CN102211739A - Basic programming system (BPS) automatic deflection correction method and system for crane cart - Google Patents
Basic programming system (BPS) automatic deflection correction method and system for crane cart Download PDFInfo
- Publication number
- CN102211739A CN102211739A CN2011101378606A CN201110137860A CN102211739A CN 102211739 A CN102211739 A CN 102211739A CN 2011101378606 A CN2011101378606 A CN 2011101378606A CN 201110137860 A CN201110137860 A CN 201110137860A CN 102211739 A CN102211739 A CN 102211739A
- Authority
- CN
- China
- Prior art keywords
- bps
- bar code
- crane
- cart
- sides
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention relates to a basic programming system (BPS) automatic deflection correction method and a BPS automatic deflection correction system for a crane cart. Left and right guide rails are provided with a bar code strip respectively; corresponding bar code readers are arranged on a cart frame; and a control unit acquires and compares the numerical values read by the readers on two sides in time, judges whether the travels of driving wheels on left and right sides of the cart are synchronous, automatically adjusts the driving wheels on two sides by reducing the rotation speed of the driving wheel on the front side or increasing the rotation speed of the driving wheel on the rear side if the driving wheels are not synchronous, and keeps the two driving wheels are in the same bar code section. Whether the travelling wheels on two sides are deflected and the deflection degree can be judged accurately and timely, and a control circuit can give an instruction for adjusting the rotation speed of a driving motor timely, so that the reliability is high. The deflection detection accuracy of the crane cart is high, so that the deflection can be corrected accurately under the condition of curves and slopes. Moreover, a BPS system has the advantages that: the BPS system has a Proibus function and low cost and can configure with a programmable logic controller (PLC) freely; and the measurement distance can reach 10,000 meters.
Description
Technical field
The present invention relates to a kind of in large span crane operational process, the large vehicle walking automatic deviation rectifying device that wanders off, particularly a kind of crane BPS automatic correction method and deviation-rectifying system.
Background technology
Hoisting crane is one of visual plant of present industrial and mining enterprises construction operation, and existing weight-lifting equipment mainly comprises crane girder, lifting mechanism, hoisting crane electric panel room, trolley body, big mechanism of car, left branch leg, compositions such as right supporting leg and driver's cab.When lifting mechanism is used for hoisting heavy, the lifting thing is promoted or be placed into suitable position, trolley body and big mechanism of car are suitably adjusted the control position of hoisting crane according to the actual job situation.
Yet, crane is in operational process, because the difference of electric characteristic of electrical motor and mechanical specialities, the distance that the both sides end carriage is moved is inequality, one side motor speed is high and low than the rotating speed of opposite side electrical motor, and this just causes that hoisting crane says usually gnaws the rail phenomenon.This phenomenon tends to cause the distortion of girder, big wheel and track severe wear.This defective has directly had influence on the service life of hoisting crane.
Keep two end carriages synchronous in order to guarantee that the large span hoisting crane is in operation, in modern hoisting crane technology, often adopt at the cart left lateral and walk motor and right lateral walks to be provided with in the motor left coder and right coder, after pulse data by coder compares analysis, detect deviation correcting signal, and this signal rectified a deviation in good time, this mode can actv. in certain scope the synchronism of control large vehicle walking, but reach greatly at the cart operating range under the influence of girder mechanical specialities, the signal of coder can produce bigger accumulated error, influences the synchronous accuracy of cart walking mechanism simultaneously.
In addition, because the error of hoisting crane two sidecar wheels itself, the article that hoisting crane lifted are not or not the centre of hoisting crane, hoisting crane, the different wheel error that causes of two sidecar wheels wearing and tearing, adopt the device of coder correction just can't rectify a deviation after the crane wheel produces error, the consequence that crane wanders off is wheel and track serious wear, and the serious electrical motor that can also cause burns and major accident such as hoisting crane tipping.
Summary of the invention
The objective of the invention is to overcome the deficiency that prior art exists, provide a kind of hoisting crane in the process of walking, the system of the automatic detection that large vehicle walking wanders off, automatic guidance, automatic deviation correction, thereby realize reducing equipment failure rate, improve the safety of hoisting crane, improve a kind of crane BPS automatic correction method and the deviation-rectifying system of the overall performance of hoisting crane.
The present invention has utilized crane BPS automatic correction method and deviation-rectifying system to realize above-mentioned purpose.
Method for correcting error is: a bar code band respectively is set on the and arranged on left and right sides guide rail respectively, and corresponding bar code reader is installed on vehicle frame respectively, the numerical value of both sides bar code that reader reads is gathered and compare in good time to control unit, whether the drive wheel stroke of judging the cart and arranged on left and right sides is synchronous, when two side drive wheel are asynchronous, control unit keeps two drive wheels to be positioned at same bar code section by reducing a leading side drive wheel rotating speed or increasing mode automatically regulating two side drive wheel that fall behind a side drive wheel rotating speed.
At first with under the not load-carrying situation of hoisting crane, from top to the terminal, travel at the uniform speed once, the relative data information that this moment, hoisting crane left side bar-code reader and right bar-code reader were read travel distance, go in the control unit by the profibus bus transfer, control unit deposits this data message in this system in, as the master data of automatic deviation correction.
Left side bar code reading is made as main website, and right bar-code reader is made as slave station.
Correction distance ± the 2mm of control unit, that is: the end carriage behind greater plantain is walked offset distance in orbit less than surpassing ± 2mm, and control unit automatic deviation correction program is not sent the correction instruction, and traveling mechanism of the larger traveller will normally move; The offset distance that end carriage orbits behind greater plantain surpasses ± 2mm, and control unit automatic deviation correction program will be sent the correction instruction, and the deviation data that moves until the cart two ends is in ± 2mm.
Control unit is controlled the rotating speed of two side drive wheel by control frequency converter output frequency.
Deviation-rectifying system comprises cart, driver's cab and electric panel room are installed on the cart, the left side of cart, right both sides are respectively according to road wheel and drive motor are arranged, and two tracks, on a left side, on the side of right two guide rails a bar code band is set respectively, on every cooresponding position of bar code band, a bar code band reader respectively is installed, the signal output part of each bar code band reader is connected with the acquisition of signal end of Programmable Logic Controller, the control output end of Programmable Logic Controller respectively with a left side, right both sides frequency converter connects, the both sides frequency converter is connected with cooresponding drive motor respectively, and Programmable Logic Controller is connected with joint action table simultaneously.
Bar code band reader, Programmable Logic Controller, frequency converter all link by fieldbus Profilms.
The and arranged on left and right sides bar code reader is respectively according near the vehicle frame the drive wheel.
Beneficial effect of the present invention:
1, the present invention utilizes BPS bar code band reader can gather the numerical value of bar code on two side rails in good time, judge the range information of cart both sides, thereby judge whether cart deviation occurs, at the inconsistent deviation situation of cart two side drive wheel strokes, control unit is controlled both sides frequency converter generation different frequency by exporting corresponding signal, thus the purpose that realization is controlled both sides drive motor rotating speed.Its range accuracy height, range accuracy can reach ± 1mm, speed of response fast (8ms), resistance to corrosion is strong.Advantage with instantaneous correction, its efficient height that correction is judged and automatic guidance is controlled, programming is simple.
2, the accuracy of detection height because crane wanders off can accurately correction under curve and slope situation.
3, basic programming support of the present invention has the Proibus bus functionality, but with the PLC free configuration, far measuring distance reaches ten thousand metres, low cost and other advantages.
4, survey precision was higher than the encoding measurement precision after the present invention adopted BPS bar code measurement technique, and the while is not subjected to external factor yet and causes measured error.
5, the correction of control unit distance can be adjusted according to accuracy requirement, for example ± and 2mm or other values.Realized that so not only cart keeps synchronized operation, has also eliminated cart and has gnawed defectives such as rail and main beam deformation, but also can not cause hoisting crane BPS automatic deviation correction frequent operation.
6, bar-code reader at 90 ~ 170mm, therefore has the installation buffer zone of 80mm to fitting limit between the coding band, can ignore the cart problem of double swerve in orbit fully.
Description of drawings
The front schematic view of Fig. 1 hoisting crane BPS of the present invention cart system for automatically correcting.
Fig. 2 and Fig. 3 are respectively that being provided with of and arranged on left and right sides bar code and code reader concerns scheme drawing.
Fig. 4 is crane BPS system for automatically correcting schematic circuit diagram.
The specific embodiment
Embodiment one: a kind of crane BPS automatic correction method, this method are that a bar code band respectively is set on the side of and arranged on left and right sides guide rail respectively; Simultaneously, corresponding bar code reader is installed on vehicle frame; The and arranged on left and right sides bar code reader is respectively according near the vehicle frame the drive wheel; The numerical value of both sides bar code that reader reads is gathered and compare in good time to control unit, judges whether the drive wheel stroke of cart and arranged on left and right sides is synchronous; When two side drive wheel were asynchronous, control unit kept two drive wheels to be positioned at same bar code section by reducing a leading side drive wheel rotating speed or increasing mode automatically regulating two side drive wheel that fall behind a side drive wheel rotating speed; Control unit is controlled the rotating speed of two side drive wheel by control frequency converter output frequency.
Embodiment two: as Fig. 1～shown in Figure 4, a kind of crane BPS system for automatically correcting comprises cart, and driver's cab and electric panel room are installed on the cart, joint action table+40-S40 and PLC main website and touch-screen-HMI are contained in the driver's cab 710, and other electric elements are contained in the electric panel room 700.
Hoisting crane BPS cart automatic deviation rectifying device mainly comprises, left side bar code band 150 and right bar code band 250, stick on respectively on the left track 160 and right track 260 of large vehicle walking (usually with drag wire casing to be installed together), left side bar-code reader 170 and right bar-code reader 270 are installed in (near the vehicle frame the drive wheel) on the leg frame of the cart left and right sides respectively, left and right sides bar-code reader is connected in the PLC slave station by fieldbus profibus, and joint action table+40-S40 and touch-screen are connected in the PLC main website by fieldbus profibuss.Cart frequency converter-V400.-V500 is attached on the PLC slave station by fieldbus profibus, and joint action table+40-S40 is contained in the driver's cab, and other electric elements are contained in the electric panel room 700 below the girder 720.Left and right supporting leg is installed in respectively in cart 730 mechanisms.
When hoisting crane BPS cart system for automatically correcting of the present invention is worked, at first with under the not load-carrying situation of hoisting crane, from top to the terminal, travel at the uniform speed once, the relative data information that this moment, hoisting crane left side bar-code reader and right bar-code reader were read travel distance, by the profibus bus, be conveyed among the PLC, PLC deposits this data message in this system in.Master data as automatic deviation correction.
When avoiding hoisting crane BPS automatic deviation correction, cause defectives such as the left and right frequent movement of traveling mechanism of the larger traveller.Offset distance does not surpass ± 2mm if the end carriage behind the greater plantain is walked in orbit, and PLC automatic deviation correction program is not sent the correction instruction.Traveling mechanism of the larger traveller will normally move.If the offset distance that end carriage orbits behind the greater plantain surpasses ± 2mm, PLC automatic deviation correction program will be sent the correction instruction, and the deviation data that moves until the cart two ends is in ± 2mm.Realized that so not only cart keeps synchronized operation, has also eliminated cart and has gnawed defectives such as rail and main beam deformation, but also can not cause hoisting crane BPS automatic deviation correction frequent operation.
For making hoisting crane BPS automatic deviation rectifying device energy normal operation, left bar code reading is made as main website, and right bar-code reader is made as slave station.
Touch-screen-MHI is contained in the driver's cab, mainly shows the current location and the correction data of hoisting crane.
More than summary only is the preferential embodiment of this invention, and every employing is equal to or the equivalent technology that converts formation to reaches under the principle prerequisite that does not break away from the present invention's description, all drops in the protection domain of this invention.
Claims (8)
1. crane BPS automatic correction method, it is characterized in that: respectively on a left side, on right two side rails bar code band is set respectively, and corresponding bar code reader is installed on vehicle frame respectively, the numerical value of both sides bar code that reader reads is gathered and compare in good time to control unit, judge a cart left side, whether the drive wheel stroke of right both sides is synchronous, when two side drive wheel are asynchronous, control unit keeps two drive wheels to be positioned at same bar code section by reducing a leading side drive wheel rotating speed or increasing mode automatically regulating two side drive wheel that fall behind a side drive wheel rotating speed.
2. crane BPS automatic correction method according to claim 1, it is characterized in that: at first with under the not load-carrying situation of hoisting crane, from top to the terminal, travel at the uniform speed once, the relative data information that this moment, hoisting crane left side bar-code reader and right bar-code reader were read travel distance, go in the control unit by the profibus bus transfer, control unit deposits this data message in this system in, as the master data of automatic deviation correction.
3. crane BPS automatic correction method according to claim 1 and 2, it is characterized in that: left bar code reading is made as main website, and right bar-code reader is made as slave station.
4. crane BPS automatic correction method according to claim 1, it is characterized in that: the correction distance ± 2mm of control unit, that is: the end carriage behind greater plantain is walked offset distance in orbit less than surpassing ± 2mm, control unit automatic deviation correction program is not sent the correction instruction, and traveling mechanism of the larger traveller will normally move; The offset distance that end carriage orbits behind greater plantain surpasses ± 2mm, and control unit automatic deviation correction program will be sent the correction instruction, and the deviation data that moves until the cart two ends is in ± 2mm.
5. crane BPS automatic correction method according to claim 1 is characterized in that: control unit is controlled the rotating speed of two side drive wheel by control frequency converter output frequency.
6. crane BPS system for automatically correcting, comprise cart, driver's cab and electric panel room are installed on the cart, the left side of cart, right both sides are respectively according to road wheel and drive motor are arranged, and two tracks, it is characterized in that: on a left side, on the side of right two guide rails a bar code band is set respectively, on every cooresponding position of bar code band, a bar code band reader respectively is installed, the signal output part of each bar code band reader is connected with the acquisition of signal end of Programmable Logic Controller, the control output end of Programmable Logic Controller respectively with a left side, right both sides frequency converter connects, the both sides frequency converter is connected with cooresponding drive motor respectively, and Programmable Logic Controller is connected with joint action table simultaneously.
7. crane BPS system for automatically correcting according to claim 6 is characterized in that: bar code band reader, Programmable Logic Controller, frequency converter all link by fieldbus Profilms.
8. crane BPS system for automatically correcting according to claim 6 is characterized in that: the and arranged on left and right sides bar code reader is respectively according near the vehicle frame the drive wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101378606A CN102211739A (en) | 2011-05-26 | 2011-05-26 | Basic programming system (BPS) automatic deflection correction method and system for crane cart |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101378606A CN102211739A (en) | 2011-05-26 | 2011-05-26 | Basic programming system (BPS) automatic deflection correction method and system for crane cart |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102211739A true CN102211739A (en) | 2011-10-12 |
Family
ID=44743316
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011101378606A Pending CN102211739A (en) | 2011-05-26 | 2011-05-26 | Basic programming system (BPS) automatic deflection correction method and system for crane cart |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102211739A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103076401A (en) * | 2011-10-25 | 2013-05-01 | 宝山钢铁股份有限公司 | Synchronous control method for driving wheels of nondestructive inspection apparatus for steel plate |
| CN105776027A (en) * | 2016-05-12 | 2016-07-20 | 中南大学 | Deviation rectification control method and system for car of bridge crane in walking process |
| CN106895701A (en) * | 2017-04-28 | 2017-06-27 | 云南昆钢重型装备制造集团有限公司 | A kind of bell automatic closing device suitable for vacuum melting furnace |
| CN107311044A (en) * | 2017-08-24 | 2017-11-03 | 芜湖市长江起重设备制造有限公司 | A kind of bridge crane travelling mechanism |
| CN107531463A (en) * | 2015-05-25 | 2018-01-02 | 住友重机械搬运***工程株式会社 | The ambulation control method of traveling control device, mobile crane and mobile crane |
| CN107943020A (en) * | 2017-10-17 | 2018-04-20 | 上海辛格林纳新时达电机有限公司 | A kind of tyre crane cart automatic correction method |
| CN110277948A (en) * | 2019-06-19 | 2019-09-24 | 重庆红岩建设机械制造有限责任公司 | A kind of bridge inspection car VF to WF control system and method |
| CN110642145A (en) * | 2018-06-27 | 2020-01-03 | 上海梅山钢铁股份有限公司 | Method for preventing casting crane from gnawing rail |
| CN111028533A (en) * | 2019-12-27 | 2020-04-17 | 上海多路信息技术有限公司 | Control method for accurate box parking of RTG (real time railway) cart |
| CN111017732A (en) * | 2019-12-27 | 2020-04-17 | 上海多路信息技术有限公司 | Precise box parking and cart synchronization control method for RMG cart |
| CN112320585A (en) * | 2020-10-28 | 2021-02-05 | 湖南天桥嘉成智能科技有限公司 | Large-span unmanned crane track deviation rectifying device and method |
| CN113104739A (en) * | 2021-04-06 | 2021-07-13 | 青岛科捷机器人有限公司 | Gantry traveling mechanism and traveling control method |
| CN115432582A (en) * | 2022-09-30 | 2022-12-06 | 西安外事学院 | Automatic deviation rectifying control system and method for crane cart |
| CN117263036A (en) * | 2023-11-20 | 2023-12-22 | 上海博珖机器人有限公司 | Positioning method, device and system and photovoltaic array semi-finished product mounting equipment |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2598976Y (en) * | 2002-09-26 | 2004-01-14 | 武汉科技大学 | Crane wheel operating error-correcting device |
| CN1565956A (en) * | 2003-06-25 | 2005-01-19 | 上海振华港口机械（集团）股份有限公司 | Electrical control system for assembling field bridge of rubber tyred gantry crane |
| CN201367306Y (en) * | 2009-02-23 | 2009-12-23 | 黄石市奇迅自动化工程有限公司 | Automatic correction control system for long-span programme-controlled travelling crane with accurate positioning function |
| CN101691187A (en) * | 2009-09-07 | 2010-04-07 | 上海海得控制***股份有限公司 | Self-correcting system for displacement deviation of rigid and flexible legs of gantry crane |
| CN201553559U (en) * | 2009-11-11 | 2010-08-18 | 甘肃省电力公司刘家峡水电厂 | Movable difference correcting system for end beams of 400ton overhead traveling crane bogie |
| CN201673403U (en) * | 2010-06-18 | 2010-12-15 | 河南省郑起起重设备有限公司 | BPS travelling automatic location system |
-
2011
- 2011-05-26 CN CN2011101378606A patent/CN102211739A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2598976Y (en) * | 2002-09-26 | 2004-01-14 | 武汉科技大学 | Crane wheel operating error-correcting device |
| CN1565956A (en) * | 2003-06-25 | 2005-01-19 | 上海振华港口机械（集团）股份有限公司 | Electrical control system for assembling field bridge of rubber tyred gantry crane |
| CN201367306Y (en) * | 2009-02-23 | 2009-12-23 | 黄石市奇迅自动化工程有限公司 | Automatic correction control system for long-span programme-controlled travelling crane with accurate positioning function |
| CN101691187A (en) * | 2009-09-07 | 2010-04-07 | 上海海得控制***股份有限公司 | Self-correcting system for displacement deviation of rigid and flexible legs of gantry crane |
| CN201553559U (en) * | 2009-11-11 | 2010-08-18 | 甘肃省电力公司刘家峡水电厂 | Movable difference correcting system for end beams of 400ton overhead traveling crane bogie |
| CN201673403U (en) * | 2010-06-18 | 2010-12-15 | 河南省郑起起重设备有限公司 | BPS travelling automatic location system |
Non-Patent Citations (1)
| Title |
|---|
| 冷建伟等: "新型的桥式起重机定位***", 《天津理工大学学报》 * |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103076401A (en) * | 2011-10-25 | 2013-05-01 | 宝山钢铁股份有限公司 | Synchronous control method for driving wheels of nondestructive inspection apparatus for steel plate |
| CN107531463A (en) * | 2015-05-25 | 2018-01-02 | 住友重机械搬运***工程株式会社 | The ambulation control method of traveling control device, mobile crane and mobile crane |
| CN107531463B (en) * | 2015-05-25 | 2019-07-30 | 住友重机械搬运***工程株式会社 | The ambulation control method of traveling control device, mobile crane and mobile crane |
| CN105776027A (en) * | 2016-05-12 | 2016-07-20 | 中南大学 | Deviation rectification control method and system for car of bridge crane in walking process |
| CN106895701A (en) * | 2017-04-28 | 2017-06-27 | 云南昆钢重型装备制造集团有限公司 | A kind of bell automatic closing device suitable for vacuum melting furnace |
| CN107311044A (en) * | 2017-08-24 | 2017-11-03 | 芜湖市长江起重设备制造有限公司 | A kind of bridge crane travelling mechanism |
| CN107943020A (en) * | 2017-10-17 | 2018-04-20 | 上海辛格林纳新时达电机有限公司 | A kind of tyre crane cart automatic correction method |
| CN110642145A (en) * | 2018-06-27 | 2020-01-03 | 上海梅山钢铁股份有限公司 | Method for preventing casting crane from gnawing rail |
| CN110642145B (en) * | 2018-06-27 | 2021-02-05 | 上海梅山钢铁股份有限公司 | Method for preventing casting crane from gnawing rail |
| CN110277948A (en) * | 2019-06-19 | 2019-09-24 | 重庆红岩建设机械制造有限责任公司 | A kind of bridge inspection car VF to WF control system and method |
| CN110277948B (en) * | 2019-06-19 | 2021-01-19 | 重庆红岩建设机械制造有限责任公司 | Bridge maintenance vehicle frequency conversion to power frequency control system and method |
| CN111028533A (en) * | 2019-12-27 | 2020-04-17 | 上海多路信息技术有限公司 | Control method for accurate box parking of RTG (real time railway) cart |
| CN111017732A (en) * | 2019-12-27 | 2020-04-17 | 上海多路信息技术有限公司 | Precise box parking and cart synchronization control method for RMG cart |
| CN112320585A (en) * | 2020-10-28 | 2021-02-05 | 湖南天桥嘉成智能科技有限公司 | Large-span unmanned crane track deviation rectifying device and method |
| CN113104739A (en) * | 2021-04-06 | 2021-07-13 | 青岛科捷机器人有限公司 | Gantry traveling mechanism and traveling control method |
| CN115432582A (en) * | 2022-09-30 | 2022-12-06 | 西安外事学院 | Automatic deviation rectifying control system and method for crane cart |
| CN117263036A (en) * | 2023-11-20 | 2023-12-22 | 上海博珖机器人有限公司 | Positioning method, device and system and photovoltaic array semi-finished product mounting equipment |
| CN117263036B (en) * | 2023-11-20 | 2024-03-01 | 上海博珖机器人有限公司 | Positioning method, device and system and photovoltaic array semi-finished product mounting equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102211739A (en) | Basic programming system (BPS) automatic deflection correction method and system for crane cart | |
| CN102501890B (en) | Track changing control system for inspection vehicle and control method | |
| CN203699687U (en) | Device for preventing rail gnawing and correcting synchronously for big wheeled crane | |
| CA1192786A (en) | Mobile track alignment machine | |
| CN110948206A (en) | Bogie assembling and forming process and bolster and side frame assembling machine | |
| CN201545471U (en) | Line feed device using position encoding system | |
| CN106020127B (en) | A kind of High-speed roller machine control system and its control method for conveying carrier | |
| CN101639678A (en) | Electric control synchronization and rectification method of gantry crane and device thereof | |
| CN111610041B (en) | Speed control system and method for rail vehicle crash test bed | |
| CN202245784U (en) | Electronic control system of BPS (bits per second) automatic deviation-rectifying device of crane cart | |
| CN101264843B (en) | Escalator operation safety monitoring method and device | |
| CN117533366A (en) | Rail detection robot | |
| CN109941294B (en) | Safety automatic control system for railway endless rope traction shuttle car | |
| CN201778006U (en) | Automatic aligning control device of coke oven locomotive | |
| CN217358823U (en) | Online automatic detection device for contact pressure of collector shoe and third rail | |
| CN111619621A (en) | Accurate positioning system of underground electric locomotive | |
| CN205010258U (en) | Mining rail travel train falls device that rail detected and prevented | |
| CN109808733A (en) | A kind of coal mine roadway single track vehicles suspention translation turnout method | |
| CN208761527U (en) | A kind of ground single track EMS trolley | |
| CN204342290U (en) | A kind of hoisting crane multi-shaft synchronous control system | |
| CN201009906Y (en) | Multi-point positioning device for reciprocation movement of straight line railcar | |
| CN209870370U (en) | Safety automatic control system for railway endless rope traction shuttle car | |
| CN207336390U (en) | A kind of track detection device | |
| CN202594645U (en) | Automatic error correction device for crane | |
| CN113581259A (en) | Unmanned system of electric locomotive suitable for super large-scale mine transportation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20111012 |