CN101718204A - Electrohydraulic control device used for frame controller of hydraulic support - Google Patents
Electrohydraulic control device used for frame controller of hydraulic support Download PDFInfo
- Publication number
- CN101718204A CN101718204A CN200910175276A CN200910175276A CN101718204A CN 101718204 A CN101718204 A CN 101718204A CN 200910175276 A CN200910175276 A CN 200910175276A CN 200910175276 A CN200910175276 A CN 200910175276A CN 101718204 A CN101718204 A CN 101718204A
- Authority
- CN
- China
- Prior art keywords
- hydraulic support
- unit
- cpu
- switching value
- signal
- 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.)
- Granted
Links
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Micromachines (AREA)
Abstract
The invention discloses an electrohydraulic control device used for a frame controller of a hydraulic support. In the electrohydraulic control device, a microcontroller unit, an A/D signal acquisition unit, a switching value input unit, a switching value output unit and a communication unit are connected with a microcontroller by a RS-485 interface unit through a serial bus; SPI communication is connected with the microcontroller through a SPI communication line, and the A/D signal acquisition unit, the switching value input unit and the switching value output unit are connected with the microcontroller through an I/O interface. Through detecting the location of a coal mining machine and relevant software, the invention realizes the linkage between the hydraulic support and the coal mining machine; through ultrasonic ranging, the invention realizes three flatness and one straightness of a working face, and solves the difficulties of low reliability, poor maintainability and hard updating of a monitoring and control system of the hydraulic support. The device is suitable for monitoring and control of a fully mechanized working face to various functions and operating states of the hydraulic support.
Description
Technical field
The present invention relates to a kind of electrofluidic control device of coal mine underground hydraulic support frame, the particularly a kind of structure of an essay controller electrofluidic control device that can control automatically hydraulic support according to the position of coal-winning machine.
Technical background
Begin to research and develop the electrohydraulic control system of hydraulic support abroad as far back as the seventies in 20th century, the development and research eighties enters the substantive application stage, to the nineties in 20th century, hydraulic support electricity liquid automatic control technology is ripe, service behaviour and reliability can satisfy instructions for use, become the standard control equipment of the national fully-mechanized mining working surface hydraulic support of flourishing producing coal.As the PM4 of the DBT company of the RS20 type of U.S. JOY company, Germany and the PM31 of MARCO company etc.These hydraulic support electrofluidic control devices mostly are to be made of microprocessor, communication system, collection of simulant signal system and valve-driving circuit etc.Its control method is the position according to coal-winning machine, and this realizes control by Control on Communication between frame by the adjacent frame of manually-operated.Specifically be when coal-winning machine near the time hydraulic support regain the subsidiary secondary wall supporting of regaining of one-level wall supporting, coal-winning machine front roll cutting hydraulic support is later fallen frame, carries the end, is tried to stop people from fighting each other, rises action such as frame.Follow and rise frame and will stretch out the one-level wall supporting and regain the secondary wall supporting simultaneously, prevent coal-winning machine cutting secondary wall supporting, after coal-winning machine cuts fully, wait for the time of coal-winning machine through more than ten hydraulic supports, hydraulic support carries out pushing and sliding, finish one group of do action of hydraulic support, realize electrichydraulic control hydraulic support.But, it is higher that this imported hydraulic support electrofluidic control device exists cost, fittings supply is untimely, because the technology sealing causes communication protocol underground, problems such as realizing the automatic control of networking can't be connected with central control computer, cause the down-hole fully-mechanized mining working to be unable to do without operating personnel, production efficiency is low, is seriously restricting the development of coal industry.
" application of brief analysis coal mine fully-mechanized mining hydraulic support electrohydraulic control system " that Zhejiang, Huaihe River coal electricity company Gu Bei colliery Guo Li China delivered in " medium-sized and small enterprises management and science and technology " in August, 2009, the core that the electrohydraulic control system technology is described are by electro hydraulic valve Artificial Control to be operated hydraulic support to become the hydraulic support of being controlled by computer program.Hydraulic support electrichydraulic control at present progressively develops to function software intellectuality and communication system International standardization direction as can be seen, progressively towards few people's automation of work plane and the development of unmanned automation direction, the operation of controller develops towards the remote-control direction fully-mechanized mining working.
For this reason, research and development have and can link and reliable hydraulic support structure of an essay controller electrofluidic control device with coal-winning machine, it is the problem that most of fully-mechanized mining workings press for solution, it not only can improve face roof supporting situation, guarantees the mine production safety, reduces labor strength and improve the mine productivity effect, also can realize the unmanned automation control of fully-mechanized mining working simultaneously faster and better.
Summary of the invention
What the present invention will solve is the control problem of fully-mechanized mining working surface hydraulic support structure of an essay controller, the network connectivity problem of support structure of an essay controller and central control computer, purpose provides a kind of electrofluidic control device that is used for hydraulic support structure of an essay controller, to realize the automatic control of fully-mechanized mining working.
In order to realize above-mentioned target, the technical scheme of the electrofluidic control device of a kind of hydraulic support structure of an essay controller of the present invention, comprise power supply unit, micro controller unit, A/D signal gathering unit, switching value input block, switching value output unit and communication unit, wherein
Described power supply unit is to introduce the 12V power supply by socket (J2), and (U8, U9) converts the 12V power supply to 3.3V or 5V by the voltage transitions chip;
Described micro controller unit is that system (U7) directly is connected with the respective pin of CPU (U16) with the jtag interface that is used to debug (P1); The RAM (U14) of expansion is connected with CPU (U16) by 15 parallel-by-bit buses;
Described A/D signal gathering unit (X1) is that pressure signal, displacement signal, ultrasonic signal and the infrared signal that will collect are nursed one's health through modulate circuit (U3, U4, U5, U6), is connected with four tunnel 12 A/D mouths of CPU (U16) after holding circuit;
Described switching value input block (J8, J9) is that the switch input is connected with the I/O mouth of CPU (U16); Urgency is stopped, the input of block signal is connected with the I/O mouth that is configured to external interrupt of CPU (U16);
Described switching value output unit (U13, U19, U20) is that the control with hydraulic support is connected with the CPU (U16) but the I/O mouth of bit addressing with drive circuit.
Described communication unit is that RS485 (U33) interface is connected with CPU (U16) by universal serial bus; SPI communication (P2) interface is connected with CPU (U16) by the SPI order wire.
The present invention is used for the electrofluidic control device of hydraulic support structure of an essay controller, can detect the position of coal-winning machine according to infrared signal, when coal-winning machine near the time hydraulic support regain the subsidiary secondary wall supporting of one-level wall supporting and be retracted, coal-winning machine front roll cutting hydraulic support is later fallen frame, carries the end, is tried to stop people from fighting each other, rises action such as frame.Follow and rise frame and will stretch out the one-level wall supporting and regain the secondary wall supporting simultaneously, prevent coal-winning machine cutting secondary wall supporting, after coal-winning machine is cut over fully, wait for the time of coal-winning machine through 20 hydraulic supports, hydraulic support carries out pushing and sliding, thereby has realized that hydraulic support and coal-winning machine are with the machine interlock.Particularly do not have under operating personnel's the situation at work plane, hydraulic support can rely on software to realize with motor-driven work by the position of constantly detecting coal-winning machine, realize " three is always flat " of work plane by ultrasonic ranging, be the level of rib, hydraulic support and transporter, hydraulic support base plate straight.Can adapt to coal mining geology and mining conditions better by independent development hydraulic support structure of an essay controller control technology; can solve problems such as maintainable difference of hydraulic support monitoring and controlling system and upgrading difficulty; and by on hydraulic support, installing near constructional devices such as switches; design protection circuit on the hydraulic bracket controller hardware circuit; restrictive condition is set on the software, has solved the low problem of hydraulic support monitoring reliability.This system hardware platform cooperates corresponding software resource to monitor and to monitor the various functions and the running status of hydraulic support.
The advantage and the good effect of hydraulic support structure of an essay controller electrofluidic control device of the present invention also are: the electrofluidic control device of hydraulic support structure of an essay controller not only can be by constantly detecting the infrared signal of coal-winning machine, position according to coal-winning machine is finished corresponding actions successively, and can measure the distance in hydraulic support and coal seam by ultrasonic ranging, thereby guaranteed " three is always flat " of work plane, be the level of rib, hydraulic support and transporter, hydraulic support base plate straight.Have at work plane under operating personnel's the situation by carrying out ultrasonic ranging by the range finding key, manually adjust the level of working surface hydraulic support and scratch board conveyor according to distance by operating personnel, do not have at work plane under operating personnel's the situation, level by corresponding software of hydraulic support structure of an essay controller basis and measured value are modulated working surface hydraulic support and scratch board conveyor has automatically better realized the motor-driven work of following at manless working face hydraulic support and coal-winning machine; The present invention can monitor in real time to hydraulic support column pressure, when guaranteeing the hydraulic support operate as normal,, guaranteed under the unmanned situation of work plane by detecting the state of installing on the hydraulic support near switch, coal-winning machine cutting wall supporting has been avoided in the withdrawal of firsts and seconds wall supporting; Also can realize guaranteeing that hydraulic support is tried to stop people from fighting each other and pushing and sliding put in place simultaneously by the value of comparing the displacement transducer of adorning in the hydraulic support oil cylinder; All restrictions if having time of each action on software have guaranteed that under the unmanned situation of work plane hydraulic support can more reliable action, and when a certain action was broken down or surpassed the time restriction on the software because of other situations, hydraulic support will be reported to the police; Hydraulic support is neighboring frame-operated, do not allow this operation this, so data are to transmit by communication cable, the communication of this device design has self-checking function, when the communication cable between two hydraulic supports breaks down when causing data not transmit, hydraulic bracket controller can detect the position of the cable that breaks down, and shows on the liquid crystal display of the hydraulic bracket controller that links to each other with this cable and report to the police, after fault is excluded, can then transmit the data before breaking down.Native system has two kinds of methods of operation, not only can finish function corresponding by hydraulic support operating personnel's manual operation, also can finish function corresponding according to the position of coal-winning machine, realizes the Automatic Control operation.
Description of drawings
Fig. 1 is the structural representation block diagram of electrofluidic control device of the present invention
Fig. 2 is an electrofluidic control device structural principle schematic diagram of the present invention
Fig. 3 is the structural principle schematic diagram of electrofluidic control device power supply unit of the present invention
Fig. 4 is the structural principle schematic diagram of electrofluidic control device micro controller unit of the present invention
Fig. 5 is the structural principle schematic diagram of electrofluidic control device A/D signal gathering unit of the present invention
Fig. 6 is the structural principle schematic diagram of electrofluidic control device switching value input block of the present invention
Fig. 7 is the structural principle schematic diagram of electrofluidic control device switching value output unit of the present invention
Fig. 8 is the structural principle schematic diagram of electrofluidic control device communication unit of the present invention
The specific embodiment
With specific embodiment alleged a kind of of the present invention is described in further detail below in conjunction with accompanying drawing and is used for the electrofluidic control device that the coal-winning machine hydraulic support is asked the frame controller, the technician in described field is after having read this specific embodiment, technical solutions according to the invention can be realized, also advantage of the present invention and good effect can be embodied simultaneously.
As depicted in figs. 1 and 2, the electrofluidic control device of hydraulic support structure of an essay controller comprises power supply unit, micro controller unit, A/D signal gathering unit, communication unit, switching value output unit and the switching value input block of whole system.Wherein: described whole system power supply unit comprises 12V (J2), 5V (U8) and 3.3V (U9) voltage of using in the entire circuit; Described micro controller unit comprises CPU (U16), RAM (U14), the minimum system (U7) of expansion and the jtag interface (P1) that is used to debug; Described A/D signal gathering unit (X1) comprises the holding circuit before modulate circuit that the pressure signal, displacement signal, ultrasonic signal and the infrared signal that collect are nursed one's health and signal enter CPU; Described switching value input block (J8, J9) comprise near the input of switch and anxious stop, the input of signal such as locking; Described switching value output unit (U13, U19, U20) comprises control and the drive circuit to each function of hydraulic support.Described communications interface unit comprises RS485 interface unit (U33) and SPI communications interface unit (P2).
As shown in Figure 3, from installing outside the introducing, 3V and 5V voltage are come by the 12V voltage transition by voltage transitions chip (U8, U9) the 12V voltage of hydraulic support structure of an essay controller electrofluidic control device power supply unit by socket (J2).
As shown in Figure 4, hydraulic support structure of an essay controller electrofluidic control device micro controller unit, wherein CPU (U16) has adopted the mixed signal SOC type single-chip microcomputer C8051F020 (U16) that U.S. Cygnal company produces, this chip is integrated two multichannel ADC subsystems, two voltage output DAC, two voltage comparators, UART, spi bus interface, 5 general 16 bit timing devices, 88 general digital I/O ports and 64KB FLASH program storage and with the High Speed Microcontroller kernel of 8051 compatibilities.Each pin of 4 low side I/O ports of C8051F020 both can be defined as general port I/O pin, also can be assigned to a digital peripherals or function, two pin assignment of whole 0 mouthful of pin of C8051F020 and 1 mouthful satisfy the requirement of device for functions such as UART0, UART1, SPI, INT0 and INT1 in this device; Expanded 32K * 8RAM (U14) that a slice has clock and power-off protector, extended device links to each other with CPU (U16) by latch (U15) by 15 parallel-by-bit buses; Minimum system comprises reset circuit (U7) and crystal oscillator (Y1), all links to each other with the corresponding pin of CPU (U16); JTAG (P1) directly links to each other with the JTAG pin of CPU (U16).
As shown in Figure 5; hydraulic support structure of an essay controller electrofluidic control device A/D signal gathering unit (X1); wherein U1 and U2 provide power supply for the collection of these four signals; pressure signal, displacement signal, ultrasonic signal, infrared tracking signal are nursed one's health by U3, U4, U5 and U6, protect the back directly to link to each other with 12 A/D mouths of single-chip microcomputer C8051F020 (U16) through D1, D2, D4, D5, D6, D7, D8 and D9.Do not carry out modulation for infrared tracking signal, but directly use its analog signal, detect apart from 3m.The signal that collects becomes the voltage signal of 0V to 3.3V through modulate circuit, enters C8051F020 (U16) through overvoltage and under-voltage protection again.
As shown in Figure 6, hydraulic support structure of an essay controller electrofluidic control device switching value input block, signal is isolated by photoelectricity, enters C8051F020 and becomes the I/O mouth of external interrupt through crossbar configuration, isolates by photoelectricity so on the one hand and can stop external disturbance to trigger to interrupt the misoperation that causes; On the other hand, the priority of external interrupt will be higher than other interruptions, so when the outside anxious stop or during block action arranged, can guarantee that hydraulic support action in time avoids accident to take place.
As shown in Figure 7, hydraulic support structure of an essay controller electrofluidic control device switching value output unit, output drives chip (U13, U19, U20) and is connected with the I/O mouth of C8051F020 (U16) by level shifting circuit (U10, U11, U12, U17, U18), and its opposite side is connected with reversal valve.C8051F020 (U16) output signal is 0 or the 3.3V voltage signal; driving force is less; just can drive reversal valve through a 0C door and driving chip; and this driving chip has over-voltage protection function; when high voltage is invaded; can produce an overvoltage signal, C8051F020 carries out corresponding action after detecting this signal, plays a protective role.
As shown in Figure 8, hydraulic support structure of an essay controller electrofluidic control device communication unit, RS-485 bus driver (U33) is connected with single-chip microcomputer C8051F020 (U16) serial line interface by the logic isolation device.The MAX485 chip that RS485 communication has selected for use MAXIM company to produce, be used to require the low-power consumption transceiver of high-speed communication under adverse circumstances, message transmission rate can reach 2.5Mbps, the back is invaded circuit by anti-high pressure and is linked to each other with another RS-485 interface, puts high pressure and invades the harm that circuit can avoid high pressure that device is brought; What SPI communication was adopted is 4 inner line full-duplex serial bus of C8051F020 (U16), has the collision detection function, and peak data transfer rate is 1/2nd of a system clock frequency.Hydraulic support control is that adjacent frame is controlled this, from security standpoint, in operation, do not allow this control this, so the control signal when controlling this with adjacent frame is all transmitted by RS485; SPI communication mainly is the controller intercommunication.
To above-mentioned each module, RS485 in the communications interface unit (U33) is connected with microcontroller by the I/O mouth that becomes TX and RX function through crossbar configuration, and SPI (P2) is connected with microcontroller by the I/O mouth that becomes MISO, MOSI, CLOCK and NSS function through crossbar configuration; The switching value input block links to each other with microcontroller by the I/O mouth that becomes the external interrupt function through crossbar configuration; A/D signal gathering unit (X1) directly is connected with 12 A/D input ports of microcontroller; The switching value output unit directly is connected with microcontroller by the I/O interface.
The present invention is on the hardware configuration basis of above-mentioned a kind of hydraulic support structure of an essay controller electrofluidic control device, those skilled in the art can obtain the combination of corresponding system software and software, and can realize that a kind of hydraulic support asks the electrichydraulic control of frame controller, other technology contents that relates in this manual and technical term should be understood and enforcement with the technological means of passing through usefulness according to the common practise of this area, also can enforcement be set by rational analysis ratiocination.
Claims (1)
1. the electrofluidic control device of a hydraulic support structure of an essay controller, it contains power supply unit, micro controller unit, A/D signal gathering unit, switching value input block, switching value output unit and communication unit, it is characterized in that:
Described power supply unit is to introduce the 12V power supply by socket (J2), and (U8, U9) converts the 12V power supply to 3.3V or 5V by the voltage transitions chip;
Described micro controller unit is that system (U7) directly is connected with the respective pin of CPU (U16) with the jtag interface that is used to debug (P1); The RAM (U14) of expansion is connected with CPU (U16) by 15 parallel-by-bit buses;
Described A/D signal gathering unit (X1) is that pressure signal, displacement signal, ultrasonic signal and the infrared signal that will collect are nursed one's health through modulate circuit (U3, U4, U5, U6), is connected with four tunnel 12 A/D mouths of CPU (U16) after holding circuit;
Described switching value input block (J8, J9) is that the switch input is connected with the I/O mouth of CPU (U16); Urgency is stopped, the input of block signal is connected with the I/O mouth that is configured to external interrupt of CPU (U16);
Described switching value output unit (U13, U19, U20) is that the control with hydraulic support is connected with the CPU (U16) but the I/O mouth of bit addressing with drive circuit.
Described communication unit is that RS485 (U33) interface is connected with CPU (U16) by universal serial bus; SPI communication (P2) interface is connected with CPU (U16) by the SPI order wire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101752762A CN101718204B (en) | 2009-11-24 | 2009-11-24 | Electrohydraulic control device used for frame controller of hydraulic support |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101752762A CN101718204B (en) | 2009-11-24 | 2009-11-24 | Electrohydraulic control device used for frame controller of hydraulic support |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101718204A true CN101718204A (en) | 2010-06-02 |
| CN101718204B CN101718204B (en) | 2011-10-12 |
Family
ID=42432833
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009101752762A Expired - Fee Related CN101718204B (en) | 2009-11-24 | 2009-11-24 | Electrohydraulic control device used for frame controller of hydraulic support |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101718204B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101963791A (en) * | 2010-09-01 | 2011-02-02 | 广州日滨科技发展有限公司 | Method for performing software upgrading on controllers of hydraulic bracket electrohydraulic control system |
| CN102367738A (en) * | 2011-10-24 | 2012-03-07 | 三一重型综采成套装备有限公司 | Hydraulic support control device |
| CN102373940A (en) * | 2011-11-18 | 2012-03-14 | 郑州煤矿机械集团股份有限公司 | Hydraulic support controller |
| CN102929236A (en) * | 2012-10-26 | 2013-02-13 | 北京机械设备研究所 | Display device applicable to distributed electro hydraulic servo system |
| CN103306700A (en) * | 2013-05-15 | 2013-09-18 | 太原理工大学 | Control method of unattended operation for coal mine comprehensive mechanized mining face |
| CN103699109A (en) * | 2014-01-09 | 2014-04-02 | 北京天地玛珂电液控制系统有限公司 | Hydraulic support process control method |
| CN113325818A (en) * | 2021-04-20 | 2021-08-31 | 国家能源集团国源电力有限公司 | Test device of electro-hydraulic control system |
| CN114017088A (en) * | 2021-11-01 | 2022-02-08 | 国能神东煤炭集团有限责任公司 | Hydraulic support with side protection mechanism |
| CN116291659A (en) * | 2023-05-24 | 2023-06-23 | 太原理工大学 | Hydraulic support man-machine cooperative control strategy recommendation method |
-
2009
- 2009-11-24 CN CN2009101752762A patent/CN101718204B/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101963791B (en) * | 2010-09-01 | 2012-06-06 | 广州日滨科技发展有限公司 | Method for performing software upgrading on controllers of hydraulic bracket electrohydraulic control system |
| CN101963791A (en) * | 2010-09-01 | 2011-02-02 | 广州日滨科技发展有限公司 | Method for performing software upgrading on controllers of hydraulic bracket electrohydraulic control system |
| CN102367738B (en) * | 2011-10-24 | 2014-04-16 | 三一重型综采成套装备有限公司 | Hydraulic support control device |
| CN102367738A (en) * | 2011-10-24 | 2012-03-07 | 三一重型综采成套装备有限公司 | Hydraulic support control device |
| CN102373940A (en) * | 2011-11-18 | 2012-03-14 | 郑州煤矿机械集团股份有限公司 | Hydraulic support controller |
| CN102929236A (en) * | 2012-10-26 | 2013-02-13 | 北京机械设备研究所 | Display device applicable to distributed electro hydraulic servo system |
| CN103306700A (en) * | 2013-05-15 | 2013-09-18 | 太原理工大学 | Control method of unattended operation for coal mine comprehensive mechanized mining face |
| CN103699109A (en) * | 2014-01-09 | 2014-04-02 | 北京天地玛珂电液控制系统有限公司 | Hydraulic support process control method |
| CN113325818A (en) * | 2021-04-20 | 2021-08-31 | 国家能源集团国源电力有限公司 | Test device of electro-hydraulic control system |
| CN114017088A (en) * | 2021-11-01 | 2022-02-08 | 国能神东煤炭集团有限责任公司 | Hydraulic support with side protection mechanism |
| CN114017088B (en) * | 2021-11-01 | 2023-12-22 | 国能神东煤炭集团有限责任公司 | Hydraulic support with side protection mechanism |
| CN116291659A (en) * | 2023-05-24 | 2023-06-23 | 太原理工大学 | Hydraulic support man-machine cooperative control strategy recommendation method |
| CN116291659B (en) * | 2023-05-24 | 2023-08-08 | 太原理工大学 | Hydraulic support man-machine cooperative control strategy recommendation method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101718204B (en) | 2011-10-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101718204B (en) | Electrohydraulic control device used for frame controller of hydraulic support | |
| CN101599880B (en) | Embedded mine data substation | |
| CN202903334U (en) | Cable intermediate joint temperature monitoring system | |
| CN102591300A (en) | Real time monitoring device of movable engineering machinery and equipment | |
| CN101105140A (en) | Mine dust on-line monitoring and controlling system | |
| CN102661806A (en) | Wireless temperature monitoring device for power equipment | |
| CN105401770A (en) | Structural control system of elevating side-step parking equipment | |
| CN203237958U (en) | Control system of telescopic boom and crane | |
| CN201374005Y (en) | Belt conveying device automation control system | |
| CN101737072B (en) | Hydraulic support end socket electro-hydraulic controller | |
| CN204302750U (en) | A kind of parking systems automatic control system and parking systems | |
| CN202331192U (en) | Fault comprehensive diagnosis circuit of hydraulic support electrohydraulic control system | |
| CN201650334U (en) | Hydraulic support electro-hydraulic control system | |
| CN205608449U (en) | Fire damp monitored control system of double layer reticulated twine | |
| CN201937334U (en) | Centralized type protecting, overhauling and mistaken-operation-preventing system | |
| CN203321490U (en) | Wireless oil well intelligent monitoring terminal RTU | |
| CN202735809U (en) | Mining intrinsic safe type control substation | |
| CN209727052U (en) | A kind of roadway deformation dynamic monitoring system based on laser ranging technique | |
| CN107916649A (en) | Stable equilibrium monitoring and warning equipment under a kind of gate Dynamic Water | |
| CN205206439U (en) | Lifting and horizontal moving parking equipment's structural formula control system | |
| CN104444812A (en) | Novel crane monitoring system | |
| CN201654548U (en) | Intelligent simulation screen system of transformer substation | |
| CN201553568U (en) | Crane safe operation electronic monitoring networking system | |
| CN201489361U (en) | Extensible zone controller based on CAN bus | |
| CN201065769Y (en) | Mine dust on-line monitoring and controlling system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20111012 Termination date: 20211124 |