CN101059684A - Industrial control computer redundancy protection device - Google Patents
Industrial control computer redundancy protection device Download PDFInfo
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- CN101059684A CN101059684A CNA2007100621308A CN200710062130A CN101059684A CN 101059684 A CN101059684 A CN 101059684A CN A2007100621308 A CNA2007100621308 A CN A2007100621308A CN 200710062130 A CN200710062130 A CN 200710062130A CN 101059684 A CN101059684 A CN 101059684A
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Abstract
The invention provides an industry control computer abundant protector belonging to industry control technical field, which is an abundant automatic electric protector of computer system, composed of electric protective circuits with real-time online detection automatic switch interaction, arranged between abundant computers, which comprises a work abnormal real-time online detect circuit, an automatic switch protect circuit, and relative automatic switch circuits as start, abundant, return or the like. The invention can build computer active/backup automatic abundant protect system for resolving the stable industry control problem of computer, to realize stable and reliable industry control, to improve the automatic control level of computer industry, with simple structure, reasonable design, reliable technique, stable operation, high practicality, and wide application.
Description
One. technical field
Industrial control computer redundancy protection device disclosed by the invention; belong to the industrial control technology field, operation irregularity or fault appear in the computer system that is specifically related to a kind of Industry Control--and automatically switch when crashing, crash and recover normal etc. automatic redundancy protection device.
Two. background technology
In computer automatic control system, no matter how reliable its system is, computer corruption is the phenomenon that can't avoid and problem always, this problem also is the serious problems of puzzlement system stable operation, still common problem in the field of industrial automatic control is difficult to the problem that solves and tackle especially in the field of industrial automatic control.Such as in steel rolling is produced, from the heating furnace automatic temperature control system, the steel rolling depress control system, and the quenching automatic control system after rolling or the like, the computer corruption problem of each system all can take place at random, at least will wait several seconds or tens seconds during deadlock, equipment is out of control during this period, and this very likely causes concerning operating equipment produces and equipment breakdown, the lighter causes stopping production, steel scrap etc., heavy then cause damages such as equipment, lead to major accident, bring about great losses.For this reason, the redundancy protecting problem of computer control system is very necessary, and is also very urgent.We study at this problem, find that the reason of computer corruption is a lot, but the simplest common way reset to it exactly.We are provided with and adopt two cover (also can overlap as three covers) computing machine the using and the reserved to use more; form the automatic redundancy protecting system of a machine job and another standby; when working machine crashes, to control standby startup work immediately automatically and become working machine, automatic simultaneously control is crashed to reset and is become standby.This automatic redundancy protecting system adopts electronic circuit to realize robotization control; Here it is, and we study successful ' industrial control computer redundancy protection device '; this device has been applied to the computing machine depress control system that steel rolling is produced; the all difficult problems that overcome computer automatic control system deadlock problem and caused thus; this device is stable since using; technology control safety, reliable; brought good production effect and economic benefit, this industrial control computer redundancy protection device can be used in the various industrial control computer systems.
Three. summary of the invention
The objective of the invention is: provide this industrial control computer redundancy protection device to society, for improving with the technical merit that improves industrial control computer system and can property doing a little work.
Technical scheme of the present invention thes contents are as follows: this industrial control computer redundancy protection device; it is the redundant autoelectrinic protective device of industrial control computer system self; technical characterstic is: described this industrial control computer redundancy protection device is arranged on the electronic protection of the real time and on line monitoring automatic switchover of industrial control computer system; this device is that the master constitutes by the electronic protection circuit of forming the mutual real time and on line monitoring automatic switchover of redundant intercomputer, and it can have housing etc. certainly.Form redundant intercomputer; many of two or three etc. form redundant computing machines in this way; each other must real time and on line monitoring and can automatic switching protection, realize or finish these functions just needing real time and on line monitoring and electronic circuit automatic switching protection.
According to above-described industrial control computer redundancy protection device, technical characterstic also has: the described electronic circuit of forming the redundant mutual real time and on line monitoring automatic switching protection of intercomputer is that two covers or the identical redundancy protecting of many nested structures of forming redundant computer are controlled electronic circuit automatically.Form redundant intercomputer and be both sides' (as first, second) or (as first, second, third three parts) in many ways, the redundancy protecting of implementing monitoring is like this controlled electronic circuit automatically should be two covers or overlap more.
According to above-described industrial control computer redundancy protection device; technical characterstic also has: the redundancy protecting that described structure is identical is controlled electronic circuit automatically and included: the real time on-line monitoring circuit of operation irregularity or fault, the input end of this observation circuit connects with the output terminal of operation irregularity or failure message.Described operation irregularity or failure message (as deadlock information) come from the computing machine of deadlock naturally.
According to above-described industrial control computer redundancy protection device; technical characterstic also has: the observation circuit of described real time on-line monitoring operation irregularity or fault includes: the amplifying circuit of operation irregularity or failure message, this amplifying circuit by the operation irregularity of prime observation circuit control or failure message the big or/and amplifying circuit of little information (information that comprises sign) form.Such amplifying circuit should have two at least, they can be information big or/and little (comprise the voltage of information or current symbol for just zero or negative information) amplifying circuit.
According to above-described industrial control computer redundancy protection device; technical characterstic also has: the redundancy protecting that described structure is identical is controlled electronic circuit automatically and has been included: the automatic switchover electronic protection circuit; this circuit is the automatic switching circuit of the amplifying circuit control of operation irregularity or failure message; this automatic switching circuit is the automatic switch driving circuit, and they are that the master constitutes by power switch transistor.
According to above-described industrial control computer redundancy protection device; the detailed technology characteristics also have: described automatic switching circuit is carried out with the on-off circuit of action by one-level switch driving circuit and secondary and is formed; the secondary switch circuit constitutes the on-off circuit that series automaticallyes switch by the relay assembly of a series of execution and action, and relay main part wherein promptly is the load of one-level switch driving circuit power switch transistor.
According to above-described industrial control computer redundancy protection device; technical characterstic also has: the redundancy protecting that described structure is identical is controlled electronic circuit automatically and is included: start the control circuit that switches; the control circuit that this startup is switched is the execution of startups switching of the on-off circuit that automaticallyes switch of series and the series switch circuit of action; be the part of the on-off circuit of series automatic switchover, these circuit are made of the startup transfer relay assembly of a series of execution and action.
According to above-described industrial control computer redundancy protection device; technical characterstic also has: the redundancy protecting that described structure is identical is controlled electronic circuit automatically and is included: the redundant control circuit that switches; the control circuit that this redundancy is switched is the execution of redundancy switching of the on-off circuit that automaticallyes switch of series and the series switch circuit of action; be another part of the on-off circuit of series automatic switchover, these circuit are made of the redundant transfer relay assembly of a series of execution and action.
According to above-described industrial control computer redundancy protection device; technical characterstic also has: the autoelectrinic control circuit of the redundancy protecting that described structure is identical includes: the control circuit that recovers normal condition or reset; this recovery normal condition or the control circuit that resets are that this on-off circuit mainly is arranged on and recovers on the normal condition or the machine that resets by the recovery normal condition of the on-off circuit control of series automatic switchover or the on-off circuit that resets.
According to above-described industrial control computer redundancy protection device; the detailed technology characteristics also have: described recovery normal condition or the on-off circuit that resets are the automatic reset circuits that is made of the charge and discharge switch circuit that the switch triggering circuit is controlled; the switch triggering circuit is that secondary is carried out one of on-off circuit with action, and the charge and discharge switch circuit is made up of relay assembly that charges and discharge electric capacity and control and bleeder resistance.
Industrial control computer redundancy protection device advantage of the present invention is a lot: 1. this industrial control computer redundancy protection device, solved the hang-up that the computer corruption that occurs at random perplexs industrial control computer system stable operation for a long time, commercial production and every profession and trade production have all been had important practical significance; 2. this industrial control computer redundancy protection device succeeds in developing, realized the automatic redundancy protecting of industrial control computer system, set up computing machine usefulness/alt hierarchy, form stable, the reliable industrial control computer system of a machine job and another standby, promoted the computer industry automatic control level of China greatly; 3. this industrial control computer redundancy protection device is simple in structure, and is reasonable in design; technology is reliable, and is stable, brought good production effect and economic benefit; also bring good production effect and economic benefit, have stronger practicality and application prospect continuing.This industrial control computer redundancy protection device can be used in the various industrial control computer systems.
Four. description of drawings
Figure of description of the present invention has 6 width of cloth:
Fig. 1, Fig. 2, Fig. 3 form one of the identical circuit theory diagrams of redundant intercomputer Portuguese bowline structure, and wherein: Fig. 1 is the circuit theory diagrams of real time and on line monitoring, and Fig. 2, Fig. 3 automatically switch to carry out on-off circuit schematic diagram with action;
Fig. 4, Fig. 5, Fig. 6 form redundant another identical circuit theory diagrams of intercomputer Portuguese bowline structure, and wherein: Fig. 4 is the circuit theory diagrams of real time and on line monitoring, and Fig. 5, Fig. 6 are the on-off circuit schematic diagrams of automatic switchover execution and action.
In each figure: 1. end; V
+. feeder ear; V
1, V
2. the monitor input terminal of real time on-line monitoring operation irregularity or fault between two computers first, the second of composition redundancy; R
1～R
26. be resistance; P
1～P
4. be adjustable resistance; C
1～C
6. all be electric capacity; IC
1～IC
6. be operational amplifier; D
1～D
8. all are diodes; T
1～T
4. be switch triode; J
11. switch triode T
1Driving load--relay main part, J
11-1, J
11-2Deng the serial component that is this relay; J
12. switch triode T
2Driving load--relay main part, J
12-1, J
12-2Deng the serial component that is this relay; J
21. switch triode T
3Driving load--relay main part, J
21-1, J
21-2Deng the serial component that is this relay; J
22. switch triode T
4Driving load--relay main part, J
22-1, J
22-2Deng the serial component that is this relay; J
K-1. for one of computing machine overlaps the relay main part that automaticallyes switch, J
K-1-1～J
K-1-10Deng the serial component that is this relay; J
K-2. be the relay main part of the another set of automatic switchover of computing machine, J
K-2-1～J
K-2-10Deng the serial component that is this relay; JF
1. be the relay main part of first computing machine recovery normal condition, JF
1-1Deng the serial component that is this relay; JF
2. be the relay main part of second computing machine recovery normal condition, JF
2-1Deng the serial component that is this relay.
Five. specific embodiments
Non-limiting examples of the present invention is as follows:
Embodiment one. industrial control computer redundancy protection device
The concrete structure of the industrial control computer redundancy protection device of present embodiment is united by Fig. 1～Fig. 6 and is illustrated.Its effect is that industrial control computer system is when crashing problem at random; the backup computer of system starts substitute automatically; and help to crash to reset and back up; it is the redundant electronic protection of industrial control computer system self; this device can have housing etc.; it is arranged on two or three or many intercomputers of forming redundancy forming redundancy, the electronic protection of real time and on line monitoring and energy automatic switching protection each other.Fig. 1～Fig. 3 forms a part of implementing a complete set of electronic circuit schematic diagram of monitoring between redundant two computers, Fig. 4～Fig. 6 forms a complete set of electronic circuit schematic diagram another part of implementing the control prison between redundant two computers, two nested structures of Fig. 1～Fig. 6 are identical, are arranged on to form redundant the execution between the two computers of monitoring mutually.Wherein: Fig. 1, Fig. 4 are the circuit theory diagrams of real time and on line monitoring, and Fig. 2, Fig. 3 and Fig. 5, Fig. 6 automatically switch to carry out and the on-off circuit schematic diagram that moves.The described mutual real time and on line monitoring automatic switchover of the intercomputer electronic protection circuit of forming redundancy is that the identical redundancy protecting of structure of forming redundant intercomputer is controlled electronic circuit automatically.Every cover is controlled electronic circuit automatically and included: the real time on-line monitoring circuit of operation irregularity or fault, this observation circuit are monitor signal collection or input circuit, and they are operational amplifier IC of Fig. 1
1, resistance R
1, R
2, R
4, capacitor C
1, C
2The operational amplifier IC of Fig. 4
4, resistance R
14, R
15, R
17, capacitor C
4, C
5V
1, V
2Be monitoring (monitoring) input end, the output terminal with operation irregularity or failure message connects respectively, V
1Be the monitor input terminal of real time on-line monitoring first machine operation irregularity or fault, V
2It is the monitor input terminal of real time on-line monitoring second machine operation irregularity or fault.Every cover is controlled electronic circuit automatically and is also included: the amplifying circuit of operation irregularity or failure message; this amplifying circuit is made up of the operation irregularity of prime observation circuit or fault positive sign information (as positive pulse) or No. zero information (as zero pulse) or negative sign information (as negative pulse) amplifying circuit unusual or failure message; such amplifying circuit should have two at least, and they are respectively the operational amplifier IC of Fig. 1
2, resistance R
5, R
6, R
7, R
8The negative sign information of forming (as zero or negative pulse) amplifying circuit, operational amplifier IC
3, resistance R
9, R
10, R
11, R
12Positive sign information (as the positive pulse) amplifying circuit of forming; The operational amplifier IC of Fig. 4
5, resistance R
18, R
19, R
20, R
21The negative sign information of forming (as zero or negative pulse) amplifying circuit, operational amplifier IC
6, resistance R
22, R
23, R
24, R
25Positive sign information (as the positive pulse) amplifying circuit of forming.By adjusting the adjustable resistance P of these four amplifying circuits
1～P
4Resistance value makes operational amplifier IC
2, IC
3, IC
5, IC
6Output do not overturn.Every cover is controlled electronic circuit automatically and also included: automatic switchover electronic protection circuit, this circuit are the automatic switching circuits of four amplifying circuit controls of operation irregularity or failure message.Each automatic switching circuit is carried out with the on-off circuit of action by one-level switch driving circuit and secondary and is formed.Switch triode T among Fig. 1 and Fig. 4
1～T
4Be respectively the main one-level switch driving circuit that constitutes, be subjected to operational amplifier IC respectively
2, IC
3, IC
5, IC
6Control, the secondary switch circuit constitutes the on-off circuit that series automaticallyes switch by the relay assembly of a series of execution and action.J
11Be switch triode T
1Driving load--relay main part, serve as main constitute operation irregularity or fault negative sign information and be defeated by the main switch circuit that one tunnel series of computing machine automaticallyes switch, J with it
11-1, J
11-2Deng being this relay J
11Serial component.J
12Be switch triode T
2Driving load--relay main part, serve as main constitute operation irregularity or fault positive sign information and be defeated by the main switch circuit that another road series of computing machine automaticallyes switch, J with it
12-1, J
12-2Deng the serial component that is this relay.J
21Be switch triode T
3Driving load--relay main part, serve as main constitute operation irregularity or fault negative sign information and be defeated by the main switch circuit that one tunnel series of computing machine automaticallyes switch, J with it
21-1, J
21-2Deng the serial component that is this relay.J
22Be switch triode T
4Driving load--relay main part, serve as main constitute operation irregularity or fault positive sign information and be defeated by the main switch circuit that another road series of computing machine automaticallyes switch, J with it
22-1, J
22-2Deng the serial component that is this relay.These circuit are listed in respectively among Fig. 2 and Fig. 5.Every cover is controlled electronic circuit automatically and is also included: start the control circuit that switches, the control circuit that this startup is switched is the execution of startups switching of the on-off circuit that automaticallyes switch of series and the series switch circuit of action, be the part of the on-off circuit of series automatic switchover, these circuit are made of the startup transfer relay assembly of a series of execution and action.These circuit are listed among Fig. 2, Fig. 3 and Fig. 5, Fig. 6, and they are respectively that secondary is carried out and the on-off circuit J that moves
21-1, J
22-1And J
K-1-2The relay J of control
K-2Serial component J
K-2-3～J
K-2-10Series switch circuit.This a series of on-off circuit makes each device start operation (for example comprise the control of two-way servo-valve, the control of two-way quick-release valve, two-way protection are amplified, other control of two-way etc.) of the computing machine that is in Hot Spare originally and control thereof.Each autoelectrinic control circuit also includes: the redundant control circuit that switches, the control circuit that this redundancy is switched is the execution of redundancy switching of the on-off circuit that automaticallyes switch of series and the series switch circuit of action, be another part of the on-off circuit of series automatic switchover, these circuit are made of the redundant transfer relay assembly of a series of execution and action.These circuit also are listed among Fig. 2, Fig. 3 and Fig. 5, Fig. 6, and they are respectively that secondary is carried out and the on-off circuit J that moves
11-1, J
12-1And J
K-2-2The relay J of control
K-1Serial component J
K-1-3～J
K-1-10Series switch circuit.That this a series of on-off circuit becomes the computing machine of the work that is in originally (because of crash) is redundant, and has freed its control to each opertaing device.Each autoelectrinic control circuit also includes: the control circuit that recovers normal condition or reset, this recovery normal condition or the control circuit that resets are that this on-off circuit mainly is arranged on and recovers on the normal condition or the machine that resets by the recovery normal condition of the on-off circuit control of series automatic switchover or the on-off circuit that resets.These on-off circuits also are listed among Fig. 2, Fig. 3 and Fig. 5, Fig. 6, the on-off circuit that recovers normal condition or reset is the automatic reset circuit that is made of the charge and discharge switch circuit that the switch triggering circuit is controlled, the switch triggering circuit is that secondary is carried out one of on-off circuit with action, and their concrete structure is: secondary is carried out the on-off circuit J with action
11-2, J
12-2The switch triggering circuit that constitutes, this circuit control charge and discharge switch circuit, the charge and discharge switch circuit is by charging and discharging capacitor C
3Relay assembly JF with control
1And JF
1-1Deng and bleeder resistance R
13Form; Another is that secondary is carried out and the on-off circuit J that moves
21-2, J
22-2The switch triggering circuit that constitutes, this circuit control charge and discharge switch circuit, the charge and discharge switch circuit is by charging and discharging capacitor C
6Relay assembly JF with control
2And JF
2-1Deng and bleeder resistance R
26Form.A complete set of industrial control computer redundancy protection device (as Fig. 1～Fig. 6 structure) course of work is as follows: form redundant intercomputer, the process of first (1 machine), the mutual real time and on line monitoring of second (2 machine) and automatic switching protection: 1. as primitive nail (1 machine) work, second (2 machine) Hot Spare; 2. occurring first (1 machine) at random crashes; 3. deadlock (just, zero, negative sign) information is defeated by V from first (1 machine)
1End; 4. fault (just, zero, negative sign) information is through switch triode T
1Or T
2Drive load-relay assembly J
11Or J
12Action; 5. relay assembly J
11Or J
12By relay assembly J
11-1Or J
12-1Pilot relay assembly J
K-1Disconnected, make J
K-1Serial relay assembly J
K-1-3～J
K-1-10Deng disconnected, finish redundant the switching; Meanwhile, J
K-1Pilot relay assembly J
K-1-2Logical, make J
K-2Serial relay assembly J
K-2-3～J
K-2-10Deng logical, finish to start and switch, promptly second (2 machine) transfers working machine to by the Hot Spare machine, and by serial relay assembly J
K-2-3～J
K-2-10Deng logical, substitute each original equipment operation of first (1 machine) control; 6. relay assembly J
11Or J
12By relay assembly J
11-2Or J
12-2Logical, switch triggering control charges and discharge capacitor C
3With relay assembly JF
1And JF
1-1Deng and bleeder resistance R
13Work automatically resets first (1 machine), transfers the Hot Spare machine to from working machine-deadlock.So, form redundant intercomputer, the process of first (1 machine), the mutual real time and on line monitoring of second (2 machine) and automatic switching protection is intact.Vice versa no longer repeats.
Embodiment two. industrial control computer redundancy protection device
The general structure of the industrial control computer redundancy protection device of present embodiment can be joined to unite with Fig. 1～Fig. 6 and illustrated.Different with embodiment one is: 1. forming redundant computing machine has three, and first (1 machine), second (2 machine) and third (3 machine) are the redundancy protection devices of three mutual real time and on line monitoring of computing machine and automatic switching protection in this way.Certainly the redundancy protecting electronic circuit also must have three covers.2. used electronic circuit can adopt and Fig. 1～structure shown in Figure 6 circuit inequality, or electronic devices and components inequality are as long as can finish or realize all can the adopting of function of Fig. 1～shown in Figure 6.All the other are not stated, and are same as entirely described in the embodiment one, no longer repeat.
Claims (10)
1. industrial control computer redundancy protection device; it is the redundant autoelectrinic protective device of industrial control computer system self; be characterised in that: described this industrial control computer redundancy protection device is arranged on the electronic protection of the real time and on line monitoring automatic switchover of industrial control computer system, and this device is that the master constitutes by the electronic protection circuit of forming the mutual real time and on line monitoring automatic switchover of redundant intercomputer.
2. industrial control computer redundancy protection device according to claim 1 is characterised in that: the described mutual real time and on line monitoring automatic switchover of the intercomputer electronic protection circuit of forming redundancy is that two covers or the identical redundancy protecting of many nested structures of forming redundant computer are controlled electronic circuit automatically.
3. industrial control computer redundancy protection device according to claim 2; be characterised in that: the redundancy protecting that described structure is identical is controlled electronic circuit automatically and included: the real time on-line monitoring circuit of operation irregularity or fault, the input end of this observation circuit connects with the output terminal of operation irregularity or failure message.
4. industrial control computer redundancy protection device according to claim 3; be characterised in that: the observation circuit of described real time on-line monitoring operation irregularity or fault includes: the amplifying circuit of operation irregularity or failure message, this amplifying circuit by the operation irregularity of prime observation circuit control or failure message the big or/and amplifying circuit of little information form.
5. industrial control computer redundancy protection device according to claim 2; be characterised in that: the redundancy protecting that described structure is identical is controlled electronic circuit automatically and included: automatic switchover electronic protection circuit, this circuit are the automatic switching circuits of the amplifying circuit control of operation irregularity or failure message.
6. industrial control computer redundancy protection device according to claim 5; be characterised in that: described automatic switching circuit is carried out with the on-off circuit of action by one-level switch driving circuit and secondary and is formed, and the secondary switch circuit constitutes the on-off circuit that series automaticallyes switch by the relay assembly of a series of execution and action.
7. industrial control computer redundancy protection device according to claim 2; be characterised in that: the redundancy protecting that described structure is identical is controlled electronic circuit automatically and included: the control circuit that start to switch, the control circuit that this startups is switched are the execution of startup switching of the on-off circuit that automaticallyes switch of series and the series switch circuit of action.
8. industrial control computer redundancy protection device according to claim 2; be characterised in that: the redundancy protecting that described structure is identical is controlled electronic circuit automatically and included: the redundant control circuit that switches, the control circuit that this redundancy is switched are the execution of redundancy switching of the on-off circuit that automaticallyes switch of series and the series switch circuit of action.
9. industrial control computer redundancy protection device according to claim 2; be characterised in that: the redundancy protecting autoelectrinic control circuit that described structure is identical includes: the control circuit that recovers normal condition or reset, this recovery normal condition or the control circuit that resets are by the recovery normal condition of the on-off circuit control of series automatic switchover or the on-off circuit that resets.
10. industrial control computer redundancy protection device according to claim 9 is characterised in that: described recovery normal condition or the on-off circuit that resets are the automatic reset circuits that is made of the charge and discharge switch circuit that the switch triggering circuit is controlled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100621308A CN100472371C (en) | 2007-06-06 | 2007-06-06 | Industrial control computer redundancy protection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100621308A CN100472371C (en) | 2007-06-06 | 2007-06-06 | Industrial control computer redundancy protection device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101059684A true CN101059684A (en) | 2007-10-24 |
| CN100472371C CN100472371C (en) | 2009-03-25 |
Family
ID=38865834
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2007100621308A Expired - Fee Related CN100472371C (en) | 2007-06-06 | 2007-06-06 | Industrial control computer redundancy protection device |
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| Country | Link |
|---|---|
| CN (1) | CN100472371C (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103246266A (en) * | 2013-04-26 | 2013-08-14 | 王为学 | Industrial online maintenance-free control system |
| CN105393175A (en) * | 2013-06-27 | 2016-03-09 | 皮尔茨公司 | Safety switching device for detecting faulty inputs |
-
2007
- 2007-06-06 CN CNB2007100621308A patent/CN100472371C/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103246266A (en) * | 2013-04-26 | 2013-08-14 | 王为学 | Industrial online maintenance-free control system |
| CN103246266B (en) * | 2013-04-26 | 2015-04-29 | 王为学 | Industrial online maintenance-free control system |
| CN105393175A (en) * | 2013-06-27 | 2016-03-09 | 皮尔茨公司 | Safety switching device for detecting faulty inputs |
| US9899175B2 (en) | 2013-06-27 | 2018-02-20 | Pilz Gmbh & Co. Kg | Safety switching device with failsafe inputs |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100472371C (en) | 2009-03-25 |
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