CN104310222A - Gantry crane with function of four-point balance control - Google Patents
Gantry crane with function of four-point balance control Download PDFInfo
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- CN104310222A CN104310222A CN201410582895.4A CN201410582895A CN104310222A CN 104310222 A CN104310222 A CN 104310222A CN 201410582895 A CN201410582895 A CN 201410582895A CN 104310222 A CN104310222 A CN 104310222A
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- frequency converter
- fixed pulley
- reel
- plc
- platform
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/01—General aspects of mobile cranes, overhead travelling cranes, gantry cranes, loading bridges, cranes for building ships on slipways, cranes for foundries or cranes for public works
Abstract
The invention discloses a gantry crane with a function of four-point balance control. The gantry crane comprises four hoisting mechanisms and four fixed pulley trolleys, wherein each fixed pulley trolley is provided with a fixed pulley block, a movable pulley block connected with the fixed pulley block in a winding way by a steel wire rope, and a lifting hook fixed on the movable pulley block; each fixed pulley trolley is provided with the corresponding hoisting mechanism, and also comprises a programmable logic controller (PLC); each hoisting mechanism comprises a driving winding drum, a speed reducer used for driving the driving winding drum, and a motor matched with the speed reducer; each motor is driven by a frequency converter; one of the frequency converters is taken as a mainframe frequency converter, and other frequency converters are taken as slave frequency converters; each motor is provided with a rotating speed encoder, and signals output by the rotating speed encoders are respectively fed back into the frequency converters used for driving the corresponding motors; each fixed pulley trolley is provided with a pull rope displacement sensor; the signals are output into PLCs by the pull rope displacement sensors; the signals are output into the frequency converters by the PLCs. The gantry crane is capable of guaranteeing synchronous lifting of four lifting points, and accurately controlling the balance of the four lifting points.
Description
Technical field
The present invention relates to a kind of weight-lifting equipment, the gauntry crane of particularly a kind of 4, band balance control.
Background technology
At present, because equipment manufacture industry is constantly towards large scale development, on-the-spot Installation and Debugging need to rent large lifting equipment, somewhat expensive.Along with the market share of Heavy Product is increasing, many heavy-duty machine manufacturers all wish the large-scale lifting mounting equipment having oneself, with complete Heavy Product in factory and the installation at scene, debugging, and require crane safety, stable, reliable, to operate steadily, accurately, be convenient to dismounting, transport, and can Reusability at random.
hoisting cranelifting mechanism is the basic composition of any hoisting crane, and it is used for realizing the rise and fall of article.The quality of lifting mechanism work will directly affect the serviceability of whole hoisting crane.Crane hoisting mechanism, usually (electrical motor is comprised by hoisting mechanism, drg, retarder, reel), fixed pulley group, lifting hook pulley group, steel rope group, steel rope and end are fixed and balancing device composition, four-point lifting hoisting crane is generally installed concentratedly lifting mechanism on one or two crane carriages, the form of suspension centre also has two kinds, one is that four suspension centres are separate, the situation only having three suspension centre carryings will inevitably be there is in this, the design load of winch and steel rope system is caused to be multiplied, another kind is two suspension centres of side in four suspension centres is do not have mutually associated independent suspension centre, two suspension centres of opposite side are with equalizer pulley and the compensating bar balance suspension centre as balancing device, i.e. so-called " four-point hoisting three-point balancing ".The transfer crane of hoisting large-size equipment, also claims gauntry crane, if its four-point lifting adopts independently suspension centre, excessive diff-H can make the load deflections of four suspension centres strengthen, and the precision that hoists reduces, and easily exceedes the safety weight of steel rope; If adopt balance suspension centre, if make the words of balancing device with compensating bar, meeting is out of reach counterbalance effect because compensation stroke is short, if do balancing device with equalizer pulley, the uncontrollable rope capacity by equalizer pulley again, may occur that a suspension centre is at vertex, another suspension centre is cisco unity malfunction in nadir.
Summary of the invention
The present invention provides the gauntrys crane that a kind of 4, band balance controls for solving in known technology the technical matters that exists.
The technical scheme that the present invention takes for the technical matters existed in solution known technology is: the gauntrys crane that a kind of 4, band balance controls, comprise four hoisting mechanisms and four fixed pulley dollies, described in every platform, fixed pulley dolly is provided with fixed pulley group, the running block be intertwined and connected by steel rope and fixed pulley group and the suspension hook be fixed on running block, fixed pulley dolly described in every platform configures a hoisting mechanism, also comprise PLC, described each hoisting mechanism comprises initiatively reel, the reductor driving initiatively reel and the motor coordinated with reductor, described in every platform, motor is by transducer drive, wherein a described frequency converter is as main frame frequency converter, frequency converter described in all the other is as from machine frequency converter, described main frame frequency converter and to be describedly electrically connected from machine frequency converter, described in every platform, motor is equipped with rotating speed coder, described rotating speed coder output signal feeds back to the frequency converter driving this motor, described in every platform, fixed pulley dolly is equipped with displacement sensor for pull rope, and described displacement sensor for pull rope output signal feeds back to described PLC, and described PLC outputs signal to described frequency converter.
The present invention can also adopt following technical scheme:
Also comprise 2 balancing trolleys, balancing trolley described in every platform is provided with a set of compensation reel, wirerope-winding is on described compensation reel and draw respectively from the two ends of described compensation reel, fixed pulley group on every one end steel rope and a fixed pulley dolly and running block are wound around, and then are wrapped in after on described active reel fixing; The compensation reel of every platform balancing trolley is equipped with reel displacement coder, and described reel displacement coder output signal feeds back to described PLC.
The both sides of each described compensation reel are provided with limit switch, and described limit switch output signal feeds back to described PLC.
Also comprise fieldbus, described displacement sensor for pull rope is all connected with described PLC with described frequency converter by described fieldbus with described reel displacement coder.
Also comprise man-machine interface, communicate between described PLC and described man-machine interface.
Also comprise combined aural and visual alarm, described PLC outputs signal to described combined aural and visual alarm.
Described main frame frequency converter is speeds control frequency converter, described from machine frequency converter be direct torque frequency converter.
Fixed pulley dolly described in every platform is provided with two cover fixed pulley groups and two cover running blocks; Steel rope is wound around form with symmetry and is wrapped on described two cover fixed pulley groups and described two cover running blocks.
Described four hoisting mechanisms are mounted in pairs on the cross sill of door frame, and described fixed pulley dolly is arranged on girder.
Described in every platform, the vehicle frame both sides of fixed pulley dolly are provided with anchoring device.
The advantage that the present invention has and good effect are: lifting mechanism adopts 4 groups of frequency converters to control 4 hoisting mechanisms that hoist respectively, every platform frequency converter all adopts closed-loop speed controlled reset, and wherein will do speeds control as main frame frequency converter by a frequency converter, all the other do direct torque as from machine frequency converter, can when starting working, an actual inside dtc signal can be produced during the load of main frame transducer drive, this dtc signal is inputed to do direct torque from machine frequency converter, also an onesize torque can be exported from machine frequency converter, the torque that such principal and subordinate's frequency converter exports is the same, the phenomenon of load maldistribution would not be there is, initially, the frequency signal of main frame frequency converter inputs to and limits as speed from machine frequency converter, therefore identical with the current running velocity of main frame frequency converter from the rate of onset of machine frequency converter.By master & slave control, coordinate synchronization, thus ensure that the lifting of 4 suspension centres is synchronous, accurately control the balance of four suspension centres; And adopt four stay cord displacement encoders to detect the lifting altitude of four suspension hooks in real time further, by the signal input PLC detected, the built-in comparator of PLC, in a comparator, using the stay cord displacement encoder detection signal on the fixed pulley dolly of main frame transducer drive as reference value, the signal that other stay cord displacement encoders detect compares with reference value respectively, the amplifiers such as PLC adoption rate integration carry out difference operation to incoming signal, output signal controls to carry out fine speed adjustment from machine frequency converter accordingly, improves the balance control accuracy of four suspension centres further; In addition adopt fieldbus transmission signal and the data such as Profibus in systems in which, hardware and erected cost can be saved, there is greater flexibility.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structural representation that displacement sensor for pull rope installed by fixed pulley dolly of the present invention;
Fig. 3 is the A direction view of Fig. 2;
Fig. 4 is the structural representation that reel displacement coder installed by compensation reel of the present invention.
In figure: 1, fixed pulley dolly; 2, balancing trolley; 3, reel is compensated; 4, fixed pulley group; 5, running block; 6, active reel; 7, suspension hook; 8, horizontally-guided pulley; 9, vertically-guided pulley; 10, displacement sensor for pull rope; 11, reel displacement coder.
Detailed description of the invention
For summary of the invention of the present invention, Characteristic can be understood further, hereby exemplify following examples, and coordinate accompanying drawing to be described in detail as follows:
Refer to Fig. 1 ~ Fig. 4, the gauntry crane that a kind of 4, band balance controls, comprise four hoisting mechanisms and four fixed pulley dollies 1, described in every platform, fixed pulley dolly 1 is provided with fixed pulley group 4, the running block 5 be intertwined and connected by steel rope and fixed pulley group 4 and the suspension hook 7 be fixed on running block 5, fixed pulley dolly 1 described in every platform configures a hoisting mechanism, each hoisting mechanism is through wirerope-winding, four suspension hooks 7 are driven to be elevated, also comprise PLC, described each hoisting mechanism comprises initiatively reel 6, the reductor driving initiatively reel 6 and the motor coordinated with reductor, described in every platform, motor is by transducer drive, wherein a described frequency converter is as main frame frequency converter, frequency converter described in all the other is as from machine frequency converter, described main frame frequency converter and to be describedly electrically connected from machine frequency converter, connect by communication buss such as fieldbuss, described in every platform, motor is equipped with rotating speed coder, described rotating speed coder output signal feeds back to the frequency converter driving this motor, described in every platform, fixed pulley dolly 1 is equipped with displacement sensor for pull rope 10, described displacement sensor for pull rope 10 output signal feeds back to described PLC, described PLC outputs signal to described frequency converter, control the work of described frequency converter, the synchronous interaction etc. of the start-stop of the exportable signal control of described PLC four described frequency converters, output frequency and four described frequency converters.Described in every platform, the vehicle frame both sides of fixed pulley dolly 1 can be provided with anchoring device.
Further, the present invention also can comprise 2 balancing trolleys 2, balancing trolley 2 described in every platform can be provided with a set of compensation reel 3, wirerope-winding is on described compensation reel 3 and draw respectively from the two ends of described compensation reel 3, fixed pulley group 4 on every one end steel rope and a fixed pulley dolly 1 and running block 5 are wound around, and then are wrapped in after on described active reel 6 fixing; The compensation reel 3 of every platform balancing trolley 2 all can be provided with reel displacement coder 11, and described reel displacement coder 11 output signal feeds back to described PLC.When four suspension hook 7 lifting altitude deviations are larger, the reel displacement coder 11 be arranged on dolly compensation reel 3 also can output signal to PLC, control signal can be sent by PLC, stop the output of all frequency converters, manually adjust again, to avoid suspension centre overbalance, there is the situation appearance that four stressed differences of lifting mechanism are larger; The both sides of each described compensation reel 3 all can be provided with limit switch, described limit switch output signal feeds back to described PLC, the detection of multiple suspension centre overbalance is carried out by arranging limit switch, control signal can be sent by PLC, stop the output of all frequency converters, more manually adjust, to avoid suspension centre overbalance, obtain duplicate protection, to avoid suspension centre overbalance, the situation appearance that four stressed differences of lifting mechanism are larger occurs; Described four hoisting mechanisms can be mounted in pairs on the cross sill of door frame, and described fixed pulley dolly 1 can be arranged on girder.
On the basis of the above, also can comprise fieldbus, described displacement sensor for pull rope is all connected with described PLC with described frequency converter by described fieldbus with described reel displacement coder.Pass through bus transmissioning data.Fieldbus can select the fieldbuss such as Profibus, CAN, and adopt the fieldbuss such as Profibus can save hardware and erected cost, system configuration has greater flexibility;
In addition, also can comprise man-machine interface, communicate between described PLC and described man-machine interface.Described PLC and described man-machine interface are all connected by described fieldbus or other communication buss, pass through bus transmissioning data.
The speed encoder of hoisting mechanism motor and the PG card of frequency converter form vector closed loop control.Reel displacement coder 11, stay cord displacement encoder 10 and frequency converter are connected with buses such as profibus by corresponding communication module, and mutually transmit data between PLC, man-machine interface, the present invention is by arranging man-machine interface and PLC carries out security monitoring management, man-machine interface is connected with PLC by bus, can in real time and PLC exchange message.PLC can the various signal such as electric current, voltage of each end position switch of Real-time Collection, motor speed coder, displacement sensor for pull rope 10, reel displacement coder 11 and frequency converter, and passing to man-machine interface, man-machine interface can show the various data of hoisting crane each several part (as height, load, running velocity, net cycle time etc.) and the information such as various defect content (comprising frequency converter internal fault) and trouble location visually.
Also can comprise combined aural and visual alarm, described PLC outputs signal to described combined aural and visual alarm.Such as described reel displacement coder 11 output signal feeds back to described PLC, comparator etc. is established in described PLC, described PLC processes incoming signal, calculate the difference from the input value of four reel displacement coders, and compare with a reference value of setting, when generation four suspension hook 7 lifting altitude deviations are larger, the difference of the input value of four reel displacement coders exceedes a reference value, then PLC sends alerting signal to described combined aural and visual alarm, audible and visible alarm is sent, prompting operator by described combined aural and visual alarm.
Above-described embodiment, can adopt with PLC is that the control system controlling hoisting mechanism running is built by control center, PLC can be set to upper computer, frequency converter and man-machine interface etc. are set to lower computer, PLC gathers the signal such as electric current, voltage of all detection signals and frequency converter, carry out accurate computing by innernal CPU, export the running of accurate Data Control frequency converter, and transfer data to man-machine interface and show.By the excellent operation interface of man-machine interface, various parameter be set and control button, sending to PLC, then by PLC through operation procedure, send signal control frequency converter, indicator lamp and other indicating members.Operating instruction and the speed preset of frequency converter are provided by communication modes by PLC, and PLC reads the parameter such as electric current, voltage, speed of frequency converter motor internal simultaneously, is shown by touch-screen.Could normal work after frequency converter differentiates the phase shortage of external circuit, under-voltage etc.When master controller back to zero, first frequency converter carries out electric braking by brake unit, detects motor speed simultaneously, when motor speed is close to zero-speed, brake, thus realize steadily stopping, now blower fan delay cut-off, namely ensures that electrical motor reliably cools, and avoids again blower fan repeatedly to start.Overheated to frequency converter failure, brake unit, hypervelocity, overload, the signal such as spacing are also input to that PLC carries out changing by circuit, computing, display, control.
By all right remote operation of data bus, by multistage joint control, accurately control the balancing lifting of four-point lifting gauntry crane.
Wherein, above-mentioned frequency converter can select closed loop vector control frequency converter, inside establishes comparator, amplifier, and described main frame frequency converter can be speeds control frequency converter, describedly can be direct torque frequency converter from machine frequency converter; Above-mentioned displacement sensor for pull rope 10 can adopt absolute value formula displacement sensor for pull rope; Above-mentioned reel displacement coder 11 can adopt absolute value formula displacement coder.
Further, fixed pulley dolly 1 described in every platform can be provided with two cover fixed pulley group 4 and two cover running blocks 5; Steel rope can adopt symmetrical winding form to be wrapped on described two cover fixed pulley groups 4 and described two cover running blocks 5.
Principle of work of the present invention: lifting mechanism adopts full digital ac variable frequency speed regulation scheme.Lifting mechanism adopts 4 groups of frequency converters to control 4 hoisting mechanisms that hoist respectively, every platform frequency converter all adopts closed-loop speed controlled reset, and will be wherein initial, the frequency signal of main frame frequency converter inputs to and limits as speed from machine frequency converter, therefore identical with the current running velocity of main frame frequency converter from the rate of onset of machine frequency converter.By master & slave control, coordinate synchronization, accurately controls the balance of four suspension centres, for ensureing four suspension centre synchronization liftings, while adopting master & slave control between four frequency converters, and adopt four stay cord displacement encoders to detect the lifting altitude of four suspension hooks in real time further, by the signal input PLC detected, the built-in comparator of PLC, in a comparator, using the stay cord displacement encoder detection signal on the fixed pulley dolly of main frame transducer drive as reference value, the signal that other stay cord displacement encoders detect compares with reference value respectively, PLC can carry out difference operation to incoming signal by the amplifier such as adoption rate integration, output signal to accordingly from the alignment circuit of machine frequency converter, make to finely tune from the output frequency of machine frequency converter at original frequency base, thus carry out fine speed adjustment, the balance control accuracy of further raising four suspension centres.Such as, the frequency converter of 1# active reel is driven to be set to main frame frequency converter, the value that the 1# stay cord displacement encoder then installed with the 1# 1# fixed pulley dolly that initiatively reel associates detects is reference value, if the value that 2# stay cord displacement encoder detects is greater than reference value, 2# initiatively reel associates with 2# fixed pulley dolly, then main frame frequency converter is according to difference output signal, make finely tuning from the corresponding reduction of the output frequency of machine frequency converter of driving 2# active reel, thus fine setting reduces the speed of 2# motor; On the contrary, if the value that 2# stay cord displacement encoder detects is less than reference value, then main frame frequency converter is according to difference output signal, makes finely tuning from the corresponding reduction of the output frequency of machine frequency converter of driving 2# active reel, thus fine setting improves the speed of 2# motor, adjusts in real time.When four suspension hook lifting altitude deviations are larger, the reel displacement coder be arranged on dolly compensation reel also can output signal to PLC, main frame frequency converter sends signal, stop the output of all frequency converters, manually adjust again, to avoid suspension centre overbalance, the larger situation appearance of four stressed differences of lifting mechanism occurs.By master & slave control, coordinate synchronization, thus ensure that the lifting of 4 suspension centres is synchronous, the balance of four suspension centres is accurately controlled; In addition adopt the fieldbuss such as Profibus can save hardware and erected cost in systems in which, there is greater flexibility; PLC, man-machine interface are set, the various detection signal of PLC concentrated collection can be utilized, send man-machine interface to and show, carry out manual regulation by man-machine interface, data arrange and state shows, handled easily human users.
Frequency converter adopts the heavy-load frequency converter being exclusively used in lifting mechanism, by coder velocity feedback composition closed-loop vector control system.Torque response is fast, and dynamic property is good.The run signal of frequency converter and speed preset can be provided by communication modes by PLC, and PLC reads the parameter such as electric current, voltage, speed of frequency converter motor internal simultaneously, is shown by touch-screen.Could normal work after frequency converter differentiates the phase shortage of external circuit, under-voltage etc.When master controller back to zero, first frequency converter carries out electric braking by brake unit, detects motor speed simultaneously, when motor speed is close to zero-speed, brake, thus realize steadily stopping, now blower fan delay cut-off, namely ensures that electrical motor reliably cools, and avoids again blower fan repeatedly to start.Overheated to frequency converter failure, brake unit, hypervelocity, overload, the signal such as spacing are also input to PLC by circuit.
The present invention is by arranging man-machine interface and PLC carries out security monitoring management, and when any fault appears in any position of the machine, associated mechanisms all can quit work automatically, has display and with sound and light alarm in man-machine interface simultaneously.Displaying contents comprises: defect content, trouble location (relevant components and parts item designation), so that the timely trouble-shooting of maintainer and keeping in repair.
Although be described the preferred embodiments of the present invention by reference to the accompanying drawings above; but the present invention is not limited to above-mentioned detailed description of the invention; above-mentioned detailed description of the invention is only schematic; be not restrictive; those of ordinary skill in the art is under enlightenment of the present invention; do not departing under the ambit that present inventive concept and claim protect, can also make a lot of form, these all belong within protection scope of the present invention.
Claims (10)
1. the gauntry crane of a band 4 balance controls, comprise four hoisting mechanisms and four fixed pulley dollies, described in every platform, fixed pulley dolly is provided with fixed pulley group, the running block be intertwined and connected by steel rope and fixed pulley group and the suspension hook be fixed on running block, fixed pulley dolly described in every platform configures a hoisting mechanism, it is characterized in that, also comprise PLC, described each hoisting mechanism comprises initiatively reel, the reductor driving initiatively reel and the motor coordinated with reductor, described in every platform, motor is by transducer drive, wherein a described frequency converter is as main frame frequency converter, frequency converter described in all the other is as from machine frequency converter, described main frame frequency converter and to be describedly electrically connected from machine frequency converter, described in every platform, motor is equipped with rotating speed coder, described rotating speed coder output signal feeds back to the frequency converter driving this motor, described in every platform, fixed pulley dolly is equipped with displacement sensor for pull rope, and described displacement sensor for pull rope output signal feeds back to described PLC, and described PLC outputs signal to described frequency converter.
2. the gauntry crane of 4, band according to claim 1 balance control, it is characterized in that, also comprise 2 balancing trolleys, balancing trolley described in every platform is provided with a set of compensation reel, wirerope-winding is on described compensation reel and draw respectively from the two ends of described compensation reel, fixed pulley group on every one end steel rope and a fixed pulley dolly and running block are wound around, and then are wrapped in after on described active reel fixing; The compensation reel of every platform balancing trolley is equipped with reel displacement coder, and described reel displacement coder output signal feeds back to described PLC.
3. the gauntry crane of 4, band according to claim 2 balance control, it is characterized in that, the both sides of each described compensation reel are provided with limit switch, and described limit switch output signal feeds back to described PLC.
4. the gauntry crane of 4, band according to claim 2 balance control, it is characterized in that, also comprise fieldbus, described displacement sensor for pull rope is all connected with described PLC with described frequency converter by described fieldbus with described reel displacement coder.
5. the gauntry crane of 4, band according to claim 1 balance control, is characterized in that, also comprise man-machine interface, communicate between described PLC and described man-machine interface.
6. the gauntry crane of 4, band according to claim 1 balance control, it is characterized in that, also comprise combined aural and visual alarm, described PLC outputs signal to described combined aural and visual alarm.
7. 4, band according to claim 1 balance control gauntry crane, it is characterized in that, described main frame frequency converter is speeds control frequency converter, described from machine frequency converter be direct torque frequency converter.
8. the gauntry crane of 4, band according to claim 1 balance control, is characterized in that, fixed pulley dolly described in every platform is provided with two cover fixed pulley groups and two cover running blocks; Steel rope is wound around form with symmetry and is wrapped on described two cover fixed pulley groups and described two cover running blocks.
9. the gauntry crane of 4, band according to claim 1 balance control, it is characterized in that, described four hoisting mechanisms are mounted in pairs on the cross sill of door frame, and described fixed pulley dolly is arranged on girder.
10. the gauntry crane of 4, band according to claim 1 balance control, it is characterized in that, described in every platform, the vehicle frame both sides of fixed pulley dolly are provided with anchoring device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410582895.4A CN104310222B (en) | 2014-10-27 | 2014-10-27 | Gantry crane with function of four-point balance control |
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| CN201410582895.4A CN104310222B (en) | 2014-10-27 | 2014-10-27 | Gantry crane with function of four-point balance control |
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| CN104310222A true CN104310222A (en) | 2015-01-28 |
| CN104310222B CN104310222B (en) | 2017-01-25 |
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| CN107337133A (en) * | 2017-08-15 | 2017-11-10 | 江苏领焰智能科技股份有限公司 | Switch board and Electric hoist system |
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| WO2023088449A1 (en) * | 2021-11-19 | 2023-05-25 | 徐州建机工程机械有限公司 | Multi-mechanism double-closed-loop master-slave synchronous control system for tower crane |
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| CN107337133A (en) * | 2017-08-15 | 2017-11-10 | 江苏领焰智能科技股份有限公司 | Switch board and Electric hoist system |
| CN108683384A (en) * | 2018-04-12 | 2018-10-19 | 深圳市海浦蒙特科技有限公司 | A lot of heavy frequency converter synchronisation control means and system |
| CN108683384B (en) * | 2018-04-12 | 2020-06-05 | 深圳市海浦蒙特科技有限公司 | Multi-hoisting frequency converter synchronous control method and system |
| CN109368504A (en) * | 2018-12-20 | 2019-02-22 | 辽宁忠旺机械设备制造有限公司 | The synchronous control system of 4 hoists |
| CN110333731A (en) * | 2019-07-01 | 2019-10-15 | 中煤第五建设有限公司 | A kind of sinking platform suspending system intelligent balance control device and method |
| CN113060681A (en) * | 2021-03-01 | 2021-07-02 | 中国长江电力股份有限公司 | Lifting device for large runner maintenance platform |
| WO2023088449A1 (en) * | 2021-11-19 | 2023-05-25 | 徐州建机工程机械有限公司 | Multi-mechanism double-closed-loop master-slave synchronous control system for tower crane |
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| CN104310222B (en) | 2017-01-25 |
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