CN105544998A - Automatic bricklaying device - Google Patents
Automatic bricklaying device Download PDFInfo
- Publication number
- CN105544998A CN105544998A CN201510827698.9A CN201510827698A CN105544998A CN 105544998 A CN105544998 A CN 105544998A CN 201510827698 A CN201510827698 A CN 201510827698A CN 105544998 A CN105544998 A CN 105544998A
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- China
- Prior art keywords
- brick
- connecting gear
- mechanical hand
- clamping mechanical
- pedestal
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
- E04G21/22—Tools or apparatus for setting building elements with mortar, e.g. bricklaying machines
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
- Furnace Housings, Linings, Walls, And Ceilings (AREA)
Abstract
An automatic bricklaying device comprises a guide rail mechanism having a pedestal; a vertical first transmission mechanism is arranged on the pedestal, and connected with a second transmission mechanism vertical to the first transmission mechanism and capable of moving up-down along the first transmission mechanism; the second transmission mechanism is connected with a brick clamp manipulator capable of horizontally moving along the second transmission mechanism; the pedestal is provided with a brick conveyer used for placing to-be laid bricks, and a controller controlling the first and second transmission mechanisms and the brick clamp manipulator to move; the controller is respectively connected with the first and second transmission mechanisms and the brick clamp manipulator; when the automatic bricklaying device works, the first transmission mechanism drives the second transmission mechanism to move up and down; the second transmission mechanism is controlled by the controller to drive the brick clamp manipulator to horizontally move, so the brick clamp manipulator can move above the brick conveyer so as to clamp bricks; the brick clamp manipulator clamps the brick, is controlled by the controller to move to a to-be laid position, and drops the brick.
Description
[technical field]
The present invention relates to the equipment of laying bricks, particularly a kind of cost be low, structure is simple, easy to use, be applicable to the automatic brick laying device that different construction sites use.
[background technology]
Laying bricks is an ass work, for solving the human problems laid bricks, and improving efficiency of laying bricks, now working out increasing bricklaying robot.Existing bricklaying robot is generally main equipment, and it is only applicable to Large Construction place, and small space cannot be suitable for.In addition, existing bricklaying robot complex structure, it can place fragment of brick arbitrarily in three dimensions, although it can be used for piling up various brick wall, its positioning precision is lower, and needs complicated measurement, and higher to the technical requirements of operator.And the domestic workman being engaged in foundation construction work post, its educational level major part is lower, if robot manipulation is complicated, common workman is just difficult to be competent at.In addition, although existing large-scale and the bricklaying robot of complexity can be used for building various brick wall, the building of China, its brick wall nothing more than 12 walls, 24 walls, 37 walls, 48 walls, therefore, if with simpler device, realize automatically piling up of more conventional brick wall, it more can meet user demand.
[summary of the invention]
The present invention is intended to solve the problem, and provide a kind of simple to operate, do not need the complicated automatic brick laying device of miniaturization measuring the precision that just can ensure to build a wall.
For achieving the above object, the invention provides a kind of brick laying device automatically, it is characterized in that, this device is provided with guide rail mechanism, described guide rail mechanism is provided with can along the pedestal of guide rail walking, described pedestal is provided with the first vertical connecting gear, described first connecting gear be connected with vertical with it and can carry out along described first connecting gear the second connecting gear of moving up and down, described second connecting gear is connected with and can carries out along the second connecting gear the brick-clamping mechanical hand that moves horizontally, described pedestal is provided with and places sending brick device and controlling described first connecting gear of block to be laid bricks, the controller of the second connecting gear and brick-clamping mechanical hand motion, described controller respectively with described first connecting gear, second connecting gear and brick-clamping mechanical hand connect, when described automatic brick laying device work, described first connecting gear drives described second connecting gear to move up and down under the control of described controller, described second connecting gear drives described brick-clamping mechanical hand to move horizontally under the control of described controller, make described brick-clamping mechanical hand move to described in send the top of brick device and can gripping fragment of brick, under the control of described controller, move to position to be laid bricks after described brick-clamping mechanical hand gripping fragment of brick and put down fragment of brick.
Described brick-clamping mechanical hand can rotational angle and gripping or place fragment of brick in horizontal plane.
Be provided with in described brick-clamping mechanical hand and can carry out vibrating when described brick-clamping mechanical hand places fragment of brick and make fragment of brick and cementitious firmly vibrator, described vibrator be connected with described controller.
Described guide rail mechanism comprises can be layed in guide supporting seat on level ground and guide rail, and described guide rail to be located on described guide supporting seat and parallel to the ground.
Be provided with in the bottom of described pedestal and along the roller of guide rail movement, described pedestal can be provided with the pedestal drive unit that described pedestal can be driven along guide rail movement, described pedestal drive unit is connected with described controller.
Described first connecting gear comprises and is vertically installed in vertical driven rod on described pedestal and first slide block that can move up and down along vertical driven rod and the first drive unit driving the first slide block to move up and down, described second connecting gear comprises horizontally disposed horizontal transmission bar, second slide block that can move left and right along horizontal transmission bar and the second drive unit driving the second slide block to move horizontally along horizontal transmission bar, described first slide block is fixedly connected with described horizontal transmission bar, described second slide block is fixedly connected with described brick-clamping mechanical hand, described first drive unit and the second drive unit are connected with described controller respectively.
Described controller controls described pedestal, vertical driven rod, horizontal transmission bar and brick-clamping mechanical hand shift position and builds brick in respective precalculated position in order.
Described order for finish building lower one deck brick after build the brick of last layer again.
Favorable attributes of the present invention is, it efficiently solves the problems referred to above.The present invention realizes the displacement of level and vertical direction by rail mounted structure, thus make brick-clamping mechanical hand be movable to three-dimensional optional position, and ensure displacement accuracy, compared to the free style manipulator of many cantilevers, automatic brick laying device of the present invention has higher precision of laying bricks, it not only can save human cost, and can greatly improve construction precision and efficiency of construction.In addition, because automatic brick cutting device of the present invention is simple to operate, it is low to the technical requirements of operating personnel, and do not need workman to operate and new worker's left-hand seat just can be allowed to use, it more meets the actual user demand in construction ground, thus has very strong practicality.In addition, because structure of the present invention is simple, it can make the device of miniaturization as required, and be not only applicable to Large Construction place, also can be used for the construction of small space, thus the scope of application is wide, should vigorously implement.
[accompanying drawing explanation]
Fig. 1 is structural representation of the present invention.
Wherein, guide rail mechanism 1, guide supporting seat 11, guide rail 12, pedestal 2, roller 21, first connecting gear 3, second connecting gear 4, brick-clamping mechanical hand 5, send brick device 6, controller 7.
[detailed description of the invention]
The following example is to further explanation of the present invention and supplements, and does not constitute any limitation the present invention.
As shown in Figure 1, automatic brick laying device of the present invention can be used for building polytype brick wall, as 24 brick walls, 12 brick walls, 18 brick walls, 37 brick walls etc., its main feature is, simple to operate, lower to the technical requirements of operating personnel, can save a large amount of human costs, and improve the efficiency of laying bricks and the construction precision of laying bricks, the user demand of domestic most construction plant can be met, wide accommodation, there is very strong practicality.
Particularly, as shown in Figure 1, automatic brick laying device of the present invention comprises guide rail mechanism 1, pedestal 2, first connecting gear 3, second connecting gear 4, brick-clamping mechanical hand 5, controller 7, send brick device 6 etc.
Described guide rail mechanism 1 is the support mechanism of this automatic brick laying device, and it is for supporting the miscellaneous part of this automatic brick laying device.Described guide rail mechanism 1 comprises guide supporting seat 11 and guide rail 12.Described guide supporting seat 11 is for being positioned over level ground.Described guide rail 12 is located on described guide supporting seat 11, and parallel to the ground.The shape of described guide supporting seat 11 can be arranged as required, in the present embodiment, and the steel frame construction that described guide supporting seat 11 is rectangle.Described guide rail 12 is provided with two, and what it was parallel to each other extends along described guide supporting seat 11.
Described pedestal 2 is located on described guide rail mechanism 1, and can move horizontally along the bearing of trend of described guide rail 12.The shape of described pedestal 2 can be arranged as required, and in the present embodiment, described pedestal 2 is in tabular.Both sides of the edge bottom described pedestal 2 are respectively equipped with several rollers 21, and described roller 21 corresponds to the position of described guide rail 12, and it makes described pedestal 2 can move horizontally along the bearing of trend of guide rail 12.Described pedestal 2 is provided with the pedestal drive unit that can drive the movement of described pedestal 2.Described pedestal drive unit is connected with described controller 7.Described pedestal drive unit can select known motor control assembly, and it can control described pedestal 2 and move designated displacement along guide rail 12 bearing of trend under the control of described controller 7.
Described first connecting gear 3 and the second connecting gear 4 for providing the displacement of vertical direction and horizontal direction, thus can change the position of brick-clamping mechanical hand 5 and facilitate brick-clamping mechanical hand 5 at target location gripping fragment of brick and treating that fragment of brick is placed at laying location place.Described first transfer structure comprise perpendicular to described pedestal 2 vertical driven rod, can carry out along vertical driven rod the first slide block of moving up and down and drive the first slide block to carry out the first drive unit moved up and down.Form and the principle of described vertical driven rod and the first slide block can with reference to prior aries, it is not specifically confined to the form of bar and the form of slide block, as long as the structure of straight-line displacement can be produced, include in the first connecting gear 3 described in the present embodiment, the equivalent variations mechanism that the operating mechanism such as linear electric motors, feed screw nut pair and other working methods as carried out straight-line displacement are similar.Described second connecting gear 4 comprises horizontally disposed horizontal transmission bar, can carry out the second slide block of moving horizontally and control the second slide block carries out movement the second drive unit along horizontal transmission bar along horizontal transmission bar.Form and the principle of described horizontal transmission bar and the second slide block can with reference to prior aries, it is not specifically confined to the form of bar and the form of slide block, as long as the structure of straight-line displacement can be produced, include in the first connecting gear 3 described in the present embodiment, the equivalent variations mechanism that the operating mechanism such as linear electric motors, feed screw nut pair and other working methods as carried out straight-line displacement are similar.Described horizontal transmission bar is fixedly connected with described first slide block, and this horizontal transmission bar is distinguished perpendicular with described vertical driven rod and guide rail 12, thus makes the brick-clamping mechanical hand 5 be connected with horizontal transmission bar can move to any position in three dimensions.Described brick-clamping mechanical hand 5 is fixedly connected with described second slide block, thus described brick-clamping mechanical hand 5 can be moved horizontally along horizontal transmission bar.
Described brick-clamping mechanical hand 5 for gripping fragment of brick, and places fragment of brick in position to be laid bricks.In the present embodiment, described brick-clamping mechanical hand 5 for gripping fragment of brick from the bottom up, its brick folding mouth down.Due to dissimilar brick wall to put brick position different, place fragment of brick for ease of described brick-clamping mechanical hand 5 by the bricklay preset, described brick-clamping mechanical hand 5 is configured to can the gripping or place fragment of brick at horizontal rotation in surface.As can horizontal rotation in surface 180 degree, 90 degree and place fragment of brick.The structural principle of described brick-clamping mechanical hand 5 can with reference to prior art, and it under control of the controller 7 at ad-hoc location gripping fragment of brick, and can unclamp at ad-hoc location and place fragment of brick.Meanwhile, during in order to strengthen laying bricks, brick and cementitious fastness, be also provided with vibrator in described brick-clamping mechanical hand 5, and when brick-clamping mechanical hand 5 is when placing fragment of brick until laying location, described vibrator vibrates described fragment of brick and makes fragment of brick and cementitious more firm.
The described brick device 6 that send for placing fragment of brick to be built, and supplies described brick-clamping mechanical hand 5 gripping fragment of brick.The described brick device 6 that send is fixedly installed on described pedestal 2, and its coordinate position is fixed and facilitates described controller 7 to control brick-clamping mechanical hand 5 relative to the distance sending brick device 6.For automatic brick laying device of the present invention, fragment of brick can by the position sending brick device 6 described in artificial conveyance extremely.Further, on this basis, also can arrange and automatically send brick device, send brick device 6 as arranged corresponding conveyer belt and being sent to piling up by fragment of brick by fragment of brick by conveyer belt, and then by brick-clamping mechanical hand 5 gripping.
Described controller 7 for control pedestal 2 move horizontally distance, in the first connecting gear 3 in the vertical displacement of the first slide block, the second connecting gear 4 second slide block move horizontally distance, thus control the displacement of brick-clamping mechanical hand 5.Described control its just can produce corresponding position data according to the displacement of pedestal 2, first slide block and the second slide block, and compare with this position data and the brick wall coordinate data that stored, and produce control data, place fragment of brick to control brick-clamping mechanical hand 5 in the precalculated position of building, thus realize the accurate location of fragment of brick.Because pedestal 2, first connecting gear 3 of the present invention and the second connecting gear 4 are all move in the horizontal direction and the vertical direction, its not only displacement be convenient to calculate and control, and location is more accurate, is more conducive to improve the Efficiency and accuracy of laying bricks.
During use, first automatic brick laying device of the present invention is carried to construction site to be laid bricks, makes guide rail 12 parallel with the direction of wall to be laid bricks.Then starting point and brick wall pattern startup automatic brick laying device of the present invention is set.After startup, controller 7 controls the first connecting gear 3 and drives horizontal transmission bar in the vertical direction to move up and down, second connecting gear 4 drives brick-clamping mechanical hand 5 to move left and right in the horizontal direction, brick-clamping mechanical hand 5 is moved to and send directly over brick device 6, thus gripping one piece of brick.After brick-clamping mechanical hand 5 gripping fragment of brick, it moves under control of the controller 7, moves to the position placement fragment of brick that controller 7 calculates, to complete the placement of one piece of brick, thereafter by that analogy, thus completes piling up of whole brick wall.When building a wall, described controller 7 controls the fragment of brick building last layer after described brick-clamping mechanical hand 5 has placed the fragment of brick of lower one deck again, successively piles up with this order.It should be noted that, when brick-clamping mechanical hand 5 is before placing fragment of brick and building a wall, should first use mortar pump that cement is evenly squeezed in position to be laid bricks, thus the fragment of brick facilitating brick-clamping mechanical hand 5 to place after applying cement can be bonding firmly with the fragment of brick of lower one deck.Described mortar pump can adopt known mortar pump, and its form of construction work can with reference to prior art.
By this, automatic brick laying device of the present invention is just defined.Use automatic brick laying device of the present invention, not only can save human cost, and can greatly improve construction precision and efficiency of construction.In addition, because automatic brick cutting device of the present invention is simple to operate, it is low to the technical requirements of operating personnel, and do not need workman to operate and new worker's left-hand seat just can be allowed to use, it more meets the actual user demand in construction ground, thus has very strong practicality.In addition, because structure of the present invention is simple, it can make the device of miniaturization as required, and be not only applicable to Large Construction place, also can be used for the construction of small space, thus the scope of application is wide, should vigorously implement.
Although by above embodiment to invention has been announcement, scope of the present invention is not limited thereto, and under the condition not departing from the present invention's design, above each component can be replaced with the similar or equivalent element that art personnel understand.
Claims (8)
1. an automatic brick laying device, it is characterized in that, this device is provided with guide rail mechanism (1), described guide rail mechanism (1) is provided with the pedestal (2) can walked along guide rail (12), described pedestal (2) is provided with vertical the first connecting gear (3), described first connecting gear (3) be connected with vertical with it and can carry out along described first connecting gear (3) the second connecting gear (4) of moving up and down, described second connecting gear (4) is connected with and can carries out along the second connecting gear (4) brick-clamping mechanical hand (5) that moves horizontally, described pedestal (2) is provided with and places sending brick device (6) and controlling described first connecting gear (3) of block to be laid bricks, the controller (7) that second connecting gear (4) and brick-clamping mechanical hand (5) move, described controller (7) respectively with described first connecting gear (3), second connecting gear (4) and brick-clamping mechanical hand (5) connect, when described automatic brick laying device work, described first connecting gear (3) drives described second connecting gear (4) to move up and down under the control of described controller (7), described second connecting gear (4) drives described brick-clamping mechanical hand (5) to move horizontally under the control of described controller (7), make described brick-clamping mechanical hand (5) move to described in send the top of brick device (6) and can gripping fragment of brick, under the control of described controller (7), move to position to be laid bricks after described brick-clamping mechanical hand (5) gripping fragment of brick and put down fragment of brick.
2. brick laying device automatically as claimed in claim 1, is characterized in that, described brick-clamping mechanical hand (5) can rotational angle and gripping or place fragment of brick in horizontal plane.
3. brick laying device automatically as claimed in claim 1, it is characterized in that, be provided with in described brick-clamping mechanical hand (5) and can carry out vibrating when described brick-clamping mechanical hand (5) places fragment of brick and make fragment of brick and cementitious firmly vibrator, described vibrator be connected with described controller (7).
4. brick laying device automatically as claimed in claim 1, it is characterized in that, described guide rail mechanism (1) comprises can be layed in guide supporting seat (11) on level ground and guide rail (12), and it is upper and parallel to the ground that described guide supporting seat (11) is located at by described guide rail (12).
5. brick laying device automatically as claimed in claim 4, it is characterized in that, being provided with in the bottom of described pedestal (2) can along the roller (21) of guide rail (12) movement, described pedestal (2) is provided with the pedestal drive unit that described pedestal (2) can be driven along guide rail (12) movement, and described pedestal drive unit is connected with described controller (7).
6. brick laying device automatically as claimed in claim 1, it is characterized in that, described first connecting gear (3) comprises and is vertically installed in vertical driven rod on described pedestal (2) and first slide block that can move up and down along vertical driven rod and the first drive unit driving the first slide block to move up and down, described second connecting gear (4) comprises horizontally disposed horizontal transmission bar, second slide block that can move left and right along horizontal transmission bar and the second drive unit driving the second slide block to move horizontally along horizontal transmission bar, described first slide block is fixedly connected with described horizontal transmission bar, described second slide block is fixedly connected with described brick-clamping mechanical hand (5), described first drive unit and the second drive unit are connected with described controller (7) respectively.
7. brick laying device automatically as claimed in claim 6, it is characterized in that, described controller (7) controls described pedestal (2), vertical driven rod, horizontal transmission bar and brick-clamping mechanical hand (5) shift position and builds brick in respective precalculated position in order.
8. brick laying device automatically as claimed in claim 7, is characterized in that, described order for finish building lower one deck brick after build the brick of last layer again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510827698.9A CN105544998A (en) | 2015-11-25 | 2015-11-25 | Automatic bricklaying device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510827698.9A CN105544998A (en) | 2015-11-25 | 2015-11-25 | Automatic bricklaying device |
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| CN105544998A true CN105544998A (en) | 2016-05-04 |
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| CN201510827698.9A Pending CN105544998A (en) | 2015-11-25 | 2015-11-25 | Automatic bricklaying device |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106088631A (en) * | 2016-06-22 | 2016-11-09 | 安庆海纳信息技术有限公司 | A kind of automatic wall-building device of view-based access control model technology |
| CN106088632A (en) * | 2016-06-22 | 2016-11-09 | 安庆海纳信息技术有限公司 | A kind of wall-building machine based on machine vision |
| CN106639340A (en) * | 2017-01-23 | 2017-05-10 | 潍坊学院 | Masonry machine special for aerated concrete block and masonry construction method thereof |
| CN107288358A (en) * | 2017-07-17 | 2017-10-24 | 张万旭 | A kind of multi-functional automatic construction wall masonry machine |
| CN107443353A (en) * | 2016-05-30 | 2017-12-08 | 洛阳海特智能科技有限公司 | A kind of wall-building robot and its method of work |
| CN108301628A (en) * | 2018-03-29 | 2018-07-20 | 江苏建筑职业技术学院 | Device of building a wall based on BIM technology |
| CN108331361A (en) * | 2018-02-06 | 2018-07-27 | 王银露 | A kind of robot peripheral device |
| CN110043059A (en) * | 2019-05-21 | 2019-07-23 | 太仓万利信息科技有限公司 | Equipment and its working method are piled up in a kind of automation for urban architecture |
| US10635758B2 (en) | 2016-07-15 | 2020-04-28 | Fastbrick Ip Pty Ltd | Brick/block laying machine incorporated in a vehicle |
| US10865578B2 (en) | 2016-07-15 | 2020-12-15 | Fastbrick Ip Pty Ltd | Boom for material transport |
| CN112681777A (en) * | 2020-11-04 | 2021-04-20 | 曹振迎 | Brick laying robot |
| CN113404316A (en) * | 2021-05-26 | 2021-09-17 | 东营胜瀚自动化科技有限公司 | Automatic brick and slurry conveying equipment and automatic conveying method |
| CN114775617A (en) * | 2022-03-30 | 2022-07-22 | 中煤地建设工程有限公司 | Tire mold construction device and method |
| US11401115B2 (en) | 2017-10-11 | 2022-08-02 | Fastbrick Ip Pty Ltd | Machine for conveying objects and multi-bay carousel for use therewith |
| US11441899B2 (en) | 2017-07-05 | 2022-09-13 | Fastbrick Ip Pty Ltd | Real time position and orientation tracker |
| US11958193B2 (en) | 2017-08-17 | 2024-04-16 | Fastbrick Ip Pty Ltd | Communication system for an interaction system |
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| CN107443353A (en) * | 2016-05-30 | 2017-12-08 | 洛阳海特智能科技有限公司 | A kind of wall-building robot and its method of work |
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| US11299894B2 (en) | 2016-07-15 | 2022-04-12 | Fastbrick Ip Pty Ltd | Boom for material transport |
| US11106836B2 (en) | 2016-07-15 | 2021-08-31 | Fastbrick Ip Pty Ltd | Brick/block laying machine incorporated in a vehicle |
| US10635758B2 (en) | 2016-07-15 | 2020-04-28 | Fastbrick Ip Pty Ltd | Brick/block laying machine incorporated in a vehicle |
| US10865578B2 (en) | 2016-07-15 | 2020-12-15 | Fastbrick Ip Pty Ltd | Boom for material transport |
| US10876308B2 (en) | 2016-07-15 | 2020-12-29 | Fastbrick Ip Pty Ltd | Boom for material transport |
| CN106639340A (en) * | 2017-01-23 | 2017-05-10 | 潍坊学院 | Masonry machine special for aerated concrete block and masonry construction method thereof |
| US11441899B2 (en) | 2017-07-05 | 2022-09-13 | Fastbrick Ip Pty Ltd | Real time position and orientation tracker |
| CN107288358A (en) * | 2017-07-17 | 2017-10-24 | 张万旭 | A kind of multi-functional automatic construction wall masonry machine |
| US11958193B2 (en) | 2017-08-17 | 2024-04-16 | Fastbrick Ip Pty Ltd | Communication system for an interaction system |
| US11401115B2 (en) | 2017-10-11 | 2022-08-02 | Fastbrick Ip Pty Ltd | Machine for conveying objects and multi-bay carousel for use therewith |
| CN108331361A (en) * | 2018-02-06 | 2018-07-27 | 王银露 | A kind of robot peripheral device |
| CN108301628A (en) * | 2018-03-29 | 2018-07-20 | 江苏建筑职业技术学院 | Device of building a wall based on BIM technology |
| CN108301628B (en) * | 2018-03-29 | 2023-07-14 | 江苏建筑职业技术学院 | BIM technology-based wall building device |
| CN110043059A (en) * | 2019-05-21 | 2019-07-23 | 太仓万利信息科技有限公司 | Equipment and its working method are piled up in a kind of automation for urban architecture |
| CN112681777A (en) * | 2020-11-04 | 2021-04-20 | 曹振迎 | Brick laying robot |
| CN113404316A (en) * | 2021-05-26 | 2021-09-17 | 东营胜瀚自动化科技有限公司 | Automatic brick and slurry conveying equipment and automatic conveying method |
| CN114775617A (en) * | 2022-03-30 | 2022-07-22 | 中煤地建设工程有限公司 | Tire mold construction device and method |
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Application publication date: 20160504 |