Anode carbon block appearance online detection system and detection method
By designing anode carbon block apparent online detection system, the driving cylinder and jaw mechanism are used to achieve the flip of the carbon block, solving the problem that traditional detection devices cannot detect the bottom surface of the carbon block, and achieving a more comprehensive detection effect.
Patent Information
- Application Number
- CN202510853312.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-24
- Publication Date
- 2025-08-08
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
The existing detection devices cannot fully detect the bottom surface of the anode carbon block, resulting in inaccurate detection results.
An anode carbon block apparent online detection system is designed, including a control module, a vision module and an actuator. By cooperating the drive cylinder, ring gear and jaw, the carbon block is flipped so that both the bottom and the top surface can be detected.
Automatic detection of the bottom and top of the carbon block is realized, which improves the comprehensiveness and accuracy of the detection, simplifies the power transmission structure, and improves the convenience of the detection.
Smart Images
Figure CN120446159A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of carbon block detection, and in particular to an anode carbon block surface online detection system and a detection method. Background Art
[0002] Anode carbon blocks (also known as "prebaked anode green blocks") are key materials used for conductivity and participation in electrochemical reactions in aluminum electrolytic cells. They are mainly made of raw materials such as petroleum coke and asphalt. In aluminum electrolytic cells, they serve as anodes to introduce direct current, decomposing aluminum oxide into aluminum and oxygen to produce aluminum.
[0003] During the production and processing of anode carbon blocks, the appearance of the anode carbon blocks needs to be inspected to avoid appearance quality defects and to ensure their effectiveness in the electrolytic cell. Traditionally, the inspection of anode carbon blocks is mainly carried out by manual sampling, but manual inspection mainly relies on experience and judgment, and is prone to large false detections, and the accuracy of the inspection results cannot be guaranteed. In order to circumvent the defects of manual inspection, the industry has gradually developed automatic inspection devices, which use control systems and visual modules to observe the appearance of carbon blocks and use industrial cameras to take pictures of the appearance to obtain the appearance inspection results of the carbon blocks.
[0004] When inspecting the appearance of carbon blocks, multiple surfaces of the carbon blocks need to be observed and photographed to ensure comprehensive and accurate test results. However, currently, the carbon blocks are moved to the camera of the vision module via a support frame for observation and photographing. The bottom of the carbon block is blocked by the support frame and cannot be observed or photographed, affecting the comprehensiveness and accuracy of the appearance inspection results. Summary of the Invention
[0005] The present invention aims to provide an online detection system and method for the surface of an anode carbon block, so as to solve the problem that existing detection devices cannot detect the bottom surface of the carbon block.
[0006] To achieve the above-mentioned purpose, the present invention adopts the following technical solutions: An online detection system for the surface of anode carbon blocks, comprising a control module, a visual module and an actuator, The visual module is connected to the control module, and is used to observe and photograph the carbon blocks and output appearance image information; The actuator is connected to the control module, and the actuator module is used to receive the control signal of the control module and perform the action; The actuator includes a base and a reversing mechanism, on which a support bracket is rotatably provided; the reversing mechanism includes a base, on which a control console is vertically slidably provided, the control console is connected to a driving cylinder, and a gear ring is rotatably provided on the control console, and two sets of clamping assemblies are symmetrically distributed on the outer side of the gear ring; The clamping assembly includes a rack slidably mounted on a base and meshing with a gear ring, the rack being provided with oblique teeth, a slide being provided on the outer side of the rack, the slide also being provided with oblique teeth, and the teeth on the slide meshing with the teeth on the rack; a clamping jaw is fixed on the slide, and a claw disc is provided at one end of the clamping jaw that rotates toward the center of the gear ring; One set of racks is connected to a sliding drive member for driving the racks to slide; The driving cylinder is connected to the control module and is used to receive control signals from the control module and perform actions; the driving cylinder is connected to a displacement sensor, which is connected to the control module and transmits the linear displacement of the driving cylinder detected to the control module; The sliding drive member is connected to the control module and is used to receive control signals from the control module and perform actions; the sliding drive member is connected to a displacement sensor, which is connected to the control module and transmits the detected displacement of the sliding drive member to the control module.
[0007] The principle and advantages of this solution are as follows: the visual module is used to observe and photograph the appearance of the carbon block to identify defects. When the visual module needs to inspect the bottom and top of the carbon block, the control system sends a command to the drive cylinder, which drives the control console to move, bringing the clamping jaws and claw plate closer to the carbon block. The displacement sensor detects the displacement of the drive cylinder. When the displacement reaches the expected amount, the control module receives the displacement data from the displacement sensor and stops the drive cylinder. The control module then controls the sliding drive member to operate and drive the rack to slide. The rack drives the ring gear to rotate, causing the ring gear to push the other set of racks to slide synchronously. At the same time, the rack drives the slide through the oblique meshing teeth, causing the slide to move the clamping jaws and claw plate closer to the side of the carbon block. The claw plates of the two sets of clamping jaws rest on the two ends of the carbon block. Then, by rotating the claw plate, the reversing mechanism drives the carbon block to rotate, flipping the bottom surface of the carbon block to the top, thus conveniently inspecting the bottom and top of the carbon block. The displacement sensor detects the displacement of the sliding drive member. When the displacement reaches an expected value, the control module receives the displacement data from the displacement sensor and stops the sliding drive member.
[0008] At this point, the bottom of the carbon block is flipped to the side and exposed, and the visual module can detect it. The principle of detecting the top of the carbon block is the same as that of the bottom, so I will not go into details here.
[0009] The advantage of this solution is that it can automatically turn the bottom and top of the carbon block outward, thereby facilitating inspection of the bottom and top of the carbon block, making it more convenient to use and providing more comprehensive and accurate inspection of the carbon block. At the same time, in this solution, through the design of oblique meshing teeth, the movement of the rack is reversed to change the direction of power transmission, thereby achieving linear movement control of the clamping jaws and claw disc, making the power transmission structure simpler. While simplifying the power transmission structure, it also has a guiding effect on the movement of the clamping jaws and claw disc, effectively limiting the movement direction of the clamping jaws and claw disc, allowing them to move radially along the gear ring to accurately clamp and reverse the carbon block.
[0010] Preferably, as an improvement, the sliding drive member is a cylinder, and the displacement sensor connected to the cylinder is a linear displacement sensor, which is used to detect the linear displacement of the cylinder.
[0011] This solution uses a cylinder to directly drive the rack, resulting in a simple structure, easy setup, and minimal energy loss. A linear displacement sensor detects the cylinder's displacement. When the claw plate contacts the carbon block, the cylinder reaches the expected displacement. The linear displacement sensor transmits data to the control module, which stops the cylinder and automatically controls the rack's movement.
[0012] Preferably, as an improvement, the sliding drive member is a drive motor and a drive screw, the drive screw cooperates with the rack thread, the drive screw is connected to the drive motor, and the displacement sensor connected to the sliding drive member is an angular displacement sensor, which is used to detect the angular displacement of the drive motor.
[0013] This solution utilizes a drive screw to slide the rack, which occupies less space and is more convenient for structural setup than a cylinder-driven approach. An angular displacement sensor detects the angular displacement of the drive motor's drive shaft. When the claw plate contacts the carbon block, the drive motor reaches the desired angular displacement. The angular displacement sensor transmits this data to the control module, which stops the drive motor to automatically control rack movement.
[0014] Preferably, as an improvement, a boss is provided on the top of the clamping jaw, a through hole is provided on the boss, a rotating shaft is fixed to the jaw plate, and the rotating shaft passes through the through hole and rotates with the through hole.
[0015] Through the above solution, the arrangement of the convex seat provides installation support for the rotating shaft, which can ensure the stability of the rotating shaft during operation.
[0016] Preferably, as an improvement, a rotating motor is provided on the top of the clamp, which is connected to the rotating shaft and is used to drive the rotating shaft to rotate; the rotating motor is connected to the control module and is used to receive control signals from the control module and perform actions; the rotating motor is connected to an angular displacement sensor, which is connected to the control module and transmits the detected angular displacement of the rotating motor to the control module.
[0017] Through the above solution, the rotating motor is used to automatically control the rotation of the rotating shaft and the claw plate, thereby realizing the flipping of the carbon block, which is more convenient for operation and control.
[0018] The angular displacement sensor detects the angular displacement of the driving shaft of the rotating motor. When the claw plate rests on the carbon block and drives the carbon block to flip, when the angular displacement of the rotating motor reaches the expected value, the angular displacement sensor transmits data to the control module. The control module stops the rotating motor to achieve automatic control of the flipping angle of the carbon block driven by the claw plate.
[0019] Preferably, as an improvement, the teeth on the rack and the teeth on the slide are each provided with at least two parallel groups.
[0020] Through the above scheme, a guide groove can be formed between two adjacent groups of teeth, thereby guiding the movement of the slide, so that the slide can drive the clamping claw and the claw plate to move radially along the gear ring, so that the claw plate can accurately rest on the side of the carbon block, which is conducive to the flipping of the carbon block.
[0021] In addition, the present invention also provides an online detection method for the appearance of anode carbon blocks: the carbon blocks are placed on a support frame, and the appearance of the side of the carbon blocks is observed and photographed by a visual module; When the bottom and top of the carbon block need to be observed and photographed, the control module controls the driving cylinder to work, pushing the base to slide through the driving cylinder, so that the clamping claw and claw plate are close to the two ends of the carbon block; the displacement sensor detects the displacement of the driving cylinder, and the displacement sensor transmits the acquired data to the control module. When the base reaches the required position, the control module controls the driving cylinder to stop working; The control module again controls the movement of the sliding drive member, which pushes the rack to move, and the rack pushes the slide to move; at the same time, the rack pushes the ring gear to rotate, causing the ring gear to push the other set of racks to move, thereby causing the two claws to press against the two side ends of the carbon block to clamp the carbon block; the displacement sensor connected to the sliding drive member detects the displacement of the sliding drive member and transmits the acquired data to the control module, which controls the sliding drive member to stop moving; The control module controls the operation of the rotary motor, causing the rotary motor to drive the claw plate to rotate, causing the carbon block to flip along with the claw plate, exposing the bottom and top of the carbon block; the angular displacement sensor detects the angular displacement of the rotary motor drive shaft. When the claw plate contacts the carbon block and drives the carbon block to flip, and the angular displacement of the rotary motor reaches the expected value, the angular displacement sensor transmits data to the control module, which stops the rotary motor; The exposed bottom and top of the carbon block are observed and photographed through the visual module. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] Figure 1 This is a structural diagram of the support bracket and the reversing mechanism in Example 1.
[0023] Figure 2 This is a schematic structural diagram of the support bracket and the reversing mechanism in Example 2.
[0024] Figure 3 Schematic diagram of the rack structure.
[0025] Figure 4 This is the control logic schematic diagram of the detection system.
[0026] The figure marks in the drawings of the specification include: support frame 1, base 2, console 3, ring gear 4, rack 5, gear 6, slide 7, clamping jaw 8, claw plate 9, boss 10, rotating shaft 11, rotating motor 12, sliding cylinder 13, driving screw 14, driving motor 15, camera 16, carbon block 17, driving cylinder 18. DETAILED DESCRIPTION
[0027] The following is further described in detail through specific embodiments, but the embodiments of the present invention are not limited thereto. Unless otherwise specified, the technical means used in the following embodiments are conventional means well known to those skilled in the art; the experimental methods used are all conventional methods; and the materials, reagents, etc. used are all commercially available.
[0028] Example 1 The anode carbon block surface online detection system includes a control module, a vision module and an actuator.
[0029] like Figure 4 As shown, the visual module is connected to the control module, and the visual module is used to observe and take pictures of the carbon block 17 and output appearance image information; The actuator is connected to the control module, and the actuator module is used to receive the control signal of the control module and perform the action; The actuator includes a base and a reversing mechanism, such as Figure 1As shown, a support bracket 1 is rotatably provided on the base; the reversing mechanism includes a base 2, a control console 3 is vertically slidably provided on the base 2, the control console 3 is connected to a driving cylinder 18, a gear ring 4 is rotatably provided on the control console 3, and two sets of clamping components are symmetrically distributed on the outside of the gear ring 4.
[0030] The clamping assembly includes a rack 5 slidably mounted on the base 2 and meshing with the gear ring 4. Figure 3 As shown, the rack 5 is provided with oblique teeth 6, and a slide 7 is provided on the outside of the rack 5. The slide 7 is also provided with oblique teeth 6, and the teeth 6 on the slide 7 mesh with the teeth 6 on the rack 5. The teeth 6 on the rack 5 and the teeth 6 on the slide 7 are each provided with at least two parallel groups. A clamping jaw 8 is fixed to the slide 7, and a claw disk 9 is provided on one end of the clamping jaw 8 that rotates toward the center of the ring gear 4. A boss 10 is provided on the top of the clamping jaw 8, and a through hole is provided in the boss 10. A rotating shaft 11 is fixed to the claw disk 9, and the rotating shaft 11 passes through the through hole and rotates with the through hole. A rotating motor 12 is provided on the top of the clamping jaw 8, and the rotating motor 12 is connected to the rotating shaft 11 and is used to drive the rotating shaft 11 to rotate.
[0031] One set of racks 5 is connected to a sliding drive member for driving the racks 5 to slide.
[0032] The driving cylinder 18 is connected to the control module and is used to receive control signals from the control module and perform actions; the driving cylinder 18 is connected to a displacement sensor, which is connected to the control module and transmits the linear displacement of the driving cylinder 18 detected to the control module; The sliding drive is connected to the control module and is used to receive control signals from the control module and perform actions. The sliding drive is connected to a displacement sensor, which is connected to the control module and transmits the detected displacement of the sliding drive to the control module. In this embodiment, the displacement sensor is a linear displacement sensor.
[0033] The sliding driving member in this embodiment is a sliding cylinder 13 . The displacement sensor connected to the sliding cylinder 13 is a linear displacement sensor. The linear displacement sensor is used to detect the linear displacement of the sliding cylinder 13 .
[0034] The rotating motor 12 is connected to the control module and is used to receive control signals from the control module and perform actions; the rotating motor 12 is connected to an angular displacement sensor, which is connected to the control module and transmits the angular displacement of the rotating motor 12 detected and obtained to the control module.
[0035] In this embodiment, the control module uses a PLC controller, and the vision module uses an industrial camera 16. The specific operating principles of the controller and industrial camera 16 are mature existing technologies and are not detailed here. The linear displacement sensor uses the WXZ-190 linear displacement sensor produced by Xi'an Keleke Hydropower Equipment Co., Ltd. The angular displacement sensor uses the HW226C-360 angular displacement sensor produced by Wuxi Maike Sensing Technology Co., Ltd.
[0036] During the specific implementation of this embodiment, the support bracket 1 is rotated, and the visual module inspects the side of the carbon block 17. When it is necessary to detect the bottom and top of the carbon block 17, the controller controls the driving cylinder 18 to make the driving cylinder 18 work and push the console 3 to slide on the base 2, so that the console 3 is close to the carbon block 17. During the process, the linear displacement sensor connected to the driving cylinder 18 detects the displacement of the driving cylinder 18. When the displacement of the driving cylinder 18 is as expected, the controller stops the driving cylinder 18.
[0037] When the console 3 reaches the carbon block 17, the controller controls the sliding cylinder 13 to work, and the sliding cylinder 13 drives the corresponding connected rack 5 to slide, and the rack 5 pushes the ring gear 4 to rotate, and the ring gear 4 pushes the other set of meshing racks 5 to slide synchronously. At this time, the rack 5 pushes the meshing slide 7 through the oblique teeth 6, so that the slide 7 moves along the radial direction of the ring gear 4, and the two sets of slides 7 move closer and clamp the side end of the carbon block 17. During this process, the linear displacement sensor connected to the sliding cylinder 13 measures the displacement of the sliding cylinder 13. When the displacement of the sliding cylinder 13 meets expectations, the controller stops the sliding cylinder 13 from working.
[0038] Then the controller controls the rotating motor 12 to work, and the rotating motor 12 controls the rotating shaft 11 and the claw plate 9 to rotate, so that the claw plate 9 drives the carbon block 17 to rotate, thereby flipping the bottom and top of the carbon block 17 to the side and exposing them for easy detection. During this process, the angular displacement sensor connected to the rotating motor 12 detects the rotation angle of the rotating motor 12. When the rotation angle of the rotating motor 12 reaches the expected value, the controller controls the rotating motor 12 to stop working so that the claw plate 9 clamps the carbon block 17.
[0039] It is understood that in order to ensure that the claw plate 9 stably clamps the carbon block 17, anti-slip ridges can be provided on the surface of the claw plate 9 in actual application to prevent the carbon block 17 from slipping during the clamping process. At the same time, when the carbon block 17 is turned over, in order to prevent the carbon block 17 from colliding with the support frame 1, after the carbon block 17 is clamped, the controller can control the driving cylinder 18 to reset and retract a certain distance, causing the control console 3 to retract a small distance to provide sufficient space for the carbon block 17 to turn over.
[0040] The control module then controls the visual module to observe and inspect the appearance of the exposed bottom and top of the carbon block 17 and obtain the inspection results.
[0041] Example 2 The difference between this embodiment and embodiment 1 is that the structure of the sliding drive member is different. Figure 2 As shown, the sliding drive member in this embodiment comprises a drive motor 15 and a drive screw 14. The drive screw 14 is threadedly engaged with the rack 5 and connected to the drive motor 15. The displacement sensor connected to the sliding drive member is an angular displacement sensor, which is used to detect the angular displacement of the drive motor 15. In this embodiment, the angular displacement sensor is an HW226C-360 angular displacement sensor produced by Wuxi Maike Sensing Technology Co., Ltd.
[0042] The implementation process of this embodiment differs from that of Example 1 only in the process of controlling the sliding drive of rack 5. In this embodiment, when rack 5 needs to be driven, the controller controls drive motor 15 to operate, which in turn controls the rotation of drive screw 14. Drive screw 14, through its threads, pushes rack 5 to slide, thereby achieving sliding control of rack 5. While drive motor 15 is operating, an angular displacement sensor detects its rotation angle. When the desired rotation angle is reached, the controller controls drive motor 15 to stop, achieving automatic control of drive motor 15.
[0043] In addition, this embodiment also provides a method for online detection of the appearance of anode carbon blocks: Place the carbon block 17 on the support frame 1, and observe and photograph the side appearance of the carbon block 17 through the visual module. During the inspection process, the support frame 1 can be rotated so that different sides of the carbon block 17 face the visual module to facilitate appearance inspection.
[0044] When it is necessary to observe and photograph the bottom or top of the carbon block 17, the control module controls the driving cylinder 18 to work, and pushes the base 2 to slide through the driving cylinder 18, so that the clamping jaws 8 and the claw plate 9 are close to the two ends of the carbon block 17; the displacement sensor detects the displacement of the driving cylinder 18, and the displacement sensor transmits the acquired data to the control module. When the base 2 reaches the required position, the control module controls the driving cylinder 18 to stop working.
[0045] The control module then controls the movement of the sliding drive member, which pushes the rack 5 to move, and the rack 5 pushes the slide 7 to move; at the same time, the rack 5 pushes the ring gear 4 to rotate, causing the ring gear 4 to push the other set of racks 5 to move, thereby causing the two claw plates 9 to press against the two side ends of the carbon block 17 to clamp the carbon block 17; the displacement sensor connected to the sliding drive member detects the displacement of the sliding drive member and transmits the acquired data to the control module, which controls the sliding drive member to stop moving; The control module controls the operation of the rotating motor 12, causing the rotating motor 12 to drive the claw plate 9 to rotate, causing the carbon block 17 to flip along with the claw plate 9, causing the bottom and top of the carbon block 17 to flip to the side and be exposed; the angular displacement sensor detects the angular displacement of the driving shaft of the rotating motor 12. When the claw plate 9 abuts against the carbon block 17 and drives the carbon block 17 to flip, when the angular displacement of the rotating motor 12 reaches the expected value, the angular displacement sensor transmits data to the control module, and the control module stops the rotating motor 12; The appearance of the exposed bottom or top of the carbon block 17 is observed and photographed through a visual module.
[0046] The above is only an embodiment of the present invention, and the common knowledge such as the specific technical solutions and / or characteristics in the solution are not described in detail here. It should be pointed out that for those skilled in the art, without departing from the technical solution of the present invention, several variations and improvements can be made, which should also be regarded as the scope of protection of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the description can be used to interpret the content of the claims.
Claims
1. Anode carbon block surface online detection system, including a control module, a visual module and an actuator; its characteristics are: The visual module is connected to the control module, and is used to observe and take pictures of the carbon blocks and output appearance image information; The actuator is connected to the control module, and the execution module is used to receive the control signal of the control module and perform the action; The actuator includes a base and a reversing mechanism, on which a support bracket is rotatably provided; the reversing mechanism includes a base, on which a control console is vertically slidably provided, the control console is connected to a driving cylinder, and a gear ring is rotatably provided on the control console, and two sets of clamping assemblies are symmetrically distributed on the outer side of the gear ring; The clamping assembly includes a rack slidably mounted on a base and meshing with a gear ring, the rack being provided with oblique teeth, a slide being provided on the outer side of the rack, the slide also being provided with oblique teeth, and the teeth on the slide meshing with the teeth on the rack; a clamping jaw is fixed on the slide, and a claw disc is provided at one end of the clamping jaw that rotates toward the center of the gear ring; One set of racks is connected to a sliding drive member for driving the racks to slide; The driving cylinder is connected to the control module and is used to receive control signals from the control module and perform actions; the driving cylinder is connected to a displacement sensor, which is connected to the control module and transmits the linear displacement of the driving cylinder detected to the control module; The sliding drive member is connected to the control module and is used to receive control signals from the control module and perform actions; the sliding drive member is connected to a displacement sensor, which is connected to the control module and transmits the detected displacement of the sliding drive member to the control module.
2. The anode carbon block surface online detection system according to claim 1, characterized in that: The sliding driving component is a cylinder, and the displacement sensor connected to the cylinder is a linear displacement sensor, which is used to detect the linear displacement of the cylinder.
3. The anode carbon block surface online detection system according to claim 1, characterized in that: The sliding drive member includes a drive motor and a drive screw. The drive screw cooperates with the rack thread and is connected to the drive motor. The displacement sensor connected to the sliding drive member is an angular displacement sensor, which is used to detect the angular displacement of the drive motor.
4. The anode carbon block surface online detection system according to claim 2 or 3, characterized in that: A convex seat is provided on the top of the clamping jaw, a through hole is provided on the convex seat, a rotating shaft is fixedly connected to the clamping jaw plate, and the rotating shaft passes through the through hole and rotates with the through hole.
5. The anode carbon block surface online detection system according to claim 4, characterized in that: A rotating motor is provided on the top of the clamp, which is connected to the rotating shaft and is used to drive the rotating shaft to rotate; the rotating motor is connected to the control module and is used to receive control signals from the control module and perform actions; the rotating motor is connected to an angular displacement sensor, which is connected to the control module and transmits the detected angular displacement of the rotating motor to the control module.
6. The anode carbon block surface online detection system according to claim 5, characterized in that: The teeth on the rack and the teeth on the slide are each provided with at least two parallel groups.
7. The method for online detection of anode carbon block appearance according to claim 6, characterized in that: Place the carbon block on the support frame and use the visual module to observe and photograph the side appearance of the carbon block; When the bottom and top of the carbon block need to be observed and photographed, the control module controls the driving cylinder to work, pushing the base to slide through the driving cylinder, so that the clamping claw and claw plate are close to the two ends of the carbon block; the displacement sensor detects the displacement of the driving cylinder, and the displacement sensor transmits the acquired data to the control module. When the base reaches the required position, the control module controls the driving cylinder to stop working; The control module again controls the movement of the sliding drive member, which pushes the rack to move, and the rack pushes the slide to move; at the same time, the rack pushes the ring gear to rotate, causing the ring gear to push the other set of racks to move, thereby causing the two claws to press against the two side ends of the carbon block to clamp the carbon block; the displacement sensor connected to the sliding drive member detects the displacement of the sliding drive member and transmits the acquired data to the control module, which controls the sliding drive member to stop moving; The control module controls the operation of the rotary motor, causing the rotary motor to drive the claw plate to rotate, causing the carbon block to flip along with the claw plate, exposing the bottom and top of the carbon block; the angular displacement sensor detects the angular displacement of the rotary motor drive shaft. When the claw plate contacts the carbon block and drives the carbon block to flip, and the angular displacement of the rotary motor reaches the expected value, the angular displacement sensor transmits data to the control module, which stops the rotary motor; The exposed bottom and top of the carbon block are observed and photographed through the visual module.