CN108928740A - A kind of tower crane safety operation control system and method - Google Patents
A kind of tower crane safety operation control system and method Download PDFInfo
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- CN108928740A CN108928740A CN201811065386.9A CN201811065386A CN108928740A CN 108928740 A CN108928740 A CN 108928740A CN 201811065386 A CN201811065386 A CN 201811065386A CN 108928740 A CN108928740 A CN 108928740A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
Abstract
The invention discloses a kind of tower crane safety operation control system and method, Operation switch point is converted to digital signal and passes to PLC controller by bus mode on joint action table；PLC controller exports control instruction after operation to control the run action of tower crane, while control instruction signal is passed to display by bus mode；Lifting capacity detection module and amplitude detection module distinguish real-time detection tower crane lifting capacity, range value, and are converted to digital signal and are transmitted to PLC controller by bus mode；PLC controller calculates lifting capacity and moment values and corresponding percentage and is converted to digital data transmission in real time to display；The starting instruction or the alarm of calculated weight, torque that PLC controller response receives are alarmed, the signal is sent to joint action table and display, joint action table receives this signal while controlling the output end of corresponding alarm switch unit connection, change the state of switching point in alarm switch unit, the display in drivers' cab receives this signal and shows on a display screen.
Description
Technical field
The invention belongs to technical field of engineering machinery, are related to a kind of tower crane safety operation control system and method.
Background technique
Generallyd use in existing tower crane industry switch point type joint action table, switch point type weight and amplitude limiter with
PLC controller is attached by multicore copper core flexible cable, and signal, Ci Zhongfang are transmitted by way of switch connection and disconnection
Formula wiring point is more, and wiring is more and complicated, and transmission reliability and precision are all lower, and safety is lower.
The prior art has the disadvantage in that (1) wiring point is more, and wiring is complicated, wiring cost wiring time and error rate
It is all high；(2) signal generally requires to filter, and transmission reliability and precision are all lower, and safety is lower；(3) lifting capacity and torque without
Method real-time display can not control effectively according to lifting capacity and torque.
Summary of the invention
Purpose: in order to overcome the deficiencies in the prior art, the present invention provides a kind of tower crane safety operation control system and side
Method.
Technical solution: in order to solve the above technical problems, the technical solution adopted by the present invention are as follows:
A kind of tower crane safety operation control system, it is characterised in that: manipulate joint action table, display, lifting including PLC controller, tower crane
Measure detection module, amplitude detection module；
The joint action table uses bus type joint action table, joint action table, PLC controller, display, lifting capacity detection module and amplitude inspection
Module is surveyed to connect by bus mode；
Operation switch point is converted to digital signal and passes to PLC controller by bus mode on the joint action table；
The PLC controller exports control instruction after logical operation to control the run action of tower crane, while control being referred to
Order is converted to digital signal and passes to display by bus mode；
The display is used for display and operation, alarm, lifting capacity and moment information in drivers' cab；
The lifting capacity detection module and amplitude detection module distinguish real-time detection tower crane lifting capacity, range value, and are converted to number
Word signal is transmitted to PLC controller by bus mode；PLC controller by logical operation calculate lifting capacity and moment values with
And it corresponds to percentage and is converted to digital data transmission in real time to display；
The starting instruction or calculate weight alarm, torque alarm that PLC controller response simultaneously receives, to joint action table and display
Device sends starting instruction, weight alarm, torque alarm signal, and joint action table receives this signal and to be converted into on-off model same
When control the output end of corresponding alarm switch unit connection, change the state of switching point in alarm switch unit, while drivers' cab
In display receive this signal and shown on a display screen to remind operator.
Realize the number between joint action table, PLC controller, display, lifting capacity detection module and amplitude detection module
Change transmission, manipulation information, warning message, lifting capacity and torque simultaneous display improve tower crane on the indoor display of driver
Effective timeliness, visualization, intelligence, precision and the safety of manipulation.
Preferably, the tower crane safety operation control system, it is characterised in that: it further include terminal resistance, the end
End resistance is added in bus cable end, for improving signal anti-interference ability and improving signal quality.
Preferably, the tower crane safety operation control system, it is characterised in that: the joint action table, PLC controller,
Display, lifting capacity detection module and amplitude detection module are connected by CAN bus mode.
Further, the tower crane safety operation control system, it is characterised in that: the joint action table is divided into left joint action table, the right side
Joint action table, left joint action table, right joint action table include that manipulation of switches unit, alarm switch unit, on-off model turn bus module；
The manipulation of switches unit is used for given starting, stopping, bypass, rotary braking, turns round chain jacking, lift control, returns
Turn control, luffing controls control switch signal；
The alarm switch unit provides corresponding response for receiving starting instruction and weight, torque alarm signal；
The on-off model turns bus module for on-off model to be converted to the CAN bus signal of prescribed coding and is transmitted
Onto CAN bus.
Further, the both ends of switching point are respectively connected to on-off model and turn bus module not in manipulation of switches unit
Same signal input part, the both ends of switching point are respectively connected to the different letters that on-off model turns bus module in alarm switch unit
Number output end, each on-off model corresponds to a unique digital coding in joint action table.It is furthermore preferred that the digital coding
Using 8421 yards.
Further, the lifting capacity detection module includes that weight sensor, analog signals turn bus module, described heavy
Quantity sensor is for acquiring tower crane lifting capacity and being converted to 420mA current analog signal；The analog signals turn bus module
For current-mode analog quantity signal to be converted to CAN bus signal and is transferred to CAN bus.
Further, the amplitude detection module includes that amplitude sensor, analog signals turn bus module, the amplitude
Sensor is for acquiring tower crane luffing range value and being converted to 420mA current analog signal；The analog signals turn bus mould
Block is for being converted to CAN bus signal for current-mode analog quantity signal and being transferred to CAN bus.
On the other hand, the present invention also provides a kind of tower crane safety operation control methods characterized by comprising
PLC controller receive joint action table by bus mode transmission come manipulation of switches unit switch amount signal, response on-off value
Signal exports control instruction after logical operation to control the run action of tower crane, while control instruction is converted to number
Signal passes to display by bus mode；
PLC controller receives tower crane and hangs the lifting capacity signal of load and the range signal of tower crane luffing distance, according to lifting capacity signal
And range signal, lifting capacity and moment values and corresponding percentage are calculated by logical operation and are converted to digital signal in real time
It is transmitted to display；
The starting instruction or the alarm of calculated weight, torque alarm signal that PLC controller response receives, to joint action table and show
Show that device sends starting instruction, weight alarm, torque alarm signal, joint action table receives this signal and is converted into on-off model
The output end for controlling corresponding alarm switch unit connection simultaneously, changes the state of switching point in alarm switch unit, while driver
Display in room receives this signal and is shown on a display screen to remind operator.
Further, the tower crane safety operation control method, it is characterised in that: specifically refer to:
When switching points a certain or several in joint action table manipulation of switches unit change, switch which is correspondingly connected with
Amount signal turns two signal input part connection status in bus module and changes, and on-off model turns bus module for the switch
The corresponding digital coding of point is converted to the on-off model of CAN formatted data, is transmitted to PLC controller via CAN bus, PLC
Controller obtains on-off model, takes corresponding logical action and controls tower crane run action, while PLC controller moves this
Make signal and operator is informed by the display that CAN bus is transferred to drivers' cab；
Weight sensor real-time detection, which is hung, to be carried lifting capacity and is converted to 420mA current analog signal, and analog signals turn bus mould
The current analog signal is converted to lifting capacity CAN signal and is transferred in CAN bus by block, amplitude sensor real-time detection tower crane
Luffing distance is simultaneously converted to 420mA current analog signal, and analog signals turn bus module and are converted to the current analog signal
Amplitude CAN signal is simultaneously transferred in CAN bus；PLC controller is synchronous to receive lifting capacity CAN signal, amplitude CAN signal is gone forward side by side one
Step processing data, calculate current lifting capacity and current lifting capacity account for the percentage of lifting load and is converted to CAN signal through CAN
Bus transfer informs operator to drivers' cab display；Current torque is calculated according to the product of the lifting capacity of calculating and range value
And current torque accounts for the percentage of resultant couple and is converted to CAN signal and is transferred to drivers' cab display informing behaviour through CAN bus
Author, while PLC controller according to the run action of the weight of calculating and the percentage limitation tower crane of torque and is transferred to display
It is shown on device；
When receiving starting instruction or calculating weight, torque alarm, PLC controller converts the signal into corresponding number
It encodes and is transferred in CAN bus, joint action table on-off model turns bus module and receives this CAN signal and be converted into switch
Amount signal controls the output end of corresponding alarm switch unit connection simultaneously, changes the state of switching point in alarm switch unit, together
When drivers' cab display receive this signal and on a display screen display alarm operator.
The utility model has the advantages that tower crane safety operation control system provided by the invention, using bus type joint action table, joint action table, PLC control
Device, display, lifting capacity detection module and amplitude detection module are connected by bus mode, and Operation switch point is converted on joint action table
PLC controller is passed to by bus mode for digital signal, the operation that PLC controller controls tower crane after logical operation is dynamic
This control instruction is converted to digital signal passes to display, lifting capacity and amplitude detection module by bus mode to work simultaneously
Real-time detection tower crane lifting capacity and range value are simultaneously converted to digital signal and are transmitted to PLC controller by bus mode, PLC control
Device calculates lifting capacity and moment values and corresponding percentage by logical operation and is converted to digital data transmission in real time to aobvious
Show device, while PLC controller receives starting instruction or can send starting instruction, weight to joint action table and display according to calculating
Alarm, torque alarm number signal, realize joint action table, PLC controller, display, lifting capacity detection module and amplitude detection
Digital Transmission between module, manipulation information, warning message, lifting capacity and torque simultaneous display are in the indoor display of driver
On, improve effective timeliness, visualization, intelligence, precision and the safety of tower crane manipulation.Have the advantage that (1) bus
Cable only has both threads to be communicated with the outside, and wiring point is few, and it is low to be routed simple time saving error rate；(2) CAN bus transmission mode is reliable
Property it is high, precision is high and highly-safe；(3) manipulate information, warning message, lifting capacity and torque can simultaneous display shown in drivers' cab
On device, visualization is high；(4) lifting capacity and torque real-time detection and simultaneous display, operator can be according to lifting capacity and torque
It control effectively.
Detailed description of the invention
Fig. 1 is the safety operation control system diagram of an embodiment；
Fig. 2 is embodiment joint action table on-off model and corresponding digital coding.
Specific embodiment
The present invention will be further explained combined with specific embodiments below.
As shown in Figure 1, being a kind of tower crane safety operation control system, including PLC controller, tower crane manipulate joint action table, CAN bus
Cable, terminal resistance, display, lifting capacity detection module, amplitude detection module；
Using bus type joint action table, joint action table, PLC controller, display, lifting capacity detection module and amplitude detection module pass through
Bus mode connects, and Operation switch point is converted to digital signal and passes to PLC controller, PLC by bus mode on joint action table
Controller, which controls the run action of tower crane after logical operation while this control instruction is converted to digital signal, passes through bus
Mode passes to display, lifting capacity and amplitude detection module real-time detection tower crane lifting capacity and range value and is converted to digital letter
Number PLC controller is transmitted to by bus mode, PLC controller calculates lifting capacity and moment values and right by logical operation
It answers percentage and is converted to digital data transmission in real time to display, while PLC controller receives starting instruction or according to meter
The digital signals such as starting instruction, weight alarm, torque alarm can be sent to joint action table and display by calculating, and realize joint action table, PLC
Digital Transmission between controller, display, lifting capacity detection module and amplitude detection module, manipulation information, warning message,
Lifting capacity and torque simultaneous display improve effective timeliness, the visualization, intelligence of tower crane manipulation on the indoor display of driver
Energyization, precision and safety.
The tower crane manipulation joint action table is used for given starting, stopping, bypass, rotary braking, revolution jacking interlocking, raising control
System, revolution control, luffing control control signal and receive weight, torque, starting instruction alarm indication signal；
PLC controller is the core of control system, is sent out for reception control, lifting capacity and range signal and after completing control logic
Out on signal to manipulation joint action table and display；
CAN bus cable is used for the transmission of CAN bus data；Terminal resistance is added in bus cable end, anti-for improving signal
Interference performance and raising signal quality；
Display is used for display and operation, alarm, lifting capacity and moment information in drivers' cab；
Wherein manipulation joint action table is divided into left joint action table, right joint action table, and left joint action table, right joint action table are by manipulation of switches unit, report
Alert switch unit, on-off model turn bus module composition；Lifting capacity detection module turns total by weight sensor, analog signals
Wire module composition, amplitude detection module turn bus module by amplitude sensor, analog signals and form.
Manipulation of switches unit is used for given starting, stopping, bypass, rotary braking, turns round chain jacking, lift control, returns
Turn control, luffing controls control switch signal；Alarm switch unit is for receiving starting instruction and weight, torque alarm signal；
On-off model turns bus module for on-off model being converted to the CAN bus signal of prescribed coding and to be transferred to CAN total
On line；The both ends of switching point are respectively connected to on-off model and turn bus module not in left and right joint action table manipulation of switches unit
Same signal input part, the both ends of switching point are respectively connected to the different letters that on-off model turns bus module in alarm switch unit
Number output end, each on-off model of joint action table correspond to a unique digital coding, and digit preference of the present invention is encoded to
8421 yards, as shown in Figure 2, wherein AB represents some switch for on-off model and corresponding digital coding in left and right joint action table
The corresponding digital coding of first signal end of point, CD represent the corresponding digital coding of second signal end of the switching point.
Lifting capacity detection module is transferred to CAN bus for detecting tower crane lifting capacity and being converted to CAN bus signal；Width
Degree detection module is transferred to CAN bus for detecting tower crane luffing range value and being converted to CAN bus signal；Weight sensor
For acquiring tower crane lifting capacity and being converted to 420mA current analog signal；Amplitude sensor is for acquiring tower crane luffing range value
And be converted to 420mA current analog signal；It is total for current-mode analog quantity signal to be converted to CAN that analog signals turn bus module
Line signal is simultaneously transferred in CAN bus.
A kind of tower crane safety operation control method, comprising:
PLC controller receive joint action table by bus mode transmission come manipulation of switches unit switch amount signal, response on-off value
Signal exports control instruction after logical operation to control the run action of tower crane, while control instruction is converted to number
Signal passes to display by bus mode；
PLC controller receive by bus mode transmission come tower crane hang the lifting capacity signal of load and the amplitude of tower crane luffing distance
Signal calculates lifting capacity and moment values and corresponding percentage by logical operation according to lifting capacity signal and range signal
And digital data transmission is converted in real time to display；
The starting instruction or the alarm of calculated weight, torque alarm signal that PLC controller response receives, to joint action table and show
Show that device sends starting instruction, weight alarm, torque alarm signal.
Specifically, when switching points a certain or several in left and right joint action table manipulation of switches unit change, the switch
The on-off model that point is correspondingly connected with turns two signal input part connection status in bus module and changes, and on-off model turns
The corresponding digital coding of the switching point is converted to CAN formatted data by bus module, is transmitted to PLC controller via CAN bus,
To inform that the PLC controller switching point changes and takes corresponding logical action and control tower crane run action, simultaneously
This action signal is transferred to drivers' cab display by CAN bus and informs operator by PLC controller.
Weight sensor real-time detection, which is hung, to be carried lifting capacity and is converted to 420mA current analog signal, and analog signals turn total
The current analog signal is converted to CAN bus signal and is transferred in CAN bus by wire module, amplitude sensor real-time detection tower
Machine luffing distance is simultaneously converted to 420mA current analog signal, and analog signals, which turn bus module, converts the current analog signal
It for CAN bus signal and is transferred in CAN bus, PLC controller is synchronous to be received lifting capacity and amplitude CAN signal and further locate
Data are managed, current lifting capacity is calculated in a program and current lifting capacity accounts for the percentage of lifting load and is converted to CAN signal
Drivers' cab display is transferred to through CAN bus and informs operator, in a program according to the product of the lifting capacity of calculating and range value
It calculates current torque and current torque accounts for the percentage of resultant couple and is converted to CAN signal and is transferred to driver through CAN bus
Room display informs operator, while PLC program is according to the run action of the weight of calculating and the percentage limitation tower crane of torque
And be transferred on display and show, when receiving starting instruction or calculating weight, torque alarm, PLC controller is by this signal
It is converted to corresponding digital coding and is transferred in CAN bus, left and right joint action table on-off model turns bus module and receives this CAN
Signal is simultaneously converted into on-off model while controlling the output end of corresponding alarm switch unit connection, changes alarm switch list
The state of switching point in member, while drivers' cab display receives this signal and on a display screen display alarm operator.To real
Digital Transmission between existing PLC, manipulation joint action table, display, lifting capacity detection module and amplitude detection module.
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of tower crane safety operation control system, it is characterised in that: including PLC controller, tower crane manipulation joint action table, display, rise
Weight detecting module, amplitude detection module；
The joint action table uses bus type joint action table, joint action table, PLC controller, display, lifting capacity detection module and amplitude inspection
Module is surveyed to connect by bus mode；
Operation switch point is converted to digital signal and passes to PLC controller by bus mode on the joint action table；
The PLC controller exports control instruction after logical operation to control the run action of tower crane, while control being referred to
Order is converted to digital signal and passes to display by bus mode；
The display is used for display and operation, alarm, lifting capacity and moment information in drivers' cab；
The lifting capacity detection module and amplitude detection module distinguish real-time detection tower crane lifting capacity, range value, and are converted to number
Word signal is transmitted to PLC controller by bus mode；PLC controller calculates lifting capacity and moment values and corresponding percentage
And digital data transmission is converted in real time to display；
The starting instruction or calculate weight alarm, torque alarm that PLC controller response receives, send out to joint action table and display
Starting instruction, weight alarm, torque alarm signal are sent, joint action table receives this signal and is converted into the same time control of on-off model
The output end for making corresponding alarm switch unit connection, changes the state of switching point in alarm switch unit, while in drivers' cab
Display receives this signal and shows on a display screen.
2. tower crane safety operation control system according to claim 1, it is characterised in that: it further include terminal resistance, the terminal
Resistance is added in bus cable end, for improving signal anti-interference ability and improving signal quality.
3. tower crane safety operation control system according to claim 1, it is characterised in that: the joint action table, is shown PLC controller
Show that device, lifting capacity detection module are connected with amplitude detection module by CAN bus mode.
4. tower crane safety operation control system according to claim 1, it is characterised in that: the joint action table be divided into left joint action table,
Right joint action table, left joint action table, right joint action table include that manipulation of switches unit, alarm switch unit, on-off model turn bus mould
Block；
The manipulation of switches unit is used for given starting, stopping, bypass, rotary braking, turns round chain jacking, lift control, returns
Turn control, luffing controls control switch signal；
The alarm switch unit provides corresponding response for receiving starting instruction and weight, torque alarm signal；
The on-off model turns bus module for on-off model to be converted to the CAN bus signal of prescribed coding and is transmitted
Onto CAN bus.
5. tower crane safety operation control system according to claim 4, it is characterised in that: the two of switching point in manipulation of switches unit
End is respectively connected to the unlike signal input terminal that on-off model turns bus module, the both ends of switching point point in alarm switch unit
It is not connected to the unlike signal output end that on-off model turns bus module, each on-off model is corresponding unique in joint action table
A digital coding.
6. tower crane safety operation control system according to claim 5, it is characterised in that: the digital coding uses 8421 yards.
7. tower crane safety operation control system according to claim 1, it is characterised in that: the lifting capacity detection module includes weight
Quantity sensor, analog signals turn bus module, and the weight sensor is for acquiring tower crane lifting capacity and being converted to 420mA electricity
Flow field simulation signal；The analog signals turn bus module for current-mode analog quantity signal to be converted to CAN bus signal and is passed
It is defeated in CAN bus.
8. tower crane safety operation control system according to claim 1, it is characterised in that: the amplitude detection module includes amplitude
Sensor, analog signals turn bus module, and the amplitude sensor is for acquiring tower crane luffing range value and being converted to 420mA
Current analog signal；The analog signals turn bus module for current-mode analog quantity signal to be converted to CAN bus signal simultaneously
It is transferred in CAN bus.
9. a kind of tower crane safety operation control method characterized by comprising
PLC controller receive joint action table by bus mode transmission come manipulation of switches unit switch amount signal, response on-off value
Signal exports control instruction after logical operation to control the run action of tower crane, while control instruction is converted to number
Signal passes to display by bus mode；
PLC controller receive by bus mode transmission come tower crane hang the lifting capacity signal of load and the amplitude of tower crane luffing distance
Signal calculates lifting capacity and moment values and corresponding percentage by logical operation according to lifting capacity signal and range signal
And digital data transmission is converted in real time to display；
The starting instruction or the alarm of calculated weight, torque alarm signal that PLC controller response receives, to joint action table and show
Show that device sends starting instruction, weight alarm, torque alarm signal.
10. tower crane safety operation control method according to claim 9, it is characterised in that: specifically refer to:
When switching points a certain or several in joint action table manipulation of switches unit change, switch which is correspondingly connected with
Amount signal turns two signal input part connection status in bus module and changes, and on-off model turns bus module for the switch
The corresponding digital coding of point is converted to the on-off model of CAN formatted data, is transmitted to PLC controller via CAN bus, PLC
Controller obtains on-off model, takes corresponding logical action and controls tower crane run action, while PLC controller moves this
Make signal and operator is informed by the display that CAN bus is transferred to drivers' cab；
Weight sensor real-time detection, which is hung, to be carried lifting capacity and is converted to 420mA current analog signal, and analog signals turn bus mould
The current analog signal is converted to lifting capacity CAN signal and is transferred in CAN bus by block, amplitude sensor real-time detection tower crane
Luffing distance is simultaneously converted to 420mA current analog signal, and analog signals turn bus module and are converted to the current analog signal
Amplitude CAN signal is simultaneously transferred in CAN bus；PLC controller is synchronous to receive lifting capacity CAN signal, amplitude CAN signal is gone forward side by side one
Step processing data, calculate current lifting capacity and current lifting capacity account for the percentage of lifting load and is converted to CAN signal through CAN
Bus transfer informs operator to drivers' cab display；Current torque is calculated according to the product of the lifting capacity of calculating and range value
And current torque accounts for the percentage of resultant couple and is converted to CAN signal and is transferred to drivers' cab display informing behaviour through CAN bus
Author, while PLC controller according to the run action of the weight of calculating and the percentage limitation tower crane of torque and is transferred to display
It is shown on device；
When receiving starting instruction or calculating weight, torque alarm, PLC controller converts the signal into corresponding number
It encodes and is transferred in CAN bus, joint action table on-off model turns bus module and receives this CAN signal and be converted into switch
Amount signal controls the output end of corresponding alarm switch unit connection simultaneously, changes the state of switching point in alarm switch unit, together
When drivers' cab display receive this signal and on a display screen display alarm operator.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111817613A (en) * | 2020-07-10 | 2020-10-23 | 义乌恒邦建筑智能科技有限公司 | Tower crane frequency conversion device based on CAN bus and communication method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111817613A (en) * | 2020-07-10 | 2020-10-23 | 义乌恒邦建筑智能科技有限公司 | Tower crane frequency conversion device based on CAN bus and communication method |
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