CN105607630A - Self-checking method and device for checking initial state of electro-hydraulic control system of hydraulic support for coal mines - Google Patents
Self-checking method and device for checking initial state of electro-hydraulic control system of hydraulic support for coal mines Download PDFInfo
- Publication number
- CN105607630A CN105607630A CN201610168185.6A CN201610168185A CN105607630A CN 105607630 A CN105607630 A CN 105607630A CN 201610168185 A CN201610168185 A CN 201610168185A CN 105607630 A CN105607630 A CN 105607630A
- Authority
- CN
- China
- Prior art keywords
- hydraulic support
- current
- action
- control system
- self
- 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
Classifications
-
- 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
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
-
- 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
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
- G05B23/0275—Fault isolation and identification, e.g. classify fault; estimate cause or root of failure
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Fluid-Pressure Circuits (AREA)
- Testing And Monitoring For Control Systems (AREA)
Abstract
The invention discloses a self-checking method and device for checking the initial state of an electro-hydraulic control system of a hydraulic support for coal mines. The method comprises: acquiring a self-checking instruction, and triggering an operation of acquiring current hydraulic support parameters according to the self-checking instruction; generating an action sequence according to the current hydraulic support parameters, and controlling the current hydraulic support to sequentially execute actions satisfying the execution condition according to the action sequence within the set time length; acquiring detection data of a sensor, and determining whether the electro-hydraulic control system corresponding to the current hydraulic support is normal by judging whether the detection data satisfies the set change law. The invention provides a self-checking mode for checking the initial state of an electro-hydraulic control system of a hydraulic support for coal mines, thus achieving the effects of improving the self-checking efficiency and reducing the labor intensity of workers.
Description
Technical field
The embodiment of the present invention relates to a kind of system mode self-checking, relates in particular to a kind of coal-mine hydraulic supportElectrohydraulic control system init state self checking method and device.
Background technology
Hydraulic support electrohydraulic control system is the key technology equipment of realizing coal mine fully-mechanized mining working high-yield and high-efficiency.By hydraulic support electrohydraulic control system, original operation is manually become to electric liquid and automatically control, Neng GouyuEfficient coal-winning machine matches, and accelerates face propulsion speed, significantly improves the production efficiency of coal-face.
Conventional hydraulic support electrohydraulic control system comprises controller, driver, some sensors and electromagnetismThe devices such as valve. In program the inside, each input/output interface of driver and corresponding magnetic valve correspondence.In the time that reality connects, each input/output interface of driver is connected with corresponding magnetic valve by cable,The upper and lower chamber of main valve and each hydraulic cylinder is connected. Hydraulic support electrohydraulic control system at a working face is firmWhen just arranging, need manually operation control one by one, whether the action of checking current execution is and actualCorresponding, and then judge whether wrong line, or judge whether sensor normally works, or judge liquid-way systemWhether normal. A common working face has the controller of 150 left and right, 20 left and right of a controller controlAction, namely need to confirm 3000 actions. And changing after driver, also need to confirm one by one to moveDo. The mode of operation of this manual confirmation, has the shortcomings such as operating time length, the duplication of labour.
Summary of the invention
The invention provides a kind of coal-mine hydraulic support electrohydraulic control system init state self checking method and device,So that a kind of new hydraulic support electrohydraulic control system init state self checking method to be provided, improve self-inspection efficiency,Reduce workman's labour intensity.
First aspect, the embodiment of the present invention provides a kind of coal-mine hydraulic support electrohydraulic control system initial shapeState self checking method, comprising:
Obtain self-checking command, trigger the operation of obtaining current hydraulic support parameter according to described self-checking command;
Generate action sequence according to described current hydraulic support parameter, according to the current liquid of described action sequence controlPress support to carry out successively the action that meets executive condition;
Obtain the detection data of sensor, by judging whether described detection data meet the Changing Pattern of setting,Determine that whether the electrohydraulic control system that current hydraulic support is corresponding is normal.
Second aspect, the embodiment of the present invention also provides a kind of coal-mine hydraulic support electrohydraulic control system initialState self-checking unit, this device comprises:
Support parameter acquiring unit, for obtaining self-checking command, obtains current according to described self-checking command triggeringThe operation of hydraulic support parameter;
Action execution unit, for generating action sequence according to described current hydraulic support parameter, according to describedThe current hydraulic support of action sequence control is carried out the action that meets executive condition successively;
Status determining unit, for obtaining the detection data of sensor, by whether judging described detection dataMeet the Changing Pattern of setting, determine that whether the electrohydraulic control system that current hydraulic support is corresponding is normal.
The present invention, by obtaining self-checking command, triggers and obtains current hydraulic support parameter according to described self-checking commandOperation. Generate action sequence according to described current hydraulic support parameter, work as according to described action sequence controlFront hydraulic support is carried out the action that meets executive condition successively. Then, obtain the detection data of sensor, logicalCross and judge that whether described detection data meet the Changing Pattern of setting, and determine the electric liquid that current hydraulic support is correspondingWhether control system is normal. The present invention solves in prior art and carries out electrichydraulic control system by manual operation controllerSystem init state detects, and the detection time causing is long, the problem of repeated labor, has realized and provides onePlant the coal-mine hydraulic support electrohydraulic control system init state self checking method of automation, reached and improved certainlyThe effect of inspection efficiency and reduction workman's labour intensity.
Brief description of the drawings
Fig. 1 a be a kind of coal-mine hydraulic support electrohydraulic control system original state in the embodiment of the present invention one fromThe flow chart of detecting method;
Fig. 1 b is a kind of coal-mine hydraulic support electrohydraulic control system original state in the embodiment of the present invention oneThe structural representation of electrohydraulic control system in self checking method;
Fig. 1 c be a kind of coal-mine hydraulic support electrohydraulic control system original state in the embodiment of the present invention one fromConnection layout between detecting method middle controller;
Fig. 2 be a kind of coal-mine hydraulic support electrohydraulic control system original state in the embodiment of the present invention two fromThe self-inspection flow chart of single hydraulic support in detecting method;
Fig. 3 be a kind of coal-mine hydraulic support electrohydraulic control system original state in the embodiment of the present invention three fromThe structural representation of checking device.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in further detail. Be understandable that, thisLocate described specific embodiment only for explaining the present invention, but not limitation of the invention. Also need in additionBe noted that for convenience of description, in accompanying drawing, only show part related to the present invention but not all knotStructure.
Embodiment mono-
The initial shape of a kind of coal-mine hydraulic support electrohydraulic control system that Fig. 1 a provides for the embodiment of the present invention oneThe flow chart of state self checking method, the present embodiment when just arranging hydraulic support electrohydraulic control system,Detect the whether normal situation of the initial connection status of described electrohydraulic control system and the duty of each parts,The method can be carried out by hydraulic support electrohydraulic control system original state self-checking unit. Described hydraulic supportElectrohydraulic control system original state self checking method specifically comprises the steps:
Step 110, obtain self-checking command, trigger and obtain current hydraulic support parameter according to described self-checking commandOperation.
Wherein, self-checking command comprises the numbering of the hydraulic support that need to carry out self-inspection, the life of triggering self-inspection operationMake, normal data threshold value and fault data corresponding with different faults etc. Owing to there being several liquid in crossheadingPressing support, can be each hydraulic support numbering in advance, and the numbering between each hydraulic pressure is stored in crossheadingHydraulic support monitoring system, or, be uploaded to tele-control system.
As shown in Figure 1 b, the critical piece of above-mentioned electrohydraulic control system comprises: controller, driver, pressureThe parts such as power sensor, stroke sensor, obliquity sensor, pressure switch and magnetic valve. Above-mentioned partsInstallation site can be: at the wall supporting mounted angle sensor of hydraulic support, stretch wall supporting amplitude or receipts to measureWall supporting amplitude. And, at top board, caving shield, connecting rod and floor installation obliquity sensor, to measure hydraulic pressureSupport height and the base plate Huo Yang inclination angle, inclination angle of bowing. And, in advancing jack the inside, stroke sensor is installed,To measure the receipts amplitude of stretching of pusher rod. And, in injection spray pipe serial connection pressure switch, have or not to measure injection spray pipePressure. And, at column cavity of resorption setting pressure sensor, to measure roof pressure size. Above-mentioned each biographySensor is all electrically connected (as being connected by cable, or connecting by wireless communication module) with controller, controlsDevice opens or cuts out by driver control magnetic valve, and then controls hydraulic support action. As shown in Fig. 1 c,The controller of each hydraulic support is all electrically connected (as connected by cable), can intercom mutually, and hydro-power pumpStand by the controller communication connection of hydraulic support monitoring system and hydraulic support.
Normal data threshold value refers to that electrohydraulic control system is in the time of normal condition, causes owing to carrying out certain actionThe excursion of the data that detect of sensor. For example, normal data can comprise: at current hydraulic supportingThe electrohydraulic control system of frame, in the time of normal condition, is controlled current hydraulic support execution and is fallen column operation, thereby,Cause the height of current hydraulic support to reduce. If the output pressure of hydro-power pump is certain, can detects and work asThe amplitude of the height minimizing per second of front hydraulic support, this amplitude is the normal data threshold value while falling post. And,In the electrohydraulic control system of current hydraulic support during in normal condition, control current hydraulic support and carry out to draw and slipOperation, thereby, cause the length of the pusher rod of current hydraulic support to reduce. If the output of hydro-power pump is pressedPower is certain, can detect the amplitude of the length minimizing per second of the pusher rod of current hydraulic support, and this amplitudeNormal data threshold value while slipping for drawing. And, in the electrohydraulic control system of current hydraulic support in normal shapeWhen state, control hydraulic support and carry out the operation of receipts wall supporting, thereby, cause the angle of wall supporting and top board to reduce. IfThe output pressure of hydro-power pump is certain, can detect the wall supporting of current hydraulic support and the angle of top board is everyThe amplitude that reduce second.
Fault data corresponding to different faults refers in the time that the situation of different faults appears in electrohydraulic control system, controlMaking current hydraulic support carries out certain and moves the excursion of data of corresponding sensor. For example, fault dataAnd corresponding fault type can comprise: the data of returning at the time span inner sensor of setting are all unchanged,Illustrate that sensor is not installed correctly or driver goes wrong to the line of magnetic valve. And sensor returnsThe Changing Pattern of data returning is that the Changing Pattern of data corresponding to the action contrary with current action conforms to,The reversal connection of hydraulic cylinder upper and lower cavity is described. And the excursion of the data that sensor returns exceeds normal data thresholdValue, illustrates that obliquity sensor may break down. And, if any the change of the data on other sensorThe Changing Pattern of the normal data threshold value that law is corresponding with current action conforms to, and illustrates that liquid road may wrong.
In the time that the controller of hydraulic support that will carry out self-inspection receives self-checking command, will carry out the liquid of self-inspectionPress support as current hydraulic support, obtain in the electrohydraulic control system of current hydraulic support that sensor returnsData, the data of returning described in analysis determine that the attitude of current hydraulic support (as bears pressure, working resistanceAnd impact on hydraulic support around etc.) and the parameter such as the impact of action on operating mode around.
Step 120, generate action sequence according to described current hydraulic support parameter, according to described action sequenceControl current hydraulic support and carry out successively the action that meets executive condition.
Wherein, action sequence refers to the order that current hydraulic support performs an action. In order not affect the appearance of supportState, and prevent that colliery is caving, when electrohydraulic control system adopts the execution of every kind of action of mode control of crawlBetween. The time span of setting can be determined by carrying out each response time of moving required magnetic valve and main valve.For example, while carrying out a certain action, in magnetic valve energising 0.5 second, the liquid Lu Caihui of main valve opens completely,At this moment the time of implementation of setting this action is 0.5 second.
Electrohydraulic control system, in the time controlling a certain action of hydraulic support execution, need to first be determined the execution of this actionWhether can affect other hydraulic support or cause the accidents such as rib is caving, if so, determine that this action does not meetExecutive condition, otherwise, determine that this action meets executive condition. For example, can be by the number of pressure sensorAccording to or the data of obliquity sensor determine whether the execution of this action can affect other hydraulic support or accidents caused.
Some hydraulic cylinders do not have sensor installation, and the situation that controller cannot its action of perception, so in acquiescenceIn situation, while automatically generating action sequence, can save the step that the action of this hydraulic cylinder execution is detected.Except non-artificial pressure setting, the action that this hydraulic cylinder is carried out is added in sequence.
For example, can be according to the attitude of the condition of construction of working face, hydraulic support and action to operating mode aroundThe arrangement mode of influence degree, generates action sequence automatically. A kind of possible action sequence is: spraying------setting prop---draws and slips that------receiving wall supporting---stretch wall supporting---receive side protect---stretches side and protect in pushing and sliding to fall post---lift the end. Arranging according to being of above-mentioned action sequence:
(1) spray top board, rib and conveyer state are not affected, can first element.
(2) the pressure sensor numerical value that top board detected is less than the current maximum pressure that can export of hydraulic power pumping plant,Think and can not cause the coal seam of top board to be caving by crawl column up-down. Then, then by obliquity sensorData judge the height of hydraulic support, detect that hydraulic support is in rising straight state completely, or hydraulic supportingThe height of frame, between peak and minimum, is carried out and is fallen post action, falls after post action complete,Carry out again setting prop action.
(3) the stroke value that the stroke sensor of pusher rod detected approaches zero, carries out to draw and slips action, is executingBecome to draw and slip after action, then carry out pushing and sliding action.
(4) the pressure sensor numerical value that wall supporting detected is less than the current maximum pressure that can export of hydraulic power pumping plant,Think that crawl wall supporting stretches receipts, can not cause being caving of rib. , then judge that obliquity sensor collects thenThe data at wall supporting inclination angle. The state (inclination angle approach 180 degree) of wall supporting in stretching detected, or detectingIn (inclination angle is between 0 to 180 degree) between straight configuration and recovery state, carry out receipts wall supporting moving to wall supportingDo, after complete receipts wall supporting action, then carry out and stretch wall supporting action.
(5) the inclination angle, base left and right that the adjacent frame in left and right detected does not approach dangerous value, thinks that crawl side protects notCan cause the adjacent frame in left and right to topple over danger. Then, judge approaching the expiring of stroke that now side is protected stroke sensorRange, carries out and receives side and protect action, protects after operation, then carry out and stretch side and protect action in complete receipts side.
(6) detect that roof pressure value is less than the current maximum pressure that can export of hydraulic power pumping plant, carries out and liftsEnd action.
In particular cases, if detect, roof pressure value is greater than the current maximum that can export of hydraulic power pumping plant and pressesPower, thinks to occur extremely, now, base is not performed an action, and is uploaded to hydraulic support after recording reasonMonitoring system, is judged whether to carry out by monitor staff.
Or the pressure sensor numerical value of wall supporting exceedes the current maximum that can export of hydraulic power pumping plant if detectPressure and be no more than support safety valve protection pressure, then judge the data at wall supporting inclination angle. If wall supporting is in completeFull recovery state, inclination angle approaches 0 degree, wall supporting is not performed an action or record reason to be uploaded to hydraulic supportingFrame monitoring system, is judged whether to carry out by monitor staff; Receive wall supporting otherwise first carry out, then carry out and stretch wall supporting.Or, detect that the pressure sensor data of wall supporting is greater than support safety valve protection pressure, think that receiving wall supporting movesWork can cause being caving of rib, wall supporting is not performed an action or record reason to be uploaded to hydraulic support monitoring systemSystem, is judged whether to carry out by monitor staff.
Or the pressure sensor numerical value of top board exceedes the current maximum that can export of hydraulic power pumping plant if detectPressure and be no more than support safety valve protection pressure, then judge the data of hydraulic support height. If hydraulic supportingFrame, in rising straight state completely, highly approaches peak, first falls post then setting prop. If hydraulic support placeIn reducing state completely, inclination angle height approaches minimum, and the post of not being antagonistic performs an action or records in reasonReach hydraulic support monitoring system, judged whether to carry out by monitor staff. Or, detect that the pressure of top board passesSensor data are greater than support safety valve protection pressure, think that falling post can cause being caving of top board coal seam, notColumn performs an action or records reason and is uploaded to hydraulic support monitoring system, is judged whether to hold by monitor staffOK.
Electrohydraulic control system, according to action sequence, judges current liquid according to the attitude of current hydraulic support and operating modePressure support meets the executive condition of current action, adopts the control mode of crawl, controls current hydraulic supportCarry out current action, and the time of implementation of described current action meets the time span of described setting.
Step 130, obtain the detection data of sensor, set by judging whether described detection data meetChanging Pattern, determine that whether the electrohydraulic control system that current hydraulic support is corresponding normal.
Wherein, the Changing Pattern of setting comprises normal data Changing Pattern or the fault data that sensor detectsChanging Pattern.
When the complete a certain action of electrohydraulic control system control hydraulic support, gather the now detection of sensorData. Described detection data are mated with the data that the Changing Pattern of described setting comprises. If current liquidPress each Changing Pattern that moves corresponding detection data of support all to match with the Changing Pattern of normal data,Think that voltage control system is normal. If when having the Changing Pattern that detects data in each action of fore-stockWith the action that the Changing Pattern of fault data matches, determine fault type according to matching result.
The technical scheme of the present embodiment, by obtaining self-checking command, triggers to obtain according to described self-checking command and works asThe operation of front hydraulic support parameter. Generate action sequence according to described current hydraulic support parameter, according to describedThe current hydraulic support of action sequence control is carried out the action that meets executive condition successively. Then, obtain sensorDetection data, by judging that whether described detection data meet the Changing Pattern of setting, and determine current hydraulic pressureWhether the electrohydraulic control system that support is corresponding is normal. The present invention solves in prior art by manual operation controllerCarry out the detection of electrohydraulic control system init state, and the detection time causing is long, the problem of repeated labor,Realize a kind of hydraulic support electrohydraulic control system of automation init state self checking method is provided, reachedImprove self-inspection efficiency and reduce the effect of workman's labour intensity.
On the basis of technique scheme, determine whether just electrohydraulic control system that current hydraulic support is correspondingAfter normal, preferably can also comprise: on the monitoring interface of hydraulic support monitoring system, show each electrichydraulic controlThe state of system judges conclusion. According to the rule of setting, described self-checking command is sent to adjacent hydraulic support,Or be separated by and set the shelf of quantity with current hydraulic support. The benefit arranging is like this that monitor staff only needs to seeSee on monitoring interface each moves corresponding state and judges conclusion with hydraulic support, can complete hydraulic supportingThe self-inspection of frame electrohydraulic control system, execution efficiency is higher, and convenient management, meanwhile, without operation one by one againController carries out self-inspection, has alleviated workman's labour intensity.
Embodiment bis-
Fig. 2 be a kind of coal-mine hydraulic support electrohydraulic control system original state in the embodiment of the present invention two fromThe self-inspection flow chart of single hydraulic support in detecting method. The technical scheme of the present embodiment is at the base of above-described embodimentOn plinth, describe the detection data of obtaining sensor in detail, set by judging whether described detection data meetChanging Pattern, determine that whether the electrohydraulic control system that current hydraulic support is corresponding normal, specifically comprise as followsStep:
Step 210, single hydraulic support receive after self-checking command, enter self-inspection state.
Step 220, read when attitude and the operating mode of hydraulic support that advance into self-inspection state, automatically generateAction sequence.
Electrohydraulic control system enters self-inspection state, reads the sensing data of the hydraulic support that needs self-inspection, passes throughAnalyze described sensing data, determine that the attitude of current hydraulic support (as is born pressure, working resistance and rightThe impact of hydraulic support around etc.) and move on the impact of operating mode around, and regulation is by same hydraulic cylinderTwo actions carrying out carry out that (for example, column can be carried out and fall the action of post and setting prop, falls post executing successivelyAfter, carry out immediately setting prop action, carry out immediate support when ensureing that balkstone or colliery are caving), can notSeparate. Accordingly, automatically generate the order that current hydraulic support performs an action.
Step 230, the definite current action that will carry out, judge whether current action meets executive condition, ifBe, perform step 240, if not, perform step 290.
The order performing an action according to current hydraulic support, determines the current action that will carry out. Again to currentThe data analysis that each sensor of hydraulic support gathers, determines and carries out current action to hydraulic support aroundWhether have impact, or whether carry out current action there is impact etc. to fully-mechanized mining working. For example: if pass throughThe data that obliquity sensor gathers, (the inclination angle, base left and right that analyzes the adjacent frame in left and right has approached dangerous valuesThe side that makes a movement is a little protected, and the adjacent frame in left and right just has the risk of toppling over), determine the operation that current offside protectsDo not meet executive condition. Or the data that gather by the pressure sensor of top board, analyze and work as front top plateThe pressure bearing is greater than support safety valve protection pressure, and now, falling column operation if carry out has the top board of causing coal seamBe caving, therefore, determine, the current column operation that falls does not meet executive condition.
The control mode of step 240, employing crawl, carries out current action.
Not affect the attitude of support and prevent that colliery is caving in order to reach, electrohydraulic control system employing crawlControl mode control electromagnetic valve work, and then, time of implementation of every kind of action controlled.
Step 250, after complete current action, read the detection data of corresponding sensor.
Hydraulic support executes after current action, and controller can read the detection data of each sensor.
Step 260, judge whether corresponding with the current action normal data threshold value of described detection data coupling,If so, perform step 290, if not, perform step 270.
Controller compares described detection data and default normal data threshold value, if described detection dataChanging Pattern meet the Changing Pattern of described normal data threshold value, perform step 290, otherwise, carry outStep 270.
For example: in the time that column operation falls in execution, pass by four inclination angles of top board, caving shield, connecting rod and baseSensor detects the number range of hydraulic support minimizing per second. If the numerical value of the hydraulic support minimizing per second detectingScope is mated with the default normal data threshold value that column operation is corresponding of falling, and performs step 290, otherwise, holdRow step 270.
In the time carrying out setting prop operation, by four obliquity sensor inspections of top board, caving shield, connecting rod and baseSurvey the number range of hydraulic support increase per second. If the number range of the hydraulic support increase per second detecting withDefault setting prop operates corresponding normal data threshold value coupling, performs step 290, otherwise, execution step270。
Draw and slip when operation in execution, detect by the stroke sensor of pusher rod the numerical value that pusher rod length reducesScope. If the number range that the pusher rod length detecting reduces is slipped and is operated corresponding pusher rod with default drawingNormal data threshold value coupling, perform step 290, otherwise, execution step 270.
In the time carrying out pushing and sliding operation, detect by the stroke sensor of pusher rod the numerical value that pusher rod length increasesScope. If the number range that the pusher rod length detecting increases operates corresponding pusher rod with default pushing and slidingNormal data threshold value coupling, perform step 290, otherwise, execution step 270.
In the time carrying out the operation of receipts wall supporting, detect the angle of wall supporting and top board by the obliquity sensor of wall supporting and top boardThe number range that degree reduces. If the number range that the angle of the wall supporting detecting and top board reduces and default receiptsWall supporting operates corresponding wall supporting and mates with the normal data threshold value of top board, performs step 290, otherwise, holdRow step 270.
In the time that wall supporting operation is stretched in execution, detect the angle of wall supporting and top board by the obliquity sensor of wall supporting and top boardThe number range that degree increases. If the number range that the angle of the wall supporting detecting and top board increases and default stretchingWall supporting operates corresponding wall supporting and mates with the normal data threshold value of top board, performs step 290, otherwise, holdRow step 270.
In the time that execution receipts side is protected operation, the stroke sensor that protects oil cylinder by side detects the number that oil cylinder length reducesValue scope. The number range that oil cylinder length reduces if detect is protected side corresponding to operation with default receipts side and is protected oilThe normal data threshold value coupling that cylinder length reduces, performs step 290, otherwise, execution step 270.
Stretch side in execution and protect when operation, the stroke sensor that protects oil cylinder by side detects the number that oil cylinder length increasesValue scope. The number range that oil cylinder length increases if detect is protected and is operated corresponding side and protect oil with the default side of stretchingThe normal data threshold value coupling that cylinder length increases, performs step 290, otherwise, execution step 270.
Lift when operation end in execution, detect by the obliquity sensor of base the number that the luffing angle of base increasesAccording to scope. If detect, the number range that the luffing angle of base increases operates the corresponding end with the default end of liftingThe normality threshold coupling that the seat angle of pitch increases, performs step 290, otherwise, execution step 270.
Step 270, judge the whether fault data coupling corresponding with default different faults of described detection data,If so, perform step 280, if not, perform step 290.
Wherein, fault data has reflected the Changing Pattern of different faults type. For example: fall column operation in executionTime, the height of hydraulic support detected by four obliquity sensors of top board, caving shield, connecting rod and baseUnchanged, the incorrect installation of sensor or the driver problem that is connected with to magnetic valve is described. If hydraulic supportingThe Changing Pattern of the height number of frame meets the Changing Pattern of setting prop operation, thinks and occurs setting prop and fall postHydraulic cylinder upper and lower cavity reversal connection fault. If it is just corresponding that the height number of hydraulic support exceedes the default column operation that fallsNormal threshold value, determines obliquity sensor fault. If there are other sensors to change, and when falling column operation hydraulic pressureThe Changing Pattern of support height data is consistent, and liquid road wrong is described.
In the time carrying out setting prop operation, by four obliquity sensor inspections of top board, caving shield, connecting rod and baseThe height that measures hydraulic support is unchanged, illustrate sensor do not have correct install or driver to the company of magnetic valveBe connected to problem. If the Changing Pattern of the height number of hydraulic support meets the Changing Pattern that falls column operation, recognizeFor there is setting prop and the hydraulic cylinder upper and lower cavity reversal connection fault of falling post. If it is default that the height number of hydraulic support exceedesSetting prop operate corresponding normality threshold, determine obliquity sensor fault. If there are other sensors to change,And the Changing Pattern of hydraulic support altitude information is consistent while operation with setting prop, liquid road wrong is described.
Draw and slip when operation in execution, detect that by the stroke sensor of pusher rod pusher rod length is unchanged,Represent that sensor is not installed correctly or driver is connected with problem to the line of magnetic valve. Push away if change to meetThe process of slipping, represents pushing and sliding and draws the hydraulic cylinder upper and lower cavity reversal connection of slipping. If the pusher rod of calculating changes longDegree exceedes to draw and slips normality threshold corresponding to operation, represents that the stroke sensor of pusher rod breaks down. IfThere is other sensor to change, and slip Changing Pattern corresponding to operation and meet with drawing, represent liquid road wrong.
In the time carrying out pushing and sliding operation, detect that by the stroke sensor of pusher rod pusher rod length is unchanged,Represent that sensor is not installed correctly or driver is connected with problem to the line of magnetic valve. Draw if change to meetThe process of slipping, represents pushing and sliding and draws the hydraulic cylinder upper and lower cavity reversal connection of slipping. If the pusher rod of calculating changes longDegree exceedes pushing and sliding and operates corresponding normality threshold, represents that the stroke sensor of pusher rod breaks down. IfThere is other sensor to change, and operate corresponding Changing Pattern with pushing and sliding and meet, represent liquid road wrong.
Receive wall supporting when operation carrying out, wall supporting and top board detected by the obliquity sensor of wall supporting and top boardAngle is unchanged, illustrates that sensor is not installed correctly or driver is connected with problem to the line of magnetic valve. IfAngle Changing Pattern meets the Changing Pattern of data while stretching wall supporting, and the hydraulic cylinder of wall supporting and receipts wall supporting is stretched in explanationUpper and lower cavity reversal connection. If detect that angle variation exceedes receipts wall supporting and operates corresponding normality threshold, represent to protectThe obliquity sensor of side or top board breaks down. If there is other sensor to change, and right with the operation of receipts wall supportingThe Changing Pattern of answering meets, and represents liquid road wrong.
In the time that execution receipts side is protected operation, the stroke sensor that protects oil cylinder by side detects that oil cylinder length is unchanged,Illustrate that sensor is not installed correctly or driver is connected with problem to the line of magnetic valve. If meet stretch side protect rightThe Changing Pattern of the data of answering, explanation is received side and is protected and stretch the hydraulic cylinder upper and lower cavity reversal connection that side is protected. If detectedExceed and receive side and protect normality threshold corresponding to operation to oil cylinder length, represent that side protects oil cylinder stroke sensor and occurFault. If there is other sensor to change, and protects Changing Pattern corresponding to operation and meet with receiving side, representLiquid road wrong.
Stretch side in execution and protect when operation, the stroke sensor that protects oil cylinder by side detects that oil cylinder length is unchanged,Illustrate that sensor is not installed correctly or driver is connected with problem to the line of magnetic valve. If it is right that satisfied receipts side is protectedThe Changing Pattern of the data of answering, explanation is received side and is protected and stretch the hydraulic cylinder upper and lower cavity reversal connection that side is protected. If detectedExceed and stretch side and protect normality threshold corresponding to operation to oil cylinder length, represent that side protects oil cylinder stroke sensor and occurFault. If there is other sensor to change, and protects Changing Pattern corresponding to operation and meet with stretching side, representLiquid road wrong.
In the time carrying out spray operation, by pressure switch detected pressures signal, examine by base obliquity sensorSurvey pitching inclination angle. If the pitching inclination angle of detected pressure signal and base is all unchanged, represent to driveDevice is connected with problem Huo Ye road to the line of magnetic valve and does not connect correctly. If pressure signal do not detected,And the variation at base pitching inclination angle meets the process at the end of lifting, represent spraying and lift the liquid pipe reversal connection at the end. IfOther sensor changes, and the Changing Pattern corresponding with spray operation meet, and represents liquid road wrong.
Lift when operation end in execution, because base is to lift end oil cylinder as fulcrum is toward hind wing, now, the bowing of baseFacing upward inclination angle increases, and, under certain hydraulic power pumping plant pressure, can determine that pitching per second inclination angle increasesAmplitude range. Detect the pitching inclination angle of base by base obliquity sensor. If the pitching inclination angle detectingUnchanged and the pressure signal of spraying do not detected, represent that sensor do not install correct or driverThe line malunion of magnetic valve is true. The pitching inclination angle that if the pressure signal of spraying detected and detect withoutChange, represent spraying and lift the liquid pipe reversal connection at the end. If exceeding, the pitching change of pitch angle detecting lifts end behaviourMake corresponding normality threshold, represent that the obliquity sensor of base breaks down. If there is other sensor to becomeChange, and operate corresponding Changing Pattern and meet with lifting the end, represent liquid road wrong.
Carry out aforesaid operations other action in addition if it should be noted that, also can be by corresponding sensingThe Changing Pattern of device and action, judges the problems such as sensor, wiring and liquid pipe fast.
The controller of hydraulic support judges the number of faults whether described detection data are corresponding with default different faultsAccording to coupling. If the match is successful, perform step 280, otherwise, execution step 290.
Step 280, determine fault type according to matching result.
The controller of hydraulic support is according to the matching result that detects the data fault data corresponding with different faults,Determine fault type.
Step 290, be uploaded to hydraulic support monitoring system.
The controller of hydraulic support by the analysis data upload to each action to hydraulic support monitoring system, realExisting workman only need watch from the monitoring screen of hydraulic support monitoring system the action effect of hydraulic support, withoutAgain by operate the mode of controller of each hydraulic support carry out each hydraulic support electrohydraulic control system fromInspection operation, has alleviated workman's labour intensity, the cost that saves time, convenient remote monitoring and management.
Embodiment tri-
Fig. 3 be a kind of coal-mine hydraulic support electrohydraulic control system original state in the embodiment of the present invention three fromThe structural representation of checking device. This device specifically comprises:
Support parameter acquiring unit 310, for obtaining self-checking command, triggers and obtains according to described self-checking commandThe operation of current hydraulic support parameter;
Action execution unit 320, for generating action sequence according to described current hydraulic support parameter, according toThe current hydraulic support of described action sequence control is carried out the action that meets executive condition successively;
Status determining unit 330, for obtaining the detection data of sensor, by judging described detection dataWhether meet the Changing Pattern of setting, determine that whether the electrohydraulic control system that current hydraulic support is corresponding is normal.
The technical scheme of the present embodiment, obtains self-checking command by support parameter acquiring unit 310, according to instituteState self-checking command and trigger the operation of obtaining current hydraulic support parameter. Adopt action execution unit 320 according to instituteState current hydraulic support parameter and generate action sequence, according to the current hydraulic support of described action sequence control successivelyExecution meets the action of executive condition. Then obtain the detection data of sensor by status determining unit 330,By judging that whether described detection data meet the Changing Pattern of setting, and determine the electricity that current hydraulic support is correspondingWhether liquid control system is normal. The present invention solves in prior art and carries out electrichydraulic control by manual operation controllerSystem initialization state-detection, and the detection time causing is long, the problem of repeated labor, has realized and providingA coal-mine hydraulic support electrohydraulic control system init state self checking method for automation, has reached raisingThe effect of self-inspection efficiency and reduction workman's labour intensity.
Further, described action execution unit 320 specifically for:
According to the sensor configuration of current hydraulic support, attitude, operating mode and action whether by same hydraulic cylinderCarry out, generate the execution sequence of the action corresponding with each function of described current hydraulic support.
Further, described action execution unit 320 specifically for:
If current hydraulic support meets the executive condition of current action, adopt the control mode of crawl, controlCurrent hydraulic support is carried out current action, and the time of implementation of described current action meets the time of described settingLength, wherein, described time span was determined by the response time of magnetic valve corresponding to current action and main valve;
If current hydraulic support does not meet the executive condition of current action, do not carry out described current action, noteRecord reason is also uploaded to hydraulic support monitoring system.
Further, described status determining unit 330 specifically for:
Normal data threshold value corresponding with current action described detection data is mated;
If the match is successful, upload parts corresponding to current action, circuit and liquid to hydraulic support monitoring systemRoad system is normal message all;
If mate unsuccessfully, fault data corresponding with default different faults described detection data is carried outCoupling, determines fault type according to matching result.
Further, also comprise:
Conclusion display unit, after determining that whether electrohydraulic control system corresponding to current hydraulic support be normal,The state that shows each electrohydraulic control system on the monitoring interface of hydraulic support monitoring system judges conclusion;
Instruction delivery unit, for being sent to adjacent hydraulic supporting according to the rule of setting by described self-checking commandFrame, or be separated by and set the shelf of quantity with current hydraulic support.
Above-mentioned coal-mine hydraulic support electrohydraulic control system original state self-checking unit can be carried out arbitrary real of the present inventionExecute the coal-mine hydraulic support electrohydraulic control system original state self checking method that example provides, possess manner of executionCorresponding functional module and beneficial effect.
Note, above are only preferred embodiment of the present invention and institute's application technology principle. Those skilled in the artWill appreciate that, the invention is not restricted to specific embodiment described here, can enter for a person skilled in the artThe various obvious variations of row, readjust and substitute and can not depart from protection scope of the present invention. Therefore, thoughSo by above embodiment, the present invention is described in further detail, but the present invention be not limited only toUpper embodiment, in the situation that not departing from the present invention's design, can also comprise more other equivalent embodiment,And scope of the present invention is determined by appended claim scope.
Claims (10)
1. coal-mine hydraulic support electrohydraulic control system original state self checking method, is characterized in that, comprising:
Obtain self-checking command, trigger the operation of obtaining current hydraulic support parameter according to described self-checking command;
Generate action sequence according to described current hydraulic support parameter, according to the current liquid of described action sequence controlPress support to carry out successively the action that meets executive condition;
Obtain the detection data of sensor, by judging whether described detection data meet the Changing Pattern of setting,Determine that whether the electrohydraulic control system that current hydraulic support is corresponding is normal.
2. method according to claim 1, is characterized in that, according to described current hydraulic support parameterGenerate action sequence, comprising:
According to the sensor configuration of current hydraulic support, attitude, operating mode and action whether by same hydraulic cylinderCarry out, generate the execution sequence of the action corresponding with each function of described current hydraulic support.
3. method according to claim 1, is characterized in that according to the current liquid of described action sequence controlPress support to carry out successively the action that meets executive condition, comprising:
If current hydraulic support meets the executive condition of current action, adopt the control mode of crawl, controlCurrent hydraulic support is carried out current action, and to be no more than time of setting long the time of implementation of described current actionDegree, wherein, the time span of described setting was determined by the response time of magnetic valve corresponding to current action and main valveFixed;
If current hydraulic support does not meet the executive condition of current action, do not carry out described current action, noteRecord reason is also uploaded to hydraulic support monitoring system.
4. method according to claim 1, is characterized in that, by whether judging described detection dataMeet the Changing Pattern of setting, determine that whether the electrohydraulic control system that current hydraulic support is corresponding is normal, comprising:
Normal data threshold value corresponding with current action described detection data is mated;
If the match is successful, upload parts corresponding to current action, circuit and liquid to hydraulic support monitoring systemRoad system is normal message all;
If mate unsuccessfully, fault data corresponding with default different faults described detection data is carried outCoupling, determines fault type according to matching result.
5. method according to claim 1, is characterized in that, determines the electricity that current hydraulic support is correspondingAfter whether liquid control system is normal, also comprise:
The state that shows each electrohydraulic control system on the monitoring interface of hydraulic support monitoring system judges conclusion;
According to set rule described self-checking command is sent to adjacent hydraulic support, or with current hydraulic supportingFrame is separated by and is set the shelf of quantity.
6. coal-mine hydraulic support electrohydraulic control system original state self-checking unit, is characterized in that, comprising:
Support parameter acquiring unit, for obtaining self-checking command, obtains current according to described self-checking command triggeringThe operation of hydraulic support parameter;
Action execution unit, for generating action sequence according to described current hydraulic support parameter, according to describedThe current hydraulic support of action sequence control is carried out the action that meets executive condition successively;
Status determining unit, for obtaining the detection data of sensor, by whether judging described detection dataMeet the Changing Pattern of setting, determine that whether the electrohydraulic control system that current hydraulic support is corresponding is normal.
7. device according to claim 6, is characterized in that, described action execution unit specifically for:
According to the sensor configuration of current hydraulic support, attitude, operating mode and action whether by same hydraulic cylinderCarry out, generate the execution sequence of the action corresponding with each function of described current hydraulic support.
8. device according to claim 6, is characterized in that, described action execution unit specifically for:
If current hydraulic support meets the executive condition of current action, adopt the control mode of crawl, controlCurrent hydraulic support is carried out current action, and to be no more than time of setting long the time of implementation of described current actionDegree, wherein, the time span of described setting was determined by the response time of magnetic valve corresponding to current action and main valveFixed;
If current hydraulic support does not meet the executive condition of current action, do not carry out described current action, noteRecord reason is also uploaded to hydraulic support monitoring system.
9. device according to claim 6, is characterized in that, described status determining unit specifically for:
Normal data threshold value corresponding with current action described detection data is mated;
If the match is successful, upload parts corresponding to current action, circuit and liquid to hydraulic support monitoring systemRoad system is normal message all;
If mate unsuccessfully, fault data corresponding with default different faults described detection data is carried outCoupling, determines fault type according to matching result.
10. device according to claim 6, is characterized in that, also comprises:
Conclusion display unit, after determining that whether electrohydraulic control system corresponding to current hydraulic support be normal,The state that shows each electrohydraulic control system on the monitoring interface of hydraulic support monitoring system judges conclusion;
Instruction delivery unit, for being sent to adjacent hydraulic supporting according to the rule of setting by described self-checking commandFrame, or be separated by and set the shelf of quantity with current hydraulic support.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610168185.6A CN105607630B (en) | 2016-03-22 | 2016-03-22 | Coal-mine hydraulic support electrohydraulic control system init state self checking method and device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610168185.6A CN105607630B (en) | 2016-03-22 | 2016-03-22 | Coal-mine hydraulic support electrohydraulic control system init state self checking method and device |
Publications (2)
Publication Number | Publication Date |
---|---|
CN105607630A true CN105607630A (en) | 2016-05-25 |
CN105607630B CN105607630B (en) | 2018-09-07 |
Family
ID=55987627
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201610168185.6A Active CN105607630B (en) | 2016-03-22 | 2016-03-22 | Coal-mine hydraulic support electrohydraulic control system init state self checking method and device |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN105607630B (en) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106289679A (en) * | 2016-08-01 | 2017-01-04 | 北京煤科天玛自动化科技有限公司 | A kind of hydraulic support protective side regains the method for detection |
CN106556523A (en) * | 2016-11-18 | 2017-04-05 | 上海中联重科桩工机械有限公司 | The intelligent checking system and intelligent detecting method of rotary drilling rig performance parameter |
CN109613900A (en) * | 2018-12-26 | 2019-04-12 | 山东省田庄煤矿有限公司 | A kind of shearing operation comprehensive monitoring system and machine operation comprehensively monitoring center of shearing |
CN112682025A (en) * | 2020-08-12 | 2021-04-20 | 山西天地煤机装备有限公司 | Control method, device and system for drilling and anchoring equipment |
CN112922075A (en) * | 2021-01-28 | 2021-06-08 | 三一重机有限公司 | Excavator control method and system and excavator |
CN115235676A (en) * | 2022-09-26 | 2022-10-25 | 山东济矿鲁能煤电股份有限公司阳城煤矿 | Automatic alarm method for pressure abnormity of mine hydraulic support |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20110001348A1 (en) * | 2008-02-19 | 2011-01-06 | Rag Aktiengesellschaft | Method for Controlling Longwall Operations Using Boundary Layer Recognition |
CN102587941A (en) * | 2012-04-10 | 2012-07-18 | 重庆友诚自动化工程技术有限公司 | Mining hydraulic support monitoring system and mining hydraulic support monitoring method |
CN103034233A (en) * | 2012-12-18 | 2013-04-10 | 煤炭科学研究总院 | Device with hydraulic support electrohydraulic control system testing function |
CN103291338A (en) * | 2013-06-24 | 2013-09-11 | 山西平阳广日机电有限公司 | Hydraulic support electrohydraulic control system |
CN105404171A (en) * | 2015-09-24 | 2016-03-16 | 北京天地玛珂电液控制系统有限公司 | Simulation test system of hydraulic support electro-hydraulic control system |
-
2016
- 2016-03-22 CN CN201610168185.6A patent/CN105607630B/en active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20110001348A1 (en) * | 2008-02-19 | 2011-01-06 | Rag Aktiengesellschaft | Method for Controlling Longwall Operations Using Boundary Layer Recognition |
CN102587941A (en) * | 2012-04-10 | 2012-07-18 | 重庆友诚自动化工程技术有限公司 | Mining hydraulic support monitoring system and mining hydraulic support monitoring method |
CN103034233A (en) * | 2012-12-18 | 2013-04-10 | 煤炭科学研究总院 | Device with hydraulic support electrohydraulic control system testing function |
CN103291338A (en) * | 2013-06-24 | 2013-09-11 | 山西平阳广日机电有限公司 | Hydraulic support electrohydraulic control system |
CN105404171A (en) * | 2015-09-24 | 2016-03-16 | 北京天地玛珂电液控制系统有限公司 | Simulation test system of hydraulic support electro-hydraulic control system |
Non-Patent Citations (1)
Title |
---|
金静飞: "液压支架电液控制系统测试平台关键技术研究", 《中国优秀硕士学位论文全文数据库 工程科技I辑》 * |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106289679A (en) * | 2016-08-01 | 2017-01-04 | 北京煤科天玛自动化科技有限公司 | A kind of hydraulic support protective side regains the method for detection |
CN106556523A (en) * | 2016-11-18 | 2017-04-05 | 上海中联重科桩工机械有限公司 | The intelligent checking system and intelligent detecting method of rotary drilling rig performance parameter |
CN109613900A (en) * | 2018-12-26 | 2019-04-12 | 山东省田庄煤矿有限公司 | A kind of shearing operation comprehensive monitoring system and machine operation comprehensively monitoring center of shearing |
CN109613900B (en) * | 2018-12-26 | 2021-07-02 | 山东省田庄煤矿有限公司 | Coal plough operation comprehensive monitoring system and coal plough operation comprehensive monitoring center |
CN112682025A (en) * | 2020-08-12 | 2021-04-20 | 山西天地煤机装备有限公司 | Control method, device and system for drilling and anchoring equipment |
CN112922075A (en) * | 2021-01-28 | 2021-06-08 | 三一重机有限公司 | Excavator control method and system and excavator |
CN115235676A (en) * | 2022-09-26 | 2022-10-25 | 山东济矿鲁能煤电股份有限公司阳城煤矿 | Automatic alarm method for pressure abnormity of mine hydraulic support |
CN115235676B (en) * | 2022-09-26 | 2022-12-09 | 山东济矿鲁能煤电股份有限公司阳城煤矿 | Automatic alarm method for pressure abnormity of mine hydraulic support |
Also Published As
Publication number | Publication date |
---|---|
CN105607630B (en) | 2018-09-07 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN105607630A (en) | Self-checking method and device for checking initial state of electro-hydraulic control system of hydraulic support for coal mines | |
CN106185519B (en) | A kind of building hoist compulsory maintenance maintenance monitoring system and its application with fault detection capability | |
CN112253110B (en) | Vision-based intelligent autonomous following control method and device for fully mechanized mining face | |
CN102506787B (en) | Inhaul cable comprehension checking machine | |
CN111021461B (en) | Excavator debugging method | |
CN103115785B (en) | Fault diagnosis method and system for vibration reduction system of concrete pump truck and concrete pump truck | |
CN103134697B (en) | Fault diagnosis method and system for vibration reduction system of concrete pump truck and concrete pump truck | |
CN203946731U (en) | The fender guard of elevator | |
KR20150047058A (en) | Incremental launching automation system of the bridge upper structure | |
CN109613900B (en) | Coal plough operation comprehensive monitoring system and coal plough operation comprehensive monitoring center | |
CN105370308B (en) | Along lane hydraulic support stand system of leaving blank | |
CN107725011B (en) | Intermittent type formula beam-pumping unit controlgear and oil pumping system | |
CN102797489B (en) | Propping plate pressure graphical displaying and analyzing method based on thrusting degree of coal face | |
CN102999000A (en) | Safe monitoring device for intelligent brick unloading machine | |
CN210948749U (en) | Low-position caving coal hydraulic support | |
CN115163107A (en) | Cutting arm control method and device, heading machine and heading machine control system | |
CN112610263B (en) | Fully mechanized coal mining face-based follow machine control method and device and electronic equipment | |
CN209011803U (en) | A kind of pumping unit control device with fault diagnosis functions | |
CN210103202U (en) | Hoisting frame control system | |
CN202325594U (en) | Driver for electromagnetic valve | |
CN106672826A (en) | Self jacking safe control system and method for tower crane | |
CN202808199U (en) | Engineering machinery and device and system for detecting telescopic state of horizontal supporting leg of engineering machinery | |
CN104653179A (en) | Machine vision-based automatic coal-mine tunneling system | |
CN214326941U (en) | Wireless infrared grating control device for top drive anti-collision monkey board of petroleum drilling machine | |
CN206069120U (en) | A kind of maintenance of the building hoist compulsory maintenance with fault detection capability monitoring 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 | ||
CB02 | Change of applicant information |
Address after: Nanxiang three road, Science City high tech Industrial Development Zone, Guangzhou city of Guangdong Province, No. 2 510660 Applicant after: Hitachi building technologies (Guangzhou) Co. Ltd. Address before: Nanxiang three road, Science City high tech Industrial Development Zone, Guangzhou city of Guangdong Province, No. 2 510660 Applicant before: Guangzhou Ropente Science and Technology Development Co., Ltd. |
|
CB02 | Change of applicant information | ||
GR01 | Patent grant | ||
GR01 | Patent grant |