CN104850049A - Hydraulic leveling intelligent control system - Google Patents
Hydraulic leveling intelligent control system Download PDFInfo
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- CN104850049A CN104850049A CN201510118713.2A CN201510118713A CN104850049A CN 104850049 A CN104850049 A CN 104850049A CN 201510118713 A CN201510118713 A CN 201510118713A CN 104850049 A CN104850049 A CN 104850049A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
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Abstract
The invention relates to a movable type vehicle hydraulic leveling intelligent control system, and belongs to the technical field of electrical automation control. According to the hydraulic leveling intelligent control system, in a centralized control distribution box, an input terminal of a programmable controller PLC is connected with control signals in a console control box, an output terminal of the programmable controller PLC is connected with a relay, and the relay is respectively connected with a control execution device, a power supply, and a power source. According to the hydraulic leveling intelligent control system, local and touch screen dual control can be realized, the level state of the system is displayed in real time, convenience is brought to detection and pressure-maintaining tests, the bearing weight is 25 tons, and the detection requirement can be met.
Description
Technical field
The present invention relates to a kind of hydraulic leveling intelligent control system, particularly relate to a kind of mobile vehicle-mounted hydraulic leveling intelligent control system, belong to technical field of automatic control.
Background technology
Mobile vehicle-mounted hydraulic leveling intelligent control system is used for the control system of performance test in hydraulic system in production, because product processes route is long, makes the levelness difficulty of HYDRAULIC CONTROL SYSTEM platform comparatively large, brings difficulty to car body general assembly.In order to ensure the smooth production of this product, the detection of indices to be carried out simultaneously before installing, and carry out loading simulation detection before dispatching from the factory again, for the properties test request of hydraulic system, having designed and developed the hydraulic intelligent levelling control system of this product.
Summary of the invention
The object of the present invention is to provide one can in the middle of production run, the hydraulic system of producing is carried out to the Performance Detection of substep, plateau levels degree is made to reach standard-required, the final serviceability of analog equipment can carry out the control system of all hydraulic control overflow, finally carry out a kind of hydraulic leveling intelligent control system of Coupled motion debugging.
Technical solution:
The present invention includes: centralized control panel box, it is characterized in that, in centralized control panel box, the input end of programmable controller PLC is connected with the control signal in operator's console control box, programmable controller PLC output terminal is connected with relay, and relay is connected with control performer, power supply and electrical source of power respectively.
The input end of described programmable controller PLC is connected with pressure switch and obliquity sensor respectively by load module.
Described control performer comprises: A.C. contactor, motor, solenoid valve, hydraulic pump, pilot lamp.
Described pilot lamp comprises Hydraulic Station working station indicator, pressure of support leg puts pilot lamp in place.
Described centralized control panel box can move at any time, with Hydraulic Station, hydraulic cylinder solenoid valve, sensor is connected by aviation plug, centralized control panel box is equipped with control panel, working mode selection switch control panel is equipped with, hydraulic power unit control knob, working station indicator, pressure of support leg puts in place pilot lamp, voltage table, reometer, emergency stop push button, box house is equipped with programmable controller PLC module, interchange-24v direct supply, three-phase power supply phase sequence protector, relay, A.C. contactor, mutual inductor, isolating switch, and I/O cable, vehicle body upper portion is equipped with workbench, platform is provided with vehicle mounted square cabin, Platform center is provided with obliquity sensor, A.C. contactor is connected with motor, touch-screen and Programmable Logic Controller plc carry out communication and demonstrate the angle of inclination of current platform in real time.
The control flow of Programmable Logic Controller plc of the present invention:
Connect electrical source of power, power supply in distribution control box in closed set, select working method, by working mode selection switch, select manual work mode, primer fluid press pump, after motor carries out Y-△ conversion, pilot lamp is lighted, after hydraulic system pressure is set up and reached scheduled pressure value, pressure indicator light is lighted, and carries out operation and selects; First selecting manual work mode, then carry out manually or soon stretching way choice: when selecting manual work mode, carrying out the independent extension and contraction control of 4 supporting legs of platform respectively, with on rear side of posture person for starting point is followed successively by 1-4 supporting leg counterclockwise.4 supporting legs are stretched out, when after certain supporting leg kiss the earth, bear pressure and reach preset value, corresponding pressure of support leg arrives pilot lamp and lights, decontroling button stops supporting leg stretching out, after making 4 pressure of support leg pilot lamp light respectively, the kiss the earth while of illustrating that 4 supporting legs are, and bear identical constant-pressure;
Or press and manually stretch button soon, 4 supporting legs are stretched out simultaneously, when reaching set pressure, 4 pressure arrive pilot lamp and light, decontrol and manually stretch button soon, then check each supporting leg whether stretch out and oil cylinder whether abnormal, after normal condition, again press and manually stretch button soon, platform and integrally is risen, when wheel leaves ground certain altitude, decontrol and manually stretch button soon, platform stops rising fast, at this moment, select automatic operation mode, control method is as follows: press automatic leveling button, Programmable Logic Controller plc system enters the automatic adjusting stage, at this moment the real-time level inclination situation of touch-screen display current platform, obliquity sensor and Programmable Logic Controller plc system carry out communication, program scans, the simulating signal of obliquity sensor input enters plc internal processes and carries out computing, by conversion and the logical operation of analog quantity, first calculate the side-play amount of x-axis, and carry out stretching out and withdrawal of the different supporting leg of x-axis by digital output module, when x-axis numerical value is greater than prescribed skew, No. 3 supporting legs stretch out, No. 1 supporting leg is regained, when x-axis numerical value is less than prescribed skew value, No. 1 supporting leg stretches out, No. 3 supporting legs are regained, x-axis deviation is finally made to enter in setting value, stop the output of x-axis, then the adjustment action of y-axis is carried out, first calculate the side-play amount of y-axis, and carry out stretching out and withdrawal of the different supporting leg of y-axis by digital output module, when y-axis numerical value is greater than prescribed skew, No. 4 supporting legs stretch out, No. 2 supporting legs are regained, when y-axis numerical value is less than prescribed skew value, No. 2 supporting legs stretch out, No. 4 supporting legs are regained, y-axis deviation is finally made to enter in setting value, stop the output of y-axis, then the unified adjustment of x y-axis is carried out, the relatively side-play amount of x y-axis, when the side-play amount of x-axis is greater than the side-play amount of y-axis, separately x-axis is finely tuned, when the side-play amount of y-axis is greater than the side-play amount of x-axis, separately x-axis is finely tuned, platform is finally made to enter horizontality, side-play amount is different as requested, can set in a program, this example is set as ± 0.5 degree, the current angular inclination value of touch-screen display current platform X-axis and Y-axis simultaneously, can directly reflect current platform state,
Or control knob operating function is integrated into touch panel, and arrange multiple control page on the touchscreen, and carry out two places control, control method is the same;
When being chosen as automatic leveling and controlling, by the Programmable Logic Controller plc programmed control interface on centralized control panel box, on connection control cable and moving control cable and touch-screen, control method is the same, realize two ore control that is local and touch-screen, and the horizontality of real-time display platform, platform bearer weight is 25 tons.
The advantage that the present invention brings is as follows:
1) hydraulic system of the present invention is installed on and automobile chassis is sent to strange land carries out general assembly and coordinate other production unit to carry out combined debugging, so the detection of parameters should be carried out before entrucking, carry out assembling with chassis and platform afterwards and carry out loading and debug simultaneously, guarantee normally carrying out of Web assembly.This control system mobility strong, connect owing to adopting interface, can move by motor-driven carrying out, single cylinder, multi-cylinder, interlock, long time loading pressurize and high/low temperature can be realized detect, achieve limit and produce frontier inspection survey, the job requirement of limit debugging, can the Timeliness coverage problem of parts of producing improvement of production process, improves production efficiency and ensure that manufacturing schedule.
2) this system can complete hydraulic system pumping plant Motor Control, each solenoid valve ability controlling each action in situation that works independently has powerful logical operation capability, the occasion of technological requirement complexity can be adapted to, and the change in program can be carried out according to different needs, when job requirement changes, must not change outside line, the order change of action can be realized.
3) this system can realize the two ore control of this locality and touch-screen, and the horizontality of real-time display system, bring conveniently to detection and pressurize test, load capacity 25 tons, can reach testing requirement.
4) this intelligent control system self is with overload protection function; when input end electric current is excessive; can stop exporting; its carrying load ability is strong simultaneously; inner output is contactless output; avoid the fault that loose contact and excess current cause, mission life is more than 200,000 hours, stable and reliable for performance.
5) this intelligent control system programming and in-site installation can separately carry out, and in earlier stage can carry out establishment and the debugging of program, carry out analog demenstration with computing machine, enter on-the-spot rear directly adjustment parameter; When changing job order according to actual conditions in addition, only need the program in controller be changed.
Accompanying drawing explanation
Fig. 1 is structural schematic block diagram of the present invention;
Fig. 2 is that hydraulic power unit of the present invention starts transfer principle figure:
Fig. 3 is hydraulic power unit control principle drawing of the present invention;
Fig. 4 is step control of the present invention and protection input schematic diagram;
Fig. 5 is programmable controller PLC module frame chart of the present invention;
Fig. 6 is programmable controller PLC input wires schematic diagram of the present invention;
Fig. 7 is programmable controller PLC output connection schematic diagram of the present invention;
Fig. 8 is programmable controller PLC output connection schematic diagram of the present invention;
Fig. 9 is programmable controller PLC output connection schematic diagram of the present invention;
Figure 10 is programmable controller PLC analog quantity wiring schematic diagram of the present invention;
Figure 11 is program flow diagram of the present invention.
Embodiment:
With Hanyang automobile special-use chassis system example:
1. prepare before work
The present invention adopts S7-300 series Programmable logic Controller (PLC) PLC, and this controller has computing machine powerful logical operation function, communication function, self-diagnostic function, and self-contained load capacity.
2. hardware configuration and installation
Hanyang automobile special-use chassis one, programmable controller PLC-6ES7315-2AH14-0AB0 one, SM block 6ES7 6ES7 321-1BL00-0AA0 mono-, 6ES7322-1BH01-0AA0 mono-, 6ES7331-7KF02-0AB0 mono-, polyvinyl touch-screen 8 cun one, LCA328T-60-A1 current-output type double-shaft tilt angle sensor one, threephase asynchronous one (10KW/380v), Hydraulic Station and valve group a set of, 380/24V/1kw constant voltage dc source one, voltage table, reometer, each one of phase sequence relay, MPI communication cable one, data line one, Programme Line one, adapter one, host computer one, centralized control panel box one, pushbutton switch, selector switch, isolating switch, A.C. contactor, relay, pilot lamp, configure by schematic diagram.
According to Fig. 6, Programmable Logic Controller Plc system I/O address is allocated as follows:
Programmable Logic Controller Plc system configuration centralized control panel box, a direct supply, touch-screen, an obliquity sensor, Siemens Programmable Logic Controller plc, plc input, output module, Analog input mModule, relay, A.C. contactor, mutual inductor, isolating switch, guidance panel, button, pilot lamp and I/O cable are equipped with in centralized control panel box inside.The startup that can realize hydraulic power unit respectively stops, and the stretching out separately of each hydraulic cylinder, regains, and linkage work way choice, and the instruction of various state, is applied to different topography and geomorphology scenes.
Hydraulic power unit is installed and shelter afterbody, shelter and automobile chassis install, detection means obliquity sensor is arranged on Platform center point, overlap with X-axis Y-axis with platform diagonal line, executive component, and mark installs on platform, programmable controller PLC is fixed in electric cabinet, the input end of the programmable controller PLC in centralized control panel box is connected with control signal, programmable controller PLC output terminal is connected with relay, relay respectively with control performer, electrical source of power connects, analog input port and various control of programmable controller PLC select signal, command signal, feedback signal connects, in manual processes, control stretching out and withdrawal of each cylinder respectively, ground, height are as requested left in chassis and shelter entirety, after stopping, select automated manner, press automatic leveling button again, system enters automatic leveling state, after system enters the leveling precision of setting, output leveling indicates, and touch-screen shows the level inclination situation of change of current shelter in real time simultaneously, and level inclination sensor is installed and chassis is filled planar central point, x-axis y-axis overlaps with diagonal line respectively, can sense the change at the various operating position inclination angle of shelter,
3. debugging and operation
3.1 exact connect ion controllers and hydraulic power unit, valve group, obliquity sensor, electrical source of power, direct supply, check controlled system, after correct, energising is observed, decontrol emergency stop switch, primer fluid press pump after normal, after hydraulic pressure Y-△ has started, ready indicator is lighted, and can enter mode of operation;
3.2 debugging control processes
1) Non-follow control is selected;
2) pin cylinder one respectively successively, cylinder two, cylinder three, cylinder four stretch out button, observe cylinder one, whether cylinder two, cylinder three, cylinder four stretch out supporting leg process not in contact with the ground normal, pin cylinder one more respectively successively, cylinder two, cylinder three, cylinder four regain button, whether process regained by observation cylinder one, cylinder two, cylinder three, cylinder four normal, carries out further preliminary work;
3) again pin cylinder one respectively successively, cylinder two, cylinder three, cylinder four stretch out button, when the pressure of each cylinder put in place pilot lamp light time, stopping is stretched out, measure cylinder one, cylinder two, cylinder three, cylinder four extension elongation, this state is the critical conditions of supporting leg kiss the earth, then pin cylinder one respectively successively, cylinder two, cylinder three, cylinder four stretch out button, observe cylinder one, cylinder two, cylinder three, whether cylinder four load process of stretching out normal, make car body and shelter liftoff, observe car body and shelter raised configuration;
4) estimate shelter and rise rear certain altitude, if there is requirement for height, carry out rising and measuring according to height rise value, then stop stretching out, select linkage work mode, press automatic leveling button, system carries out automatic leveling state, and carry out stretching out or regaining according to the control that program carries out each supporting leg, final arrival shelter whole machine balancing, can observe the horizontality of now shelter intuitively by touch-screen, accuracy value can oneself set, obtain different according to accuracy value, system can complete leveling work in 2-5 minutes;
5) system carries out pressurize detection, register system force value, shelter level inclination number of degrees word, and carries out timing pressurize on request, then compares the situation of change of force value before and after pressurize and the situation of change at shelter inclination angle;
6) after the dwell time completes, carry out the detection of outward appearance, and record every data record, start pressure release, the analysis improving further carrying out system stability improves;
3. the course of work
1) after powering on, system enters initialization, then enters wait command and selects working method;
2) hydraulic motor is started, and detection system pressure, after pressure reaches, feedback standby ready signal;
3) if select manual work mode, system enters manual process, and carries out the independent control of each supporting leg respectively according to input instruction, carries out the elementary adjustment in position when manual work mode is generally used for improper road surface and debugging;
4) select linked manner, system carries out synchronously stretching out and regaining of four supporting legs according to steering order;
5) after ground is left on shelter and chassis, play the situation of rising according to reality, stop hoisting, select automatic operation mode and press automatic leveling button;
6) system enters automatic leveling duty, import angle analog signals by Programmable Logic Controller plc into according to obliquity sensor and carry out conversion union, with X-axis input signal for benchmark, the supporting leg first carried out in X-axis carries out level and compares, carry out the output control signal of digital quantity, and then conversion union is carried out to the signal value of Y input shaft analog quantity, carry out the output control signal of digital quantity, drive the solenoid valve of each supporting leg, and constantly compare, computing, export, the cycle control of feedback, until mutual difference reaches within the scope of angular error, just stop exporting, in the process, Programmable Logic Controller plc and touch-screen carry out data communication, show the X-axis Y-axis horizontality of current shelter,
7) in working order, press arbitrary scram button, system can quit work immediately;
8) this system has short-circuit protection, overload protection, and storage battery, power supply indicate, electric motor starting and change complete instruction.Long-distance Control can observe on-the-spot working environment;
9) touch-screen as requested, can complete all control knob functions, but need multiple picture to carry out configuration, mainly carries out the monitoring display at real-time inclination angle in this example, and the communication of obliquity sensor, and main pump motor has phase sequence, overload, short-circuit protection.
Claims (6)
1. mobile vehicle-mounted hydraulic leveling intelligent control system, comprise: centralized control panel box, it is characterized in that, in centralized control panel box, the load module end of programmable controller PLC is connected with the control signal of centralized control panel box guidance panel, the output module end of programmable controller PLC is connected with relay, and relay is connected with control performer, power supply and electrical source of power respectively.
2. mobile vehicle-mounted hydraulic leveling intelligent control system according to claim 1, is characterized in that, the input end of described programmable controller PLC is also connected with pressure switch and obliquity sensor respectively by load module.
3. mobile vehicle-mounted hydraulic leveling intelligent control system according to claim 1, is characterized in that, controls performer and comprises: A.C. contactor, motor, solenoid valve, hydraulic pump, pilot lamp.
4. mobile vehicle-mounted hydraulic leveling intelligent control system according to claim 1, it is characterized in that, described pilot lamp comprises Hydraulic Station working station indicator, pressure of support leg puts pilot lamp in place.
5. mobile vehicle-mounted hydraulic leveling intelligent control system according to claim 1, it is characterized in that: centralized control panel box can move at any time, with Hydraulic Station, hydraulic cylinder solenoid valve, sensor is connected by aviation plug, centralized control panel box is equipped with control panel, control panel comprises: working mode selection switch, hydraulic power unit control knob, working station indicator, pressure of support leg puts in place pilot lamp, voltage table, reometer, emergency stop push button, parts are established to comprise in centralized control panel box: programmable controller PLC module, interchange-24v direct supply, three-phase power supply phase sequence protector, relay, A.C. contactor, mutual inductor, isolating switch, and I/O cable, vehicle body upper portion is equipped with workbench, Platform center is provided with obliquity sensor, platform is provided with vehicle mounted square cabin, A.C. contactor is connected with motor, touch-screen and Programmable Logic Controller plc carry out communication and demonstrate the angle of inclination of current platform in real time.
6. mobile vehicle-mounted hydraulic leveling intelligent control system according to claim 1, is characterized in that: the control flow of Programmable Logic Controller plc:
Connect electrical source of power, power supply in distribution control box in closed set, select working method, by working mode selection switch, select manual work mode, primer fluid press pump, after motor carries out Y-△ conversion, pilot lamp is lighted, after hydraulic system pressure is set up and reached scheduled pressure value, pressure indicator light is lighted, and carries out operation and selects; First selecting manual work mode, then carry out manually or soon stretching way choice: when selecting manual work mode, carrying out the independent extension and contraction control of 4 supporting legs of platform respectively, with on rear side of posture person for starting point is followed successively by 1-4 supporting leg counterclockwise; 4 supporting legs are stretched out, when after certain supporting leg kiss the earth, bear pressure and reach preset value, corresponding pressure of support leg arrives pilot lamp and lights, decontroling button stops supporting leg stretching out, after making 4 pressure of support leg pilot lamp light respectively, the kiss the earth while of illustrating that 4 supporting legs are, and bear identical constant-pressure;
Or press and manually stretch button soon, 4 supporting legs are stretched out simultaneously, when reaching set pressure, 4 pressure arrive pilot lamp and light, decontrol and manually stretch button soon, then check each supporting leg whether stretch out and oil cylinder whether abnormal, after normal condition, again press and manually stretch button soon, platform and integrally is risen, when wheel leaves ground certain altitude, decontrol and manually stretch button soon, platform stops rising fast, at this moment, select automatic operation mode, control method is as follows: press automatic leveling button, Programmable Logic Controller plc system enters the automatic adjusting stage, at this moment the real-time level inclination situation of touch-screen display current platform, obliquity sensor and Programmable Logic Controller plc system carry out communication, program scans, the simulating signal of obliquity sensor input enters plc internal processes and carries out computing, by conversion and the logical operation of analog quantity, first calculate the side-play amount of x-axis, and carry out stretching out and withdrawal of the different supporting leg of x-axis by digital output module, when x-axis numerical value is greater than prescribed skew, No. 3 supporting legs stretch out, No. 1 supporting leg is regained, when x-axis numerical value is less than prescribed skew value, No. 1 supporting leg stretches out, No. 3 supporting legs are regained, x-axis deviation is finally made to enter in setting value, stop the output of x-axis, then the adjustment action of y-axis is carried out, first calculate the side-play amount of y-axis, and carry out stretching out and withdrawal of the different supporting leg of y-axis by digital output module, when y-axis numerical value is greater than prescribed skew, No. 4 supporting legs stretch out, No. 2 supporting legs are regained, when y-axis numerical value is less than prescribed skew value, No. 2 supporting legs stretch out, No. 4 supporting legs are regained, y-axis deviation is finally made to enter in setting value, stop the output of y-axis, then the unified adjustment of x y-axis is carried out, the relatively side-play amount of x y-axis, when the side-play amount of x-axis is greater than the side-play amount of y-axis, separately x-axis is finely tuned, when the side-play amount of y-axis is greater than the side-play amount of x-axis, separately x-axis is finely tuned, platform is finally made to enter horizontality, side-play amount is different as requested, can set in a program, this example is set as ± 0.5 degree, the current angular inclination value of touch-screen display current platform X-axis and Y-axis simultaneously, can directly reflect current platform state,
Or control knob operating function is integrated into touch panel, and arrange multiple control page on the touchscreen, and carry out two places control, control method is the same;
When being chosen as automatic leveling and controlling, by the Programmable Logic Controller plc programmed control interface on centralized control panel box, on connection control cable and moving control cable and touch-screen, control method is the same, realize two ore control that is local and touch-screen, and the horizontality of real-time display platform, platform bearer weight is 25 tons.
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106629486A (en) * | 2017-01-14 | 2017-05-10 | 山东职业学院 | Hydraulic automatic balancing control system based on PLC |
| CN107585270A (en) * | 2016-07-18 | 2018-01-16 | 左迁 | Ship sound control device and ship sound control system |
| CN108536081A (en) * | 2018-02-12 | 2018-09-14 | 上海外高桥造船有限公司 | A kind of electric-control system of large size multifunction hydraulic workbench peculiar to vessel |
| CN110843738A (en) * | 2019-11-19 | 2020-02-28 | 江西江铃集团特种专用车有限公司 | Voice-assisted hydraulic support leg leveling system |
| CN110968032A (en) * | 2019-12-18 | 2020-04-07 | 河北高达预应力科技有限公司 | Self-balancing algorithm |
| CN111273702A (en) * | 2020-03-02 | 2020-06-12 | 明峰医疗系统股份有限公司 | Cabin body automatic leveling device of shelter CT and control method |
| CN111399482A (en) * | 2020-03-30 | 2020-07-10 | 成都零启自动化控制技术有限公司 | Fault real-time detection system and method for vehicle control leveling |
| CN112477732A (en) * | 2020-12-21 | 2021-03-12 | 中国电子科技集团公司第三十八研究所 | Environment self-adaptive electromechanical vehicle-mounted platform leveling system and method |
| CN113096501A (en) * | 2021-03-03 | 2021-07-09 | 安徽电子信息职业技术学院 | PLC experimental device based on industrial Internet of things and application thereof |
| CN115645792A (en) * | 2022-10-31 | 2023-01-31 | 徐工消防安全装备有限公司 | Pump accuse work platform leveling system and aerial ladder fire engine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107585270A (en) * | 2016-07-18 | 2018-01-16 | 左迁 | Ship sound control device and ship sound control system |
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| CN111273702B (en) * | 2020-03-02 | 2024-05-31 | 明峰医疗系统股份有限公司 | Cabin body automatic leveling device of square cabin CT and control method |
| CN111399482A (en) * | 2020-03-30 | 2020-07-10 | 成都零启自动化控制技术有限公司 | Fault real-time detection system and method for vehicle control leveling |
| CN112477732A (en) * | 2020-12-21 | 2021-03-12 | 中国电子科技集团公司第三十八研究所 | Environment self-adaptive electromechanical vehicle-mounted platform leveling system and method |
| CN112477732B (en) * | 2020-12-21 | 2022-01-07 | 中国电子科技集团公司第三十八研究所 | Environment self-adaptive electromechanical vehicle-mounted platform leveling system |
| CN113096501A (en) * | 2021-03-03 | 2021-07-09 | 安徽电子信息职业技术学院 | PLC experimental device based on industrial Internet of things and application thereof |
| CN115645792A (en) * | 2022-10-31 | 2023-01-31 | 徐工消防安全装备有限公司 | Pump accuse work platform leveling system and aerial ladder fire engine |
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Application publication date: 20150819 |