimed in claim 1, wherein the operation and maintenance system monitors whether the robot body is normal or not, judges whether the robot is normal or not according to the robot body signal, and judges whether the robot has an over-impact condition or not by the method.
5. The remote operation and maintenance expert system for the continuous casting robot as claimed in claim 1, wherein the operation and maintenance system judges whether the robot normally completes the process according to the process signal and can judge the reason for the process interruption.
6. The remote operation and maintenance expert system for the continuous casting robot as claimed in claim 1, wherein the operation and maintenance system judges whether the starting condition is met according to the parameters of whether the robot is in the original position, whether the limit signal is normal, whether the gas pressure on the site is normal and the like.
7. The remote operation and maintenance expert system for the continuous casting robot as claimed in claim 1, wherein the state of the auxiliary equipment can prompt whether the auxiliary equipment can work normally when the operation and maintenance system monitors the robot, and can prompt the maintenance content and the maintenance method when the field equipment fails, the operation and maintenance system can prompt the fault position and the maintenance mode if the robot body fails when the operation and maintenance system monitors the robot, the operation and maintenance system operates the robot according to the spot inspection standard, and can prompt the maintenance content required to be performed in a preset time.
8. The remote operation and maintenance expert system of the continuous casting robot according to claim 1, wherein the network unit is composed of conventional wired network equipment and wireless network equipment, and the wired network equipment and the wireless network equipment comprise an MEC, a core network, an edge gateway, an industrial CPE and a campus 5G base station.
9. The remote operation and maintenance expert system for continuous casting robots of claim 1, wherein the operation and maintenance system can integrate a plurality of robot scenes when remotely controlling a control end and simultaneously perform tracking access.
10. The remote operation and maintenance expert system for the continuous casting robot as claimed in claim 1, wherein the data platform is established based on the internet of things and is unified in operation and maintenance management through a hybrid IT architecture of a traditional IT system and a cloud architecture IT system, and the data platform adopts a cloud computing system with a layered architecture.
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| CN202211495073.3A CN115857392A (en) | 2022-11-26 | 2022-11-26 | Remote operation and maintenance expert system of continuous casting robot |
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| CN202211495073.3A CN115857392A (en) | 2022-11-26 | 2022-11-26 | Remote operation and maintenance expert system of continuous casting robot |
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2022
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Application publication date: 20230328 |