CN101708806A - Bridge-type grab ship unloader dynamic weighting method - Google Patents
Bridge-type grab ship unloader dynamic weighting method Download PDFInfo
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- CN101708806A CN101708806A CN200910227959A CN200910227959A CN101708806A CN 101708806 A CN101708806 A CN 101708806A CN 200910227959 A CN200910227959 A CN 200910227959A CN 200910227959 A CN200910227959 A CN 200910227959A CN 101708806 A CN101708806 A CN 101708806A
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Abstract
The invention discloses a bridge-type grab ship unloader dynamic weighting method. The method comprises the following steps: a grab is controlled to grab materials and lift vertically upwards according to the output powers of a support motor and a switched motor; during the escalating process of the grab, the grab and materials have a downward power, the value of the power is the product of the gravity and the lifting speed; during the constant velocity stage, the output power of the motor is equal to the power of the grab and the dead weight of the material, the voltage value and current value are read in PLC, the real-time motor speed value is converted by using frequency, the PLC is read in from a frequency converter to be converted to an actual speed value by a conversion program. Compared by the water gauge, the error rate of the system can be controlled within 5%, and the error rate is within 2% in most of the time.
Description
Technical field
The present invention relates to a kind of Weighing method, is a kind of bridge-type grab ship unloader dynamic weighting method that is used for specifically, has improved the accurate rate of weighing.
Background technology
At present, domestic by the shake bridge-type grab ship unloader of the 2500T/H that Huagang machine factory makes of Shanghai, its control system advanced technology is on the leading domestic level.These ship unloaders itself carry the magnificent CMS unit weighing system that shakes, still, and the numerical value meter weight that this system weighs and adopts overload killer (weight sensor), error is very big, compares with water gauge, and error surpasses 30%, therefore, this system obviously can not satisfy the requirement that unit is reckoned by the piece.Its reason is: former weighing system is to utilize the pressure weight sensor to measure the steel rope pressure that drives grab bucket, pressure is changed into electric signal, then, the electric signal of weight sensor enters the analog quantity load module, read in PLC again, through a series of conversions, convert the actual weight of the grab bucket and the material of grabbing to.And the unit system of reckoning by the piece adds up the weight of material of each bucket of PLC institute weighing, and then obtains the working out of every machine.By analysis, the error of this system is through mainly being made up of following two parts: (1) value time is not right, grab bucket is often acceleration and deceleration in operational process, therefore the weight sensor of judging weight by steel rope pressure also can be during acceleration and deceleration numerical value change very big, and in the original program, the accelerating sections of the data point of the weight that adds up vertical uplift after material has been grabbed in grab bucket, deviation is very big certainly like this.(2) weight sensor installation site and setting accuracy.Because the specific mechanical configurations of bridge-type grab ship unloader, can't find a more stable installation site, this has caused the sensor pressure not merely is the grab bucket pressure that weight provided, in motion process, the interference pressure that is subjected to is more, and disturbs pressure non-constant.(3) there is error in weight sensor itself.After having revised data point, error has also surpassed 10%.That is to say incompatible the weighing in dynamic process of this pattern of weighing.
Summary of the invention
In view of above-mentioned present situation, the invention provides a kind of bridge-type grab ship unloader dynamic weighting method, adopt the correlation parameters such as electric current, voltage and speed of drive motor, calculate by formula, obtain actual weight, its weighting error rate is no more than 5%, has satisfied production requirement.
Technical solution of the present invention: a kind of bridge-type grab ship unloader dynamic weighting method comprises:
(1) promotes vertically upward by the horsepower output control grab bucket material grasping of supporting motor and switching motor; Grab bucket and material deadweight have a downward power in the grab bucket uphill process, size is gravity and hoisting speed product, in stage at the uniform velocity, the watt level of the power of motor output and grab bucket and material deadweight equates, then calculate the total weight of grab bucket and material, total weight deducts grab bucket weight, gets actual weight of material;
(2) real-time electric moter voltage, current value are read among the PLC by the communication of frequency converter and PLC;
(3) real-time motor speed value is changed by frequency, frequency is read in PLC from frequency converter,, convert actual velocity amplitude to by conversion program.Therefore, collect voltage, electric current and speed, and then be transferred among the PLC by the Profibus communication by frequency converter.Coding in PLC, and then the signal by collecting calculate the weight of the material of grabbing in real time.
According to the solution of the present invention, its grab bucket and material actual weight computing formula are as follows:
(1) the motor horsepower output calculates formula:
P
2＝(1-s)P
M-p
m-p
s＝0.95√3U1I1cosФ
Wherein, P
2Be real horsepower output on the machine shaft, p
sBe added losses, p
mBe electromechanics loss, P
MBe that power that the fundamental voltage amperemeter calculates deducts the stator copper loss and deducts the stator iron loss again, s is a revolutional slip, and U1 is a fundamental voltage, and I1 is a fundamental current;
(2) gravity institute rate of doing work computing formula:
P＝Mgv
Wherein, M is the weight of grab bucket and material thereof, and g is an acceleration due to gravity, and v is the hoisting speed of grab bucket;
(3) mechanical transmission mechanism efficiency calculation formula:
M＝4k?P
2/v+b
Wherein, M is grab bucket and weight of material, and k is a coefficient, P
2Be 0.95 √ 3U1I1cos Ф.
In above-mentioned,, set up set of equations and find the solution k and b by hanging the object of getting known weight.Then, can ask for the total weight of grab bucket and material by above-mentioned formula.
Further, the grab bucket hoisting speed greater than 179.8m/min after, delay time again and got the gravimetric value that calculates in 1 second.
In above-mentioned, after having got the gravimetric value that calculates, do not allow value once more in 30 seconds at every turn.
Further, above-mentioned formula calculating, value condition are all programmed by PLC.
In a word, bridge-type grab ship unloader dynamic weighting method provided by the invention has adopted the Weighing method of complete different traditional approachs, no longer adopt weight sensor, but the correlation parameters such as electric current, voltage and speed by motor calculate by formula, obtain actual weight.The weighting error rate is no more than 5%, has satisfied the production requirement that unit is reckoned by the piece.Behind this system's place in operation, through with the comparison of water gauge, percentage error can control within 5%, most time error rates have reached Expected Results in 2%.
Description of drawings
Fig. 1 is a bridge-type grab equipment scheme drawing of the present invention.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing embodiment.
By bridge-type grab ship unloader dynamic weighting method shown in Figure 1, comprise that support one motor 4 that is set up in parallel is connected with same drop-gear box (marking among the figure) with support two motors 3, and drive two cable drums 5 respectively, steel wire on this reel 5 (not marking among the figure) is walked around to both direction respectively and is supported pulley 2 and support pulley 6, this steel rope supports pulley 8 to connect grab bucket 14 by one group on the main carriage 12, and 14 hoist and descend is used to grab bucket.With support a motor 4 and support two motors, 3 corresponding end to have switching one motor 13 that is set up in parallel and open and close two motors 11 to be connected with drop-gear box (marking among the figure) and respectively to be connected to one and to be used to control the reel 15 of grabbing bucket and hoisting, opening and closing and descending; Steel wire on this reel 15 is walked around to both direction respectively and is opened and closed pulley 7 and open and close pulley 1, and this steel rope opens and closes pulley 9 by one group on the main carriage 12 and connects grab bucket 14; Vehicle motor 10 links to each other respectively with two drop-gear boxs by universal coupling 16, is used for driving grab bucket 14 along ship unloaders crossbeam horizontal motion; With the PLC grab bucket control system and the frequency changing driving system that are had, each corresponding frequency converter of each motor.
The Weighing method that the present invention is used for the said equipment comprises:
(1) promotes vertically upward by the horsepower output control grab bucket material grasping of supporting motor and switching motor; Grab bucket and material deadweight have a downward power in the grab bucket uphill process, size is gravity and hoisting speed product, in stage at the uniform velocity, the watt level of the power of motor output and grab bucket and material deadweight equates, then calculate the total weight of grab bucket and material, total weight is deducted grab bucket weight, get actual weight of material;
(2) real-time electric moter voltage, current value are read among the PLC by the communication of frequency converter and PLC;
(3) real-time motor speed value is changed by frequency, frequency is read in PLC from frequency converter,, convert actual velocity amplitude to by conversion program.
In the present invention, the unit weight function of weighing piece of reckoning by the piece is set in PLC.
In the present invention, electric current, voltage and the speed-related parameter that relates to motor calculated by following formula:
Motor part output power meter is calculated formula:
Promptly
①
Wherein, at first voltage, electric current and speed are collected by frequency converter, be transferred among the PLC by the Profibus communication then.Coding in PLC is realized above-mentioned formula, and then the signal by collecting, and calculates the weight M of the material of grabbing in real time.
Above-mentioned formula is the theoretical calculation formula of this weighing system, think under perfect condition, without any loss computing formula.But, should consider various losses in the actual computation process.Itself has copper loss motor, iron loss equal loss.Connecting gears such as drop-gear box and reel and each pulley exist a large amount of mechanical wears.Therefore carry out perfect to needs to above-mentioned formula.
One, be that the output computing formula of example is as follows with the separate unit motor:
Suppose that from the power supply horsepower input be P1, U1 is a fundamental frequency, and I1 is a fundamental current, then
Because motor adopts the mode of frequency control, be correct available when electric machine frequency reaches fundamental frequency through the above-mentioned formula of research, be not verified in the correctness of other frequency.Following formula also is that supposition is under the fundamental frequency condition.
Stator copper loss pcu1 is
Because the rotor iron loss is very little, can ignore, so the electrical motor iron loss is only counted stator
Iron loss p
Fe1, promptly
Copper loss of rotor pcu2=sP
M
P wherein
M=P1-pcu1-p
Fe, s is a revolutional slip.
Set P
2Be real horsepower output on the machine shaft, p
sBe added losses,,
Harmonic flux gesture etc. for example, p is the electromechanics loss, then
P
2＝(1-s)P
M-p
m-p
s
In conjunction with the correlation parameter in the choice of electrical machine handbook, drawing electrical efficiency, to be about 0.95 be that the motor horsepower output is as follows by above formula:
Two, mechanical transmission mechanism efficient
The data that provide according to producer can draw, and the motor reduction gearbox driving efficiency is about 0.95, and overall driving efficiency is about about 0.88 and (comprises the loss of each side such as pulley, steel rope, reel).But this coefficient is a calculated value, and through actual survey, this coefficient is inaccurate, and every ship unloaders also have nothing in common with each other.And not all loss all is proportional, and some is a fixed loss, as steel rope deadweight etc.Therefore, this a part of loss should be calculated by actual measurement.Method of measurement is as follows:
When reaching command speed, the grab bucket and weight of material should with the linear variation of the product of voltage, electric current.And because four motors move simultaneously, state is identical, so the supposition linear equation is as follows:
M＝4k?P
2/v+b
Wherein, M is grab bucket and weight of material, and k is a coefficient, P
2For
As long as M and P when measuring empty the bucket
2/ v value is hung the M and the P that get the known weight object
2/ v value just can calculate coefficient k and b by following formula.
Can get as calculated: k=0.10204, b=-9.78 ton
Be M=0.40816 P
2/ v-9.78 3.
Three, finally the grab bucket and the weight of material computing formula:
M＝0.60796U1I1/v-9.78 ④
In the present invention,, determined the Weight Calculation formula of grab bucket and material thereof, realized this function by coding through above-mentioned measurements and calculations.Global procedures is in annex, and above-mentioned formula could be realized under fundamental frequency (50Hz) condition, and in addition, power balance need be in that at the uniform velocity the stage just sets up.In the practical work process, grab bucket has the at the uniform velocity stage of thinking that a stage can be similar in the process that upwards hoists, and this stage speed is maximum speed just, corresponding fundamental frequency 50Hz.Meet above two conditions, therefore get a little in this stage.By the Weight Calculation formula of above-mentioned grab bucket and material thereof, under the condition of fundamental frequency (50Hz), write value condition program.
The value condition:
A(
A ″PICKED″
A(
L #TEMP10
L 4.970000e+001
＞＝R
)
L S5T#1S
SD ″T436″
NOP 0
NOP 0
NOP 0
A ″T436″
)
AN ″M232.2″
FP ″M232.3″
JNB _02b
L ″NETWEIGHT″
T ″U1WEIGHT″
SET
SAVE
CLR
_02b：A BR
＝ ″M232.4″
A ″GBCLSED″
A(
O(
L ″NETLOAD″
L 100
＞I
)
O ″ALW_ON″
)
A ″PREPICK″
FP ″PICKUP1S″
L S5T#1S
SF?″T263″
NOP 0
NOP 0
NOP 0
A ″T263″
＝?″PICKUP″
A ″PICKUP″
A ″TOVRDCK″
A(
L ″HPOS″
L 2000
＞I
)
S ″PICKED″
A ″ULCYCEND″
R ″PICKED″
NOP?0
In the said procedure, when carrying out value during condition below satisfying: dolly surpasses extra large side saddle beam, and supporting location is higher than 20 meters, and grab bucket is closed, supports to rise, and there is material the grab bucket the inside, supports that ascending velocity reaches maxim, is decision condition with frequency above 49.7HZ in the program.1 second after above-mentioned condition satisfies, can send an energizing signal, the weight data that calculates is sent among the CMS, carry out accumulation calculating then.
In the present invention, write another counting condition program.
The counting condition:
A ″ALW_ON″
＝ L 0.0
A L 0.0
A ″GBOPNED″
＝ ″Display_DB?for?CMS″.GBOPNED
A L 0.0
A ″GBCLSED″
＝ ″Display_DB?for?CMS″.GBCLSED
A(
A L 0.0
A ″TOVRDCK″
A(
L ″HPOS″
L 900
＞＝I
)
A ″GBCLSLH″
A ″HUPCMD″
L S5T#3S
SD ″T315″
NOP 0
NOP 0
NOP 0
A ″T315″
)
FP ″P107″
L S5T#3S
SF ″T314″
NOP 0
NOP 0
NOP 0
A ″T314″
＝ ″Display_DB?for?CMS″.WCSTR
Program analysis:
Dolly is in extra large side, and supporting location is higher than 9 meters, and it is closed to grab bucket, and supports to rise, and after above-mentioned condition all satisfies, delays time 3 seconds again, at this moment gives a trigging pulse, as once counting.The data of importing among the CMS are carried out one-accumulate.But, consider in operation process, might catch the another one place to the goods in the cabin from a place, material is not grabbed outside the deliver from vault.This situation should not counted.But, can also can count the weight that adds up according to old terms to this situation, even this time data do not send, it can be entered the data accumulation of last time.This situation is unallowed.Therefore speed is judged to seal in the counting condition, the peaked situation of the speed that reaches can not occurred because in the batch turning process be.Guaranteed that the numerical value that adds up each time all is the weight of material of getting back to funnel when inferior.
Above-mentioned two sections programs have solved the problem of counting accuracy and value accuracy.Analyze the realization of data transfer and formula below again.
The value that reads out from frequency converter is an integer type, and will carry out various calculating, and this form accuracy rate is not high, therefore at first will become the real number type to data transfer, and then carry out various calculating.
Be example with the voltage of supporting a motor below, conversion method be described: at first from frequency converter, read parameter, then the data transfer that reads is become the DI type, and then convert the real number type to, pass through formula again:
X÷16380*690＝Y
Wherein Y is exactly the actual voltage value that draws through conversion, and 690V is the motor rated voltage.The conversion of remaining current of electric and electric machine frequency, conversion method is identical, therefore no longer narration.
The voltage transitions program is as follows:
A(
A(
A(
A(
L ″DB?for?C1?inv?send/recv″.C1GINV_RECV12
T #temp1
SET
SAVE
CLR
A BR
)
JNB _001
L #temp1
ITD
T #temp2
SET
SAVE
CLR
_001：A BR
)
JNB _002
L #temp2
DTR
T #temp3
SET
SAVE
CLR
_002：A BR
)
JNB _003
L #temp3
L 1.638000e+004
/R
T #temp4
AN OV
SAVE
CLR
_003：A BR
)
JNB _004
L #temp4
L 6.900000e+002
*R
T #temp5
_004：NOP?0
After data transfer is finished, need carry out formula and calculate, be calculated as example with the weight of supporting a motor burden.Be achieved as follows formula:
Because support a motor and support that two motors are almost completely identical, can treat as an overall calculation, so coefficient can be regarded 0.15199 * 2=0.30398 as, because the division calculation of in program, using, so get 0.30398 inverse, be 3.289690, UI, V are the actual value that calculates in above-mentioned narration.Program is as follows:
A(
A(
L #temp5
L 3.2896?9?0e+000
/R
T #TEMP10_5_11
AN OV
SAVE
CLR
A BR
)
JNB _017
L #TEMP10_5_11
L #TEMP10_5_10
*R
T #TEMP10_5_12
AN OV
SAVE
CLR
_017：A BR
)
JNB _018
L #TEMP10_5_12
L #t4
/R
T #TEMP10_5_15
_018：NOP?0
Above-mentioned coefficient is a calculated value, need adjust according to every ship unloaders actual conditions.Can calculate the weight of supporting that motor is born by said procedure, in like manner can calculate and open and close the weight that side is born, two numerical value additions draw total weight, deduct the grab bucket deadweight again, draw the weight of the material of grabbing.This part program is fairly simple, here just no longer concrete analysis.Except this part, also have the Interface design with CMS, the writing of data transmission supervisor, but do not relate to key component, do not narrate here yet.
The principle of the mode of weighing of the present invention's research and development utilizes power to equate to calculate grab bucket and weight of material.Promptly grasping material, closing in the process that bucket rises, an accelerator was reached at full speed by static before this, was to keep a period of time at full speed again, reach a certain height, and running trolley then, hoisting is decelerated to zero.In this process, be process at the uniform velocity for some time.In traveling at the uniform speed, object stressed be balance, equal and opposite in direction in other words, direction is opposite.Wherein grab bucket and material institute are stressed, are exactly himself gravity, that is: F=Mg, and M is grab bucket and weight of material, g is an acceleration due to gravity, gets 9.8m/s.
Hardware analysis
This equipment can be divided into hoisting crane one class, passes through motor-driven.Have five motors, drive four cable drums.Two support motors connect by drop-gear box, and each drives a reel, are used for vertical rise and fall action.Two switching motors also connect by drop-gear box, and each drives a reel, are used to control the switching of grab bucket and the rise and fall action of grab bucket.Vehicle motor links to each other respectively with two drop-gear boxs by universal coupling, can control four reels simultaneously.Be used for horizontal motion.Each corresponding Siemens's frequency converter of its drive part.Realize the formula that second portion is analyzed, need following condition:
(1) to there be PLC to programme, the formula of above-mentioned analysis is realized with program.Because original system has PLC, only need in PLC, increase a function of weighing piece and get final product.
(2) to obtain real-time electric moter voltage, electric current and velocity amplitude.This part realizes by frequency converter.Because the part of inverter output is directly received on the motor, can think the output voltage of frequency converter and the voltage and current that electric current is exactly motor.Support sub section post to be: 6SE7036-5WK60-Z with Siemens's frequency converter model, there is voltage and current detecting device (all there is the relevant detection device in nearly all Siemens's frequency converter) in Siemens's frequency converter of this model, and can read the relevant detection signal among the PLC by the communication of frequency converter and PLC.Can change by frequency for speed, same also can read in PLC from frequency converter, write conversion program then, converts actual velocity amplitude to.
Native system passes through the comparison with water gauge, and percentage error can control within 5%, and most time error rates have reached Expected Results in 2%.
Claims (5)
1. bridge-type grab ship unloader dynamic weighting method comprises:
(1) promotes vertically upward by the horsepower output control grab bucket material grasping of supporting motor and switching motor; Grab bucket and material deadweight have a downward power in the grab bucket uphill process, size is gravity and hoisting speed product, in stage at the uniform velocity, the watt level of the power of motor output and grab bucket and material deadweight equates, then calculate material and grab bucket total weight, deduct grab bucket weight then and subtract each other, get actual weight of material;
(2) real-time electric moter voltage, current value are read among the PLC by the communication of frequency converter and PLC;
(3) real-time motor speed value is changed by frequency, frequency is read in PLC from frequency converter,, convert actual velocity amplitude to by conversion program.
2. bridge-type grab ship unloader dynamic weighting method according to claim 1 is characterized in that, grab bucket and material actual weight computing formula are as follows:
(1) the motor horsepower output calculates formula:
P
2＝(1-s)P
M-p
m-p
s＝0.95√3U1I1cosΦ
Wherein, P
2Be real horsepower output on the machine shaft, p
sBe added losses, p
mBe electromechanics loss, P
MBe that power that the fundamental voltage amperemeter calculates deducts the stator copper loss and deducts the stator iron loss again, s is a revolutional slip, and U1 is a fundamental voltage, and I1 is a fundamental current;
(2) gravity institute rate of doing work computing formula:
P＝Mgv
Wherein, M is the weight of grab bucket and material thereof, and g is an acceleration due to gravity, and v is the hoisting speed of grab bucket;
(3) mechanical transmission mechanism efficiency calculation formula:
M＝4kP
2/v+b
Wherein, M is grab bucket and weight of material, and k is a coefficient, P
2Be 0.95 √ 3U1I1cos Φ.
3. bridge-type grab ship unloader dynamic weighting method according to claim 2 is characterized in that, the grab bucket hoisting speed greater than 179.8m/min after, delay time again and got the gravimetric value that calculates in 1 second.
4. bridge-type grab ship unloader dynamic weighting method according to claim 2 is characterized in that, after having got the gravimetric value that calculates, does not allow value once more in 30 seconds at every turn.
5. bridge-type grab ship unloader dynamic weighting method according to claim 1 and 2 is characterized in that, above-mentioned formula calculates, the value condition is all programmed by PLC.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910227959A CN101708806A (en) | 2009-12-01 | 2009-12-01 | Bridge-type grab ship unloader dynamic weighting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910227959A CN101708806A (en) | 2009-12-01 | 2009-12-01 | Bridge-type grab ship unloader dynamic weighting method |
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| Publication Number | Publication Date |
|---|---|
| CN101708806A true CN101708806A (en) | 2010-05-19 |
Family
ID=42401616
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200910227959A Pending CN101708806A (en) | 2009-12-01 | 2009-12-01 | Bridge-type grab ship unloader dynamic weighting method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102496189A (en) * | 2011-12-15 | 2012-06-13 | 江苏省交通规划设计院股份有限公司 | Ship lock non-ashore weight charging system and operating method thereof |
| CN103935894A (en) * | 2014-04-15 | 2014-07-23 | 武汉港迪电气有限公司 | Crane grab dynamic weighing protection method |
| CN104016232A (en) * | 2014-06-13 | 2014-09-03 | 曾汉 | Dynamic weighing mechanism for lifting device |
| CN105110188A (en) * | 2015-09-14 | 2015-12-02 | 唐山港集团股份有限公司 | Rapid and accurate dynamic weighing method for bridge type grab bucket ship unloader |
| CN106441475A (en) * | 2016-09-12 | 2017-02-22 | 中国矿业大学 | Vibrating screen treatment quantity on-line detection device and method |
| CN108557649A (en) * | 2018-04-28 | 2018-09-21 | 上海振华重工(集团)股份有限公司 | Electrical differential ship unloaders steel wire rope synchronous method, device, medium, equipment and system |
-
2009
- 2009-12-01 CN CN200910227959A patent/CN101708806A/en active Pending
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102496189A (en) * | 2011-12-15 | 2012-06-13 | 江苏省交通规划设计院股份有限公司 | Ship lock non-ashore weight charging system and operating method thereof |
| CN102496189B (en) * | 2011-12-15 | 2014-03-19 | 江苏省交通规划设计院股份有限公司 | Ship lock non-ashore weight charging system and operating method thereof |
| CN103935894A (en) * | 2014-04-15 | 2014-07-23 | 武汉港迪电气有限公司 | Crane grab dynamic weighing protection method |
| CN104016232A (en) * | 2014-06-13 | 2014-09-03 | 曾汉 | Dynamic weighing mechanism for lifting device |
| CN104016232B (en) * | 2014-06-13 | 2017-02-22 | 曾汉 | Dynamic weighing mechanism for lifting device |
| CN105110188A (en) * | 2015-09-14 | 2015-12-02 | 唐山港集团股份有限公司 | Rapid and accurate dynamic weighing method for bridge type grab bucket ship unloader |
| CN105110188B (en) * | 2015-09-14 | 2016-10-19 | 唐山港集团股份有限公司 | A kind of quick bridge-type grab ship unloader dynamic weighting method accurately |
| CN106441475A (en) * | 2016-09-12 | 2017-02-22 | 中国矿业大学 | Vibrating screen treatment quantity on-line detection device and method |
| CN106441475B (en) * | 2016-09-12 | 2019-05-31 | 中国矿业大学 | A kind of vibrating screen treating capacity on-line measuring device and method |
| CN108557649A (en) * | 2018-04-28 | 2018-09-21 | 上海振华重工(集团)股份有限公司 | Electrical differential ship unloaders steel wire rope synchronous method, device, medium, equipment and system |
| CN108557649B (en) * | 2018-04-28 | 2019-08-02 | 上海振华重工(集团)股份有限公司 | Electrical differential ship unloaders wirerope synchronous method, device, medium, equipment and system |
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Open date: 20100519 |