CN103995495A - Multifunctional debugging table hybrid control system for large equipment assembly debugging - Google Patents
Multifunctional debugging table hybrid control system for large equipment assembly debugging Download PDFInfo
- Publication number
- CN103995495A CN103995495A CN201410221893.2A CN201410221893A CN103995495A CN 103995495 A CN103995495 A CN 103995495A CN 201410221893 A CN201410221893 A CN 201410221893A CN 103995495 A CN103995495 A CN 103995495A
- Authority
- CN
- China
- Prior art keywords
- control
- plc
- module
- control system
- touch
- 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
- 238000004891 communication Methods 0.000 claims abstract description 25
- 238000006073 displacement reaction Methods 0.000 claims abstract description 16
- 238000001514 detection method Methods 0.000 claims abstract description 14
- 238000000034 method Methods 0.000 claims description 13
- 230000000875 corresponding effect Effects 0.000 claims description 11
- 230000008569 process Effects 0.000 claims description 9
- 239000000203 mixture Substances 0.000 claims description 4
- 230000008054 signal transmission Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 7
- 238000013461 design Methods 0.000 description 6
- 238000012544 monitoring process Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000000052 comparative effect Effects 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000011056 performance test Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Landscapes
- Programmable Controllers (AREA)
- Control Of Position Or Direction (AREA)
Abstract
A multifunctional debugging table hybrid control system for large equipment assembly debugging mainly comprises a control module, a communication module, an output module and a detection module. The control module comprises a limiting switch, a manual input button and a control host PLC. The communication module comprises a USB interface, an RS-232 communication expansion card, a touch screen and a PC. The output module comprises a servo drive circuit, a servo motor, an encoder, a frame system and a fault warning circuit. The detection module comprises a displacement sensor and a tilt angle sensor. According to the control system, the hybrid control scheme of combining full-digital automatic control with manual control is adopted; position control is performed with the PLC being the core, by the utilization of PLC built-in position control software and hardware functions, according to task types, different high-speed pulse strings are output by the PLC to control the servo motor to drive a frame to complete corresponding motion to adjust equipment height and horizontal attitude, parameter input can be achieved on the touch screen, and the status can be displayed on the touch screen in real time.
Description
Technical field
Multifunctional debugging platform hybrid control system for a kind of main equipment assembling and setting, mixes control to equipment assembling and setting by height, the attitude of Multifunctional debugging platform by touch-screen and manual control button, and shows in real time its output numerical value.Can realize and control parameter on-line monitoring, and energy online modification key control variable value, being applicable to load is all high-precision servo mechanism control systems of larger main equipment of volume and weight.
Background technology
Multifunctional debugging platform is mainly used in various assemblings and the debugging experiment of the main equipments such as robot optimal in structure, the unsettled attitude of crawler belt while comprising robot optimal in structure no load test, robot feedback of status etc. when extreme position.Multifunctional debugging platform is made up of debugger stage body, auxiliary installation mobile platform and debugger switch board.Wherein, debugger stage body is made up of lifting frame and diaxon device for adjusting posture two parts.Can be in range of movement under motor drives height and the horizontal attitude of continuous setup debugger stage body, then carry out assembling, debugging and the performance test of the equipment such as robot platform.
Existing debugger control system is generally applicable to the assemblage and adjustment that load is mini-plant, and control mode is comparatively single, in the time that the volume and weight of equipment is all larger, in assembling and setting process height, attitude put in place after due to dead weight downslide meeting impact position control accuracy.In order to improve the control accuracy of system and easy to use, need design specialized in the hybrid control system of main equipment assembling and setting Multifunctional debugging platform.
Online modification control variable value is the important step of design control system, its role is to can be according to the duty of current device, adjust in time and revise basic control parameter, the convenient experiments that contain different control parameters, and the stability of enhancing control system.Existing Control System Design does not propose a set of total solution of the parameter amount in control procedure being carried out to on-line debugging and amendment.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome existing debugger control system position stability variation and the single shortcoming of control mode in the time of assembling and debugging main equipment, a kind of high precision large-sized equipment assembling and setting Multifunctional debugging platform hybrid control system that integrates control, data demonstration and on-line monitoring is provided.
Technical solution of the present invention is: Multifunctional debugging platform hybrid control system for main equipment assembling and setting, by control module, communication module, output module, four module compositions of detection module, wherein, control module comprises PLC, manual control button, limit switch; Communication module comprises RS-232 communication expansion board, PC, usb circuit, touch-screen; Output module comprises servo drive circuit, servomotor, scrambler, frame system and failure alarm circuit; Detection module comprises obliquity sensor, displacement transducer:
(a) control module: PLC is connected by usb circuit with touch-screen, data parameter in exchange control procedure, be connected by RS-232 communication expansion board with PC, control algolithm program is downloaded to PLC from PC, output data serial is sent to PC and preserves.PLC receives outside limit switch amount, manual controlled quentity controlled variable and makes corresponding actions.PLC receives the value of detection module displacement transducer and framework obliquity sensor, sends the pulse controlled quentity controlled variable of electric machine rotation to servo-driver simultaneously.
(b) communication module: the exchanges data between bus, usb circuit and the RS-232 realization of PLC communication interface by two-way operation and touch-screen, PC;
(c) output module: PLC sends the pulse controlled quentity controlled variable of electric machine rotation to servo drive circuit by output interface, control speed and direction that servomotor rotates, servomotor carries out closed-loop control by self scrambler to servo drive circuit feedback information, drive frame system to complete corresponding action, the high precision adjustment of implementation framework height and horizontal attitude simultaneously.In the time that system breaks down, PLC exports alarm signal to failure alarm circuit;
(d) detection module: PLC receives obliquity sensor signal and displacement transducer signal by analog input module interface, as the reference quantity of position closed loop control.
Described main equipment assembling and setting is with in Multifunctional debugging platform hybrid control system, touch-screen is as control signal input and quantity of state display unit, simple to operate, use reliable, described manual control button is for manual crawl control, thus the mixing control program combining with full digital automatic control system with the manual control of the common realization of touch-screen.
Described main equipment assembling and setting is with in Multifunctional debugging platform hybrid control system, servomotor band auto-lock function, after can overcoming in the equipment assembling and setting process that volume is large, weight is large height, attitude and putting in place, due to the shortcoming of dead weight caused by sliding down position control accuracy, improve the control accuracy of system.
Described main equipment assembling and setting is with in Multifunctional debugging platform hybrid control system, between RS-232 communication expansion board and PC, be connected by Serial Port Line or USB line, receive PLC and gather the data of coming, data are forwarded in PC with serial mode, improved the reliability of signal transmission.
Principle of the present invention is: this control system has realized basic control function by control module, communication module, output module, detection module.As Figure of description 2, for the theory diagram of this control system, wherein, PLC is the core of control system, reception comes from the displacement signal of frame system displacement transducer and the dip angle signal of obliquity sensor, formation control closed loop sends the pulse controlled quentity controlled variable of electric machine rotation with position and the speed of control framework to servo-driver simultaneously.
This control system utilizes main control system PLC and touch-screen to realize data demonstration and monitoring, control the functions such as parameter online modification.Utilize PC and RS-232 communication expansion board, realize data acquisition and preservation by writing serial port protocol, by the coupling verification to data and address, ensure the reliability that data transmit.
The solution of the present invention is compared with existing scheme, and major advantage is:
(1) system adopts touch-screen as control signal input and quantity of state display unit, simple to operate, use reliable;
(2) adopt manual some dynamic control signal automatically to control with digital quantity the mixed-control mode combining, practical;
(3) adopt the conventional locator meams of PLC position control function+servomotor, technology maturation, reliability is strong, dirigibility is high;
(4) servomotor with power-off band-type brake function by employing, the positioning precision of raising system and stability, guarantee safety and the reliability of system, be particularly useful for volume and weight all than the control of relatively large equipment assemblage and adjustment Multifunctional debugging platform;
(5) the present invention utilizes a cover system to realize the control of debugger, data demonstration and collection, on-line monitoring in one, has saved peripheral data collecting device etc., and cost is low, easy to use.
In a word, this control system of the present invention is more integrated, and the digital robotization control that has realized Multifunctional debugging platform combines with manual control.Control mode of the present invention has been expanded the performance of system, can receive reliably the also motion state information of display frame control system, has improved the precision of Multifunctional debugging bench control system.
Brief description of the drawings
Fig. 1 is structure composition frame chart of the present invention;
Fig. 2 is control principle block diagram of the present invention;
Fig. 3 is touch-screen master menu design picture of the present invention;
Fig. 4 is that touch-screen reset of the present invention arranges design picture
Fig. 5 is overall control process flow diagram of the present invention;
Fig. 6 is framework elevating control process flow diagram of the present invention;
Fig. 7 is framework rotation control flow chart of the present invention.
Embodiment
As shown in Figure 1, Multifunctional debugging platform hybrid control system for main equipment assembling and setting of the present invention, by control module (a), communication module (b), output module (c), four module compositions of detection module (d), wherein, control module (a) comprises PLC (1), manual control button (6), limit switch (7); Communication module (b) comprises RS-232 communication expansion board (2), PC (3), usb circuit (5), touch-screen (4); Output module (c) comprises servo drive circuit (8), servomotor (9), scrambler (10), frame system (11) and failure alarm circuit (14); Detection module comprises obliquity sensor (12), displacement transducer (13).
Wherein, PLC (1) is the Taiwan Feng Wei VB1-32MT-D type PLC main frame of 16 outputs of 16 inputs, 8 DC24V input enlargement module VB-8X and 4 12bits analog input module VB-4AD; Touch-screen (4) is Haitai gram numerical control device HITECH-PWS5610T-SA; The first servomotor TSB13102B in east, Taiwan that servomotor (9) is strap brake; Corresponding servo drive circuit (8) is the first servo-driver TSTE30C in east, Taiwan; Obliquity sensor (12) is Xi'an accurate PM-TSII-D type double-shaft tilt angle sensor; Displacement transducer (13) is the accurate stay wire displacement sensor of LXW-5ICU2000 type.
PLC (1) is connected by usb circuit (5) with touch-screen (4), data parameter in exchange control procedure, be connected by RS-232 communication expansion board (2) with PC (3), control algolithm program is downloaded to PLC from PC, output data serial is sent to PC and preserves.PLC (1) receives outside limit switch amount (7), manual controlled quentity controlled variable (6) and makes corresponding actions.PLC (1) receives the value of detection module displacement transducer (13) and framework obliquity sensor (12), sends the pulse controlled quentity controlled variable of electric machine rotation to servo-driver (8) simultaneously.
Bus, usb circuit (5) and the RS-232 (2) of PLC (1) communication interface by two-way operation realizes and touch-screen (4), PC (3) between exchanges data;
PLC (1) sends the pulse controlled quentity controlled variable of electric machine rotation to servo drive circuit (8) by output interface, control speed and direction that servomotor (9) rotates, servomotor (9) carries out closed-loop control by self scrambler (10) to servo drive circuit (8) feedback information, drive frame system (11) to complete corresponding action, the high precision adjustment of implementation framework height and horizontal attitude simultaneously.In the time that system breaks down, PLC (1) is to failure alarm circuit (14) output alarm signal;
PLC (1) receives obliquity sensor (12) signal and displacement transducer (13) signal by analog input module interface, as the reference quantity of position closed loop control.
Touch-screen (4) is as control signal input and quantity of state display unit, simple to operate, use reliable, described manual control button (6) is for manual control, thus the mixing control program combining with full digital automatic control system with the manual control of the common realization of touch-screen (4).
Servomotor (9) band auto-lock function, can overcome volume and weight all in larger main equipment assembling and setting process height, attitude put in place after due to the shortcoming of dead weight caused by sliding down position control accuracy, improved the control accuracy of system.
Between RS-232 communication expansion board (2) and PC (3), be connected by Serial Port Line or USB line, receive PLC (1) and gather the data of coming, data are forwarded in PC (3) with serial mode, have improved the reliability of signal transmission.
As shown in Figure 2, for control principle block diagram of the present invention, wherein, PLC is the core of control system, reception comes from the dip angle signal formation control closed loop of displacement signal and the obliquity sensor of frame system displacement transducer, sends the pulse controlled quentity controlled variable of electric machine rotation with position and the speed of control framework to servo-driver simultaneously.
As shown in Figure 3, for touch-screen master menu design picture of the present invention, " just spacing outward ", " anti-spacing outward " on touch-screen, " in just spacing ", " in anti-spacing ", " inside just spacing ", " inside anti-spacing " are respectively the pilot lamp of the bound bit switch of housing, center, inside casing, arrive when spacing, corresponding red led is bright.Automatically after operation puts in place, " operation puts in place automatically " green indicating lamp is bright." predeterminated position ", " default X-axis angle ", " default Y-axis angle " are used for inputting preset height value and diaxon angle value." current location ", " current X-axis angle ", " current Y-axis angle " are used for showing in real time current height value and diaxon angle value." crawl impulse speed ", " autompulse speed " are used for setting respectively manually, the rotational speed of center, inside casing under automatic mode." operation automatically " button, for the automatic control under automatic control mode, moves while pressing automatically, and while lifting, operation suspends automatically.The button that " resets and arrange " switches for interface, and entering resets arranges interface.Setting and the reset of state as shown in Figure 4, are commonly used in reset interface for assembling and setting process." exit " button and be used for exiting this project.On picture, be equipped with spacing and alarm lamp, guarantee safety.
As shown in Figure 5, be overall control process flow diagram of the present invention, after powering on, system first carries out self-inspection, and wait instruction after normal operation, completes corresponding action when receiving after the instructions such as installation, lifting, rotation or failure alarm signal.As shown in Figure 6, for framework elevating control process flow diagram of the present invention, when receiving after lifting instruction, the current height of the first checkout equipment of system, then export corresponding gating pulse string driver framework according to the comparative result of currency and setting value and move to assigned address and show and export.As shown in Figure 7, for framework rotation control flow chart of the present invention, when receiving after rotate instruction, system first confirms whether worktable has been elevated to specified altitude assignment value this moment, judge again whether this At The Height allows spinning movement, current angle value and setting value are compared if instruction is legal, export corresponding gating pulse string driver framework according to comparative result and rotate to appointment attitude and show output.
Though the present invention, for Multifunctional debugging platform hybrid control system for main equipment assembling and setting, also can be used as a kind of general controller, application person can realize its function by amendment software flexibly and easily according to its special application.
The content not being described in detail in instructions of the present invention belongs to the known prior art of professional and technical personnel in the field.
Claims (4)
1. a Multifunctional debugging platform hybrid control system for main equipment assembling and setting, it is characterized in that: by control module (a), communication module (b), output module (c), four module compositions of detection module (d), wherein, control module (a) comprises PLC (1), manual control button (6), limit switch (7); Communication module (b) comprises RS-232 communication expansion board (2), PC (3), usb circuit (5), touch-screen (4); Output module (c) comprises servo drive circuit (8), servomotor (9), scrambler (10), frame system (11) and failure alarm circuit (14); Detection module comprises obliquity sensor (12), displacement transducer (13):
(a) control module: PLC (1) is connected by usb circuit (5) with touch-screen (4), data parameter in exchange control procedure, be connected by RS-232 communication expansion board (2) with PC (3), control algolithm program is downloaded to PLC (1) from PC (3), output data serial is sent to PC (3) and preserves.PLC (1) receives outside limit switch amount (7), manual controlled quentity controlled variable (6) and makes corresponding actions.PLC (1) receives the value of detection module displacement transducer (13) and framework obliquity sensor (12), sends the pulse controlled quentity controlled variable of electric machine rotation to servo-driver (8) simultaneously;
(b) bus, usb circuit (5) and the RS-232 (2) of communication module: PLC (1) communication interface by two-way operation realizes and touch-screen (4), PC (3) between data transmission;
(c) output module: PLC (1) sends the pulse controlled quentity controlled variable of electric machine rotation to servo drive circuit (8) by output interface, control speed and direction that servomotor (9) rotates, servomotor (9) carries out closed-loop control by self scrambler (10) to servo drive circuit (8) feedback information, drive frame system (11) to complete corresponding action, the high precision adjustment of implementation framework height and horizontal attitude simultaneously.In the time that system breaks down, PLC (1) is to failure alarm circuit (14) output alarm signal;
(d) detection module: PLC (1) receives obliquity sensor (12) signal and displacement transducer (13) signal by analog input module interface, as the reference quantity of position closed loop control.
2. Multifunctional debugging platform hybrid control system for main equipment assembling and setting according to claim 1, it is characterized in that: described touch-screen (4) is as control signal input and quantity of state display unit, simple to operate, use reliable, described manual control button (6) is for manual control, thus the mixing control program combining with full digital automatic control system with the manual control of the common realization of touch-screen (4).
3. according to Multifunctional debugging platform hybrid control system for the main equipment assembling and setting described in claims 1, it is characterized in that: described servomotor (9) band auto-lock function, can overcome volume and weight all in larger main equipment assembling and setting process height, attitude put in place after due to the shortcoming of dead weight caused by sliding down position control accuracy, improved the control accuracy of system.
4. Multifunctional debugging platform hybrid control system for main equipment assembling and setting according to claim 1, it is characterized in that: between described RS-232 communication expansion board (2) and PC (3), be connected by Serial Port Line or USB line, receive PLC (1) and gather the data of coming, data are forwarded in PC (3) with serial mode, have improved the reliability of signal transmission.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410221893.2A CN103995495B (en) | 2014-06-11 | 2014-06-11 | A kind of main equipment assembling and setting Multifunctional adjustment table hybrid control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410221893.2A CN103995495B (en) | 2014-06-11 | 2014-06-11 | A kind of main equipment assembling and setting Multifunctional adjustment table hybrid control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103995495A true CN103995495A (en) | 2014-08-20 |
| CN103995495B CN103995495B (en) | 2016-09-07 |
Family
ID=51309692
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410221893.2A Expired - Fee Related CN103995495B (en) | 2014-06-11 | 2014-06-11 | A kind of main equipment assembling and setting Multifunctional adjustment table hybrid control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103995495B (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104310288A (en) * | 2014-09-30 | 2015-01-28 | 石家庄铁道大学 | Operation leveling device applicable to construction work procedure switching of heavy load machinery |
| CN104678880A (en) * | 2015-03-27 | 2015-06-03 | 山东钢铁股份有限公司 | Panel control system |
| CN105318856A (en) * | 2015-11-18 | 2016-02-10 | 北京科技大学 | A touch screen-based angle sensor display device |
| CN107294461A (en) * | 2017-07-26 | 2017-10-24 | 北京云安通航技术有限公司 | The PLC electric-control systems of Three Degree Of Freedom asynchronous machine motion platform |
| CN107544425A (en) * | 2017-11-01 | 2018-01-05 | 深圳市新怡富数控设备有限公司 | A kind of servomotor detection means and detection method based on PLC |
| CN109709871A (en) * | 2019-01-16 | 2019-05-03 | 蒋明光 | Movement mechanism with parameter input and output |
| CN110561328A (en) * | 2019-08-29 | 2019-12-13 | 北京航天新风机械设备有限责任公司 | Control system of satellite attitude adjustment trolley |
| CN111562798A (en) * | 2019-12-24 | 2020-08-21 | 中国航空工业集团公司北京航空精密机械研究所 | Device capable of generating fixed-angle pulse at specified position and working method thereof |
| CN111969320A (en) * | 2020-08-18 | 2020-11-20 | 苏州维也耐通讯科技有限公司 | Antenna support remote control mode |
| CN112213986A (en) * | 2020-10-19 | 2021-01-12 | 重庆华渝重工机电有限公司 | Intelligent straddle type monorail portal PC beam template control system |
| CN112748718A (en) * | 2020-12-15 | 2021-05-04 | 北京无线电测量研究所 | Servo control system debugging table and debugging method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100434139B1 (en) * | 1998-02-11 | 2004-09-08 | 엘지산전 주식회사 | Remote power supply control apparatus of plc system, in which abnormality sensing module generates switching power supplied to a power supply module |
| CN101386234A (en) * | 2008-10-23 | 2009-03-18 | 武汉钢铁(集团)公司 | Round code-spurting device in coil strip |
| CN101551673A (en) * | 2009-03-30 | 2009-10-07 | 零八一电子集团有限公司 | Automatic leveling system of multipoint electric support platform |
| CN201522293U (en) * | 2009-11-16 | 2010-07-07 | 中国人民解放军空军装备研究院雷达与电子对抗研究所 | Test bed lifting device |
| CN202267481U (en) * | 2011-07-13 | 2012-06-06 | 浙江海洋学院 | Miniature horizontal stabilized platform |
| CN103447990A (en) * | 2013-09-27 | 2013-12-18 | 长城汽车股份有限公司 | Workpiece posture auto-adjust device |
-
2014
- 2014-06-11 CN CN201410221893.2A patent/CN103995495B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100434139B1 (en) * | 1998-02-11 | 2004-09-08 | 엘지산전 주식회사 | Remote power supply control apparatus of plc system, in which abnormality sensing module generates switching power supplied to a power supply module |
| CN101386234A (en) * | 2008-10-23 | 2009-03-18 | 武汉钢铁(集团)公司 | Round code-spurting device in coil strip |
| CN101551673A (en) * | 2009-03-30 | 2009-10-07 | 零八一电子集团有限公司 | Automatic leveling system of multipoint electric support platform |
| CN201522293U (en) * | 2009-11-16 | 2010-07-07 | 中国人民解放军空军装备研究院雷达与电子对抗研究所 | Test bed lifting device |
| CN202267481U (en) * | 2011-07-13 | 2012-06-06 | 浙江海洋学院 | Miniature horizontal stabilized platform |
| CN103447990A (en) * | 2013-09-27 | 2013-12-18 | 长城汽车股份有限公司 | Workpiece posture auto-adjust device |
Non-Patent Citations (2)
| Title |
|---|
| 周春燕: "基于PLC的自动调平控制系统研制", 《中国优秀硕士学位论文全文数据库（电子期刊）信息科技辑》, no. 10, 31 October 2010 (2010-10-31) * |
| 黄岚: "基于DSP车载平台自动调平控制系统的研究", 《中国优秀硕士学位论文全文数据库（电子期刊）工程科技Ⅱ辑》, no. 2, 28 February 2013 (2013-02-28) * |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104310288A (en) * | 2014-09-30 | 2015-01-28 | 石家庄铁道大学 | Operation leveling device applicable to construction work procedure switching of heavy load machinery |
| CN104310288B (en) * | 2014-09-30 | 2015-07-08 | 石家庄铁道大学 | Operation leveling device applicable to construction work procedure switching of heavy load machinery |
| CN104678880A (en) * | 2015-03-27 | 2015-06-03 | 山东钢铁股份有限公司 | Panel control system |
| CN105318856A (en) * | 2015-11-18 | 2016-02-10 | 北京科技大学 | A touch screen-based angle sensor display device |
| CN107294461A (en) * | 2017-07-26 | 2017-10-24 | 北京云安通航技术有限公司 | The PLC electric-control systems of Three Degree Of Freedom asynchronous machine motion platform |
| CN107544425A (en) * | 2017-11-01 | 2018-01-05 | 深圳市新怡富数控设备有限公司 | A kind of servomotor detection means and detection method based on PLC |
| CN109709871A (en) * | 2019-01-16 | 2019-05-03 | 蒋明光 | Movement mechanism with parameter input and output |
| CN110561328A (en) * | 2019-08-29 | 2019-12-13 | 北京航天新风机械设备有限责任公司 | Control system of satellite attitude adjustment trolley |
| CN110561328B (en) * | 2019-08-29 | 2024-04-19 | 北京新风航天装备有限公司 | Control system of satellite attitude adjustment trolley |
| CN111562798A (en) * | 2019-12-24 | 2020-08-21 | 中国航空工业集团公司北京航空精密机械研究所 | Device capable of generating fixed-angle pulse at specified position and working method thereof |
| CN111969320A (en) * | 2020-08-18 | 2020-11-20 | 苏州维也耐通讯科技有限公司 | Antenna support remote control mode |
| CN112213986A (en) * | 2020-10-19 | 2021-01-12 | 重庆华渝重工机电有限公司 | Intelligent straddle type monorail portal PC beam template control system |
| CN112748718A (en) * | 2020-12-15 | 2021-05-04 | 北京无线电测量研究所 | Servo control system debugging table and debugging method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103995495B (en) | 2016-09-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103995495A (en) | Multifunctional debugging table hybrid control system for large equipment assembly debugging | |
| CN102588718B (en) | Electric panoramic tripod head with Bluetooth control function and control method | |
| CN101833892A (en) | Embedded type teaching programming device and method for welding robot | |
| CN103399577A (en) | Detection sensing system for remotely operating rescue robot | |
| CN203077287U (en) | Master-slave mode hydraulic pressure feedback mechanical arm controlling system of charged repair robot | |
| CN103737602A (en) | Industrial robot wireless teaching implementation device and method | |
| CN104575642A (en) | Control system of nuclear fuel loading and unloading machine | |
| CN203319635U (en) | Scissors automatic elevator | |
| CN102402201A (en) | Multi-axis motion control system | |
| CN204347614U (en) | A kind of for submarine navigation device Three Degree Of Freedom attitude-simulating device | |
| CN102436200B (en) | Modularized multifunctional robot controller | |
| CN102880181A (en) | Inverted pendulum system as well as control circuit and control method thereof | |
| CN106292382A (en) | A kind of power grid visualization task instruction that is used for joins mirror and operational approach thereof | |
| CN205968985U (en) | Portable investigation robot based on intelligent Mobile Terminal control | |
| CN209044281U (en) | One kind removable detection projection robot | |
| CN201859562U (en) | Simulation control panel of virtual PLC | |
| CN203552586U (en) | Configuration type demonstrator | |
| CN110794770A (en) | Remote-controlled three-axis linkage economical numerical control system | |
| CN105843090A (en) | Aircraft engine mounting and dismounting vehicle electrical control apparatus and method thereof | |
| CN201955650U (en) | Three-coordinate motion controller | |
| CN115616987A (en) | Mine equipment digital twin system construction method based on mixed reality | |
| CN106017535B (en) | A kind of motor-driven valve position sensor caliberating device and method | |
| CN209993097U (en) | Multi-axis turntable wireless control device | |
| CN209928284U (en) | Six-degree-of-freedom platform | |
| CN107315374A (en) | Electric screw press sliding block moves back and forth electric control 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 |
Granted publication date: 20160907 |