CN109650259A - A kind of crane interlock control system and its control method, a kind of lifting unit - Google Patents
A kind of crane interlock control system and its control method, a kind of lifting unit Download PDFInfo
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- CN109650259A CN109650259A CN201910126977.0A CN201910126977A CN109650259A CN 109650259 A CN109650259 A CN 109650259A CN 201910126977 A CN201910126977 A CN 201910126977A CN 109650259 A CN109650259 A CN 109650259A
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000001514 detection method Methods 0.000 claims abstract description 157
- 238000004891 communication Methods 0.000 claims abstract description 13
- 238000012360 testing method Methods 0.000 claims description 13
- 230000005611 electricity Effects 0.000 claims description 5
- 238000012544 monitoring process Methods 0.000 claims description 4
- 238000007689 inspection Methods 0.000 claims description 3
- 238000010276 construction Methods 0.000 description 39
- 238000010586 diagram Methods 0.000 description 10
- 239000007787 solid Substances 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 4
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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
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
- B66C13/44—Electrical transmitters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
- B66C15/065—Arrangements or use of warning devices electrical
Abstract
The invention discloses a kind of crane interlock control system and its control methods, a kind of lifting unit.The crane interlock control system includes: master control subsystem and at least one sub-control subsystem；Master control subsystem includes main linkage control loop sets, main detection circuit group and at least one main fixing type telecontrol device；Main linkage control loop sets include multiple main linkage control circuits, and main detection circuit group includes at least one main detection circuit；Sub-control subsystem includes that duplicate invoice moves control loop group, secondary detection circuit group and a secondary fixing type telecontrol device；It includes that multiple duplicate invoices move control loop that duplicate invoice, which moves control loop group, and secondary detection circuit group includes at least one secondary detection circuit；Main fixing type telecontrol device includes wireless communication module, and secondary fixing type telecontrol device includes wireless communication module.Crane interlock control system provided in an embodiment of the present invention, realize interlock protection function, avoid different cranes work it is asynchronous caused by unsafe problems generation.
Description
Technical field
The present embodiments relate to crane technical field more particularly to a kind of crane interlock control system and its controls
Method, a kind of lifting unit.
Background technique
Crane be it is a kind of being capable of more movement hoisting machineries of vertical-lift and horizontal carrying heavy goods in a certain range.
With the continuous development of China's industry, crane is more and more widely used in the industrial production, especially some
In manufacturing, size and weight for the weight for needing to be lifted etc. are often bigger, and a ground jack is difficult to meet operation
Demand.
In order to improve lifting efficiency, can use two or more cranes while lift by crane an object, in operation
In the process, two crane moment is needed to keep synchronizing.But in the long-term use, crane can inevitably occur various
Therefore the failure of various kinds often will appear in more crane and break down, at this point, other crane still can be after
Continuous to sling weight and continue to move, this easilys lead to various failures.
Summary of the invention
The present invention provides a kind of crane interlock control system and its control method, a kind of lifting unit, to realize interlocking
Defencive function, avoid different cranes work it is asynchronous caused by unsafe problems generation.
In a first aspect, the embodiment of the invention provides a kind of crane interlock control systems, comprising:
Master control subsystem and at least one sub-control subsystem；
Wherein, the master control subsystem includes main linkage control loop sets, main detection circuit group and at least one master
Fixing type telecontrol device；The main linkage control loop sets include multiple main linkage control circuits, and the main detection circuit group includes
Multiple main detection circuits, each main fixing type telecontrol device connect each main linkage control circuit and each main detection
Circuit；The main detection circuit and the main linkage control circuit correspond, the main detection circuit for detect with it is described
The fault condition of the control object in the corresponding main linkage control circuit of main detection circuit；
The sub-control subsystem includes that the dynamic control loop group of duplicate invoice, secondary detection circuit group and at least one pair are fixed
Remote controler；It includes that multiple duplicate invoices move control loop that the duplicate invoice, which moves control loop group, and the pair detection circuit group includes multiple pairs
Detection circuit；Each secondary fixing type telecontrol device connects each duplicate invoice and moves control loop and each secondary detection circuit；
The pair detection circuit and the duplicate invoice move control loop and correspond, and the secondary detection circuit is for detecting and the secondary detection
The corresponding duplicate invoice of circuit moves the fault condition of the control object of control loop；
The main linkage control circuit and the duplicate invoice move control loop and correspond, the main linkage control in correspondence with each other
Circuit processed is identical as the dynamic type of control object of control loop of the duplicate invoice；The main detection circuit and the secondary detection circuit
It corresponds, the main detection circuit in correspondence with each other is identical as the secondary type of test object of detection circuit；The master
The control object in linkage control circuit is identical with the test object of the corresponding main detection circuit；In the same sub-control subsystem
In system, the control object that the duplicate invoice moves control loop is identical with the corresponding secondary test object of detection circuit；
The quantity of at least one main fixing type telecontrol device is equal with the quantity of at least one sub-control subsystem,
The main fixing type telecontrol device and the secondary fixing type telecontrol device correspond；The main fixing type telecontrol device includes wireless communication
Module, the pair fixing type telecontrol device includes wireless communication module.
Further, the master control subsystem further includes main multicontact switch module and main single action control loop group,
The main single action control loop group includes multiple main single action control loops；The first main contacts in the main multicontact switch module
Each main single action control loop is connected, each main linkage control of the second main contacts connection in the main multicontact switch module
Circuit processed；
The sub-control subsystem further includes secondary multicontact switch module and secondary single action control loop group, the pair single action
Control loop group includes multiple secondary single action control loops；The first auxiliary contact connection in the pair multicontact switch module is each described
Secondary single action control loop, the second auxiliary contact in the pair multicontact switch module connect each duplicate invoice and move control loop.
Further, the main multicontact switch module includes many-contact relay；The pair multicontact switch module packet
Include many-contact relay.
Further, the main linkage control circuit further includes main switching control, and the main switching control and the master are more
The second main contacts series connection in contact switch module；
It includes sub-control switch that the duplicate invoice, which moves control loop to further include, and the sub-control switch is opened with the secondary multiconductor
Close the second auxiliary contact series connection in module.
Further, the master control subsystem further includes main transmitter and main reception corresponding with the main transmitter
Device；The sub-control subsystem further includes secondary transmitter and the companion receiver corresponding with the secondary transmitter；
The main receiver connects the control terminal of the main multicontact switch module, and it is more that the companion receiver connects the pair
The control terminal of contact switch module.
Further, the main transmitter includes at least two adapter tube keys, and at least two adapter tubes key includes one
A main adapter tube key and at least one first secondary adapter tube key；Each secondary transmitter includes one second secondary adapter tube key；
Described first secondary adapter tube key and the second secondary adapter tube key correspond；
The main adapter tube key is used to control the main transmitter and generates the instruction for taking over the main receiver, and described first
Secondary adapter tube key is used to control the main transmitter and generates the instruction for taking over the companion receiver, and the described second secondary adapter tube key is used
In the instruction for controlling the secondary transmitter generation adapter tube companion receiver.
It further, further include main alarm and at least one secondary alarm, the main alarm and each main detection
Circuit connection；The pair alarm connects one to one with each secondary detection circuit.
Second aspect, the embodiment of the invention also provides a kind of lifting units, including described in above-mentioned any one of first aspect
Crane interlock control system.
The third aspect, the embodiment of the invention also provides a kind of control methods of crane interlock control system, for controlling
Make the described in any item crane interlock control systems of above-mentioned first aspect, comprising:
The main detection circuit detects the control pair in the main linkage control circuit corresponding with the main detection circuit
As breaking down, generating fault-signal and the fault-signal being sent to each main fixing type telecontrol device；
The fault-signal that each main fixing type telecontrol device will receive, is sent respectively to fixed distant with the master
Control the corresponding secondary fixing type telecontrol device of device；
The secondary fixing type telecontrol device for receiving the fault-signal, according to fault-signal control and the main inspection
The corresponding duplicate invoice of slowdown monitoring circuit moves control loop and stops working.
Fourth aspect, the embodiment of the invention also provides a kind of control methods of crane interlock control system, for controlling
Make the described in any item crane interlock control systems of above-mentioned first aspect, comprising:
The pair detection circuit detects that the duplicate invoice corresponding with the pair detection circuit moves the control pair of control loop
As breaking down, generating fault-signal and the fault-signal being sent to the corresponding secondary fixing type telecontrol device；
The fault-signal is sent to the pair admittedly by the secondary fixing type telecontrol device for receiving the fault-signal
The corresponding main fixing type telecontrol device of fixed pattern remote controler；
The main fixing type telecontrol device for receiving the fault-signal, according to fault-signal control and the secondary inspection
The corresponding main linkage control circuit of slowdown monitoring circuit stops working；
The main detection circuit corresponding with the main linkage control circuit to stop working generates control signal and by institute
It states control signal and is sent to each main fixing type telecontrol device；
The control signal, is sent to and respectively by each main fixing type telecontrol device for receiving the control signal respectively
The corresponding secondary fixing type telecontrol device of the main fixing type telecontrol device；
The secondary fixing type telecontrol device for receiving the control signal is corresponding described according to control signal control
Duplicate invoice moves control loop and stops working.
Crane interlock control system provided in an embodiment of the present invention includes master control subsystem and at least one sub-control
Subsystem, master control subsystem include at least one main fixing type telecontrol device, and sub-control subsystem includes that a pair is fixed distant
It controls device, master control subsystem and sub-control subsystem and communication is realized by main fixing type telecontrol device and secondary fixing type telecontrol device；?
When the control object in any main linkage control circuit stops working in master control subsystem, the master with the control object corresponding function
Detection circuit generates fault-signal, and fault-signal is sent to corresponding secondary fixing type telecontrol by each main fixing type telecontrol device
Device, each pair fixing type telecontrol device control the dynamic control loop of corresponding duplicate invoice according to the fault-signal received and stop working；In pair
When the control object that any duplicate invoice moves control loop in control subsystem stops working, examined with the pair of the control object corresponding function
Slowdown monitoring circuit generates fault-signal, and fault-signal is sent to corresponding main fixing type telecontrol by each secondary fixing type telecontrol device
Device, each main fixing type telecontrol device control corresponding main linkage control circuit according to the fault-signal received and stop working；In master
When control subsystem or the control object of any one sub-control subsystem break down, the control of other all same types
Object stops working, realize interlock protection function, avoid different cranes work it is asynchronous caused by unsafe problems hair
It is raw.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of heavy-duty machine interlock control system provided in an embodiment of the present invention；
Fig. 2 is main multicontact switch module provided in an embodiment of the present invention and main single action control loop group and main linkage control
The connection relationship diagram of loop sets；
Fig. 3 is secondary multicontact switch module provided in an embodiment of the present invention and secondary single action control loop group and secondary linkage control
The connection relationship diagram of loop sets；
Fig. 4 is the structural schematic diagram of transmitter and receiver provided in an embodiment of the present invention；
Fig. 5 is the structural schematic diagram of another transmitter and receiver provided in an embodiment of the present invention；
Fig. 6 is the flow chart of the control method of crane interlock control system provided in an embodiment of the present invention；
Fig. 7 is the flow chart of the control method of another crane interlock control system provided in an embodiment of the present invention.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Fig. 1 is the structural schematic diagram of heavy-duty machine interlock control system provided in an embodiment of the present invention.Specifically, Fig. 1 please be join, it should
Crane interlock control system includes master control subsystem and at least one sub-control subsystem；Wherein, master control subsystem packet
Include main linkage control loop sets 101, main detection circuit group 103 and at least one main fixing type telecontrol device 102；Main linkage control
Loop sets 101 include multiple main linkage control circuits 111, and main detection circuit group 103 includes multiple main detection circuits 113, each
Main fixing type telecontrol device 102 connects each main linkage control circuit 111 and each main detection circuit 113；Main detection circuit 113 and master
Linkage control circuit 111 corresponds, and main detection circuit 113 is for detecting main linkage control corresponding with main detection circuit 113
The fault condition of the control object in circuit 111；Sub-control subsystem includes that duplicate invoice moves control loop group 201, secondary detection circuit group
203 and at least one secondary fixing type telecontrol device 202；It includes that multiple duplicate invoices move control loop that duplicate invoice, which moves control loop group 201,
211, secondary detection circuit group 203 includes multiple secondary detection circuits 213；Each pair fixing type telecontrol device 202 connects the dynamic control of each duplicate invoice
Circuit 211 processed and each secondary detection circuit 213；Secondary detection circuit 213 is moved control loop 211 with duplicate invoice and is corresponded, pair detection
Circuit 213 is used to detect the fault condition that duplicate invoice corresponding with secondary detection circuit 213 moves the control object of control loop 211；It is main
Linkage control circuit 111 and duplicate invoice move control loop 211 and correspond, main linkage control circuit 111 and duplicate invoice in correspondence with each other
The type of the control object of dynamic control loop 211 is identical；Main detection circuit 113 is corresponded with secondary detection circuit 213, mutually opposite
The main detection circuit 113 answered is identical as the secondary type of test object of detection circuit 213；The control in main linkage control circuit 111
Object is identical with the test object of corresponding main detection circuit 113；In same sub-control subsystem, duplicate invoice moves control loop 211
Control object it is identical with the corresponding secondary test object of detection circuit 213；The quantity of at least one main fixing type telecontrol device 102 with
The quantity of at least one sub-control subsystem is equal, and main fixing type telecontrol device 102 is corresponded with secondary fixing type telecontrol device 202；
Main fixing type telecontrol device 102 includes wireless communication module, and secondary fixing type telecontrol device 202 includes wireless communication module.
Specifically, crane interlock control system provided in this embodiment may include one or more sub-control subsystems
System；The quantity of sub-control subsystem is more, the quantity of corresponding main fixing type telecontrol device 102 and secondary fixing type telecontrol device 202
It is more.Each main linkage control loop sets 101 may include multiple main linkage control circuits 111, each main detection circuit group 103
It may include multiple main detection circuits 113；Similarly, it may include multiple secondary linkage controls that each duplicate invoice, which moves control loop group 201,
Circuit 211, each pair detection circuit group 203 may include multiple secondary detection circuits 213.For ease of description, the present embodiment with
Two sub-control subsystems mention the present embodiment for main linkage control loop sets 101 are including 3 main linkage control circuits 111
The structure and principle of the crane interlock control system of confession are described.
Specifically, main linkage control circuit 1, main linkage control circuit 2 and main linkage control circuit 3 are respectively used to control not
Same control object, when crane interlock control system provided in this embodiment is applied to crane, control object respectively can
To be the modular construction for controlling crane advance, steering and lifting heavy etc..Main detection circuit 1, main detection circuit 2 and master
Detection circuit 3 is respectively used to detect different test objects, for example, main detection circuit 1, main detection circuit 2 and main detection circuit 3
Whether the structure member for being respectively used to the advance of detection control crane, steering and lifting heavy etc. is normal.Also, serial number is identical
The control in the main linkage control circuit 111 of (for example, main linkage control circuit 1 is identical as the serial number of main detection circuit 1, and so on)
The test object of object processed and main detection circuit 113 is the identical modular construction in crane；For example, if main linkage control
Circuit 1 is used to control the modular construction that lifting heavy is used in crane, then main detection circuit 1 is used in the crane for detecting
In the modular construction of lifting heavy；Similarly, for main linkage control circuit 2 and main detection circuit 2, also there is similar relationship, no
It repeats one by one again.
Also, sub-control subsystem has structure similar with master control subsystem.Specifically, duplicate invoice moves control loop
1, duplicate invoice moves control loop 2 and duplicate invoice moves control loop 3 and is respectively used to one control object of control, when provided in this embodiment
When heavy-duty machine interlock control system is applied to crane, control object can be respectively to be advanced, turn to and mentions for controlling crane
Rise the modular construction of weight etc..Secondary detection circuit 1, secondary detection circuit 2 and secondary detection circuit 3 are respectively used to detect different detections
Object advances, turns to for example, secondary detection circuit 1, secondary detection circuit 2 and secondary detection circuit 3 are respectively used to detection control crane
It is whether normal with the structure member of lifting heavy etc..Also, serial number is identical (for example, duplicate invoice moves control loop 1 and secondary detection circuit
1 serial number is identical, and so on) the test object of the duplicate invoice control object and secondary detection circuit 213 of moving control loop 211 be
Identical modular construction in crane；For example, if duplicate invoice moves control loop 1 for controlling in crane for lifting heavy
Modular construction, then secondary detection circuit 1 is used to detect the modular construction that lifting heavy is used in the crane；Similarly, for pair
Linkage control circuit 2 and secondary detection circuit 2, also have similar relationship, no longer repeat one by one.
Also, it numbers identical (for example, main linkage control circuit 1 is identical as the dynamic number of control loop 1 of duplicate invoice, with such
Push away) main linkage control circuit 111 and duplicate invoice move control loop 213 and correspond to each other, and the type of control object is identical.It is exemplary
Ground, if main linkage control circuit 1 is used to control the modular construction for being responsible for lifting heavy in a crane, duplicate invoice is dynamic
Control loop 1 is used to control the modular construction for being responsible for lifting heavy in another crane.Similar, number identical main detection
Circuit 113 is corresponded to each other with secondary detection circuit 213, and numbers the control of identical main detection circuit 113 with secondary detection circuit 213
The type of object is identical.Illustratively, if main detection circuit 1 is used to detect the component for being responsible for lifting heavy in a crane
Structure, then, secondary detection circuit 2131 is used to detect the modular construction for being responsible for lifting heavy in another crane.It needs to illustrate
, master control subsystem and each sub-control subsystem are respectively arranged on different cranes, for example, master control system
And two sub-control subsystems are respectively arranged on different crane A, crane B and crane C.If master control subsystem
In main linkage control circuit 1 be used to control the modular construction for being responsible for lifting heavy in crane A, then one of sub-control
Duplicate invoice in system moves control loop 1 and is used to control the modular construction for being responsible for lifting heavy in crane B, and another sub-control
Duplicate invoice in subsystem moves control loop 1 then for controlling the modular construction for being responsible for lifting heavy in crane C.Similarly, master control
Main detection circuit 1 in subsystem is used to detect the modular construction for being responsible for lifting heavy in crane A, then wherein for controlling
Secondary detection circuit 1 in the sub-control subsystem of crane B is used to detect the modular construction for being responsible for lifting heavy in crane B,
And the secondary detection circuit 1 in another sub-control subsystem is used to detect the modular construction for being responsible for lifting heavy in crane C.
Wireless communication module in main fixing type telecontrol device 102, the wireless communication module in secondary fixing type telecontrol device 202 can
It is wirelessly connected and communicates to realize, and then can use the signal control duplicate invoice that main detection circuit 113 detects and move control loop
211, alternatively, controlling main linkage control circuit 111 using the signal that secondary detection circuit 213 detects.It should be noted that number
The main fixing type telecontrol of identical (for example, main fixing type telecontrol device 1 is identical with the solid number of timing remote controller 1 of pair, and so on)
It can be communicated between device 102 and secondary solid timing remote controller 202, and it is fixed to number different main fixing type telecontrol device 102 and pair
It can not be communicated between remote controler 202.Illustratively, main fixing type telecontrol device 1 can be carried out with secondary fixing type telecontrol device 1 with logical
Letter, but cannot be communicated with secondary fixing type telecontrol device 2.Wireless communication module may be implemented to wirelessly communicate, very big when lifting by crane
When object, the distance between more cranes are relatively large, when wireless communication module can be to avoid wire transmission signal, because of cable
Length is not enough limited caused by operation.It should be noted that the dotted line in Fig. 1, indicates that main fixing type telecontrol device 1 and pair are solid
Timing remote controller 1 can be communicated with each other when crane linkage control circuit is in linkage work mode；And master is fixed
Remote controler 2 and secondary solid timing remote controller 2 can be communicated with each other when crane linkage control circuit is in linkage work mode.
Illustratively, when main detection circuit 1 detects that the modular construction for being responsible for lifting heavy in crane A stops working
When, main detection circuit 1 can produce fault-signal, and fault-signal successively passes through main fixing type telecontrol device 1 and secondary fixing type telecontrol
Device 1 reaches the duplicate invoice in one of sub-control subsystem and moves control loop 1, and then controls duplicate invoice and move the stopping work of control loop 1
Make, the modular construction for being responsible for lifting heavy in crane B is made to stop working.Similarly, the raw fault-signal of main detection circuit production 1 can also
Successively by main fixing type telecontrol device 2 and secondary fixing type telecontrol device 2, to reach the dynamic control of duplicate invoice in another sub-control subsystem
Circuit 1 processed, so that the modular construction for being responsible for lifting heavy in crane C be made to stop working.
Further, if the secondary detection circuit 1 being installed on crane B, which detects, is responsible for lifting heavy in crane B
Modular construction when stopping working, secondary detection circuit 1 also can produce fault-signal, and fault-signal successively passes through secondary fixed distant
Device 1 and main fixing type telecontrol device 1 are controlled, main linkage control circuit 1 is reached, and then controls main linkage control circuit 1 and disconnects, makes lifting
The modular construction for being responsible for lifting heavy in machine A stops working.At this point, main detection circuit 1, which can detect, is responsible for promotion in crane A
The modular construction of weight stops working, and in turn, main detection circuit 1 also can produce fault-signal, and controls in crane C and be responsible for
The modular construction of lifting heavy stops working.Similarly, if being installed on the secondary detection circuit 1 on crane C, lifting is being detected
After the modular construction of responsible lifting heavy stops working in machine C, it can also successively control in crane B and crane C and be responsible for
The modular construction of lifting heavy stops working.
To sum up, when there is event in some modular construction of any equipment in crane A, crane B and crane C
Barrier, in addition corresponding modular construction can all stop working in two cranes.In actual production, it is risen using more cranes
When hanging object body, it is ensured that more cranes, which work asynchronously and synchronize, to stop working, and can damage to avoid because of part crane
Accident caused by and occurs.
It should be noted that the present embodiment includes two sub-control subsystems (corresponding three with crane interlock control system
Platform crane) for, the structure and working principle of crane interlock control system are illustrated, it should be understood that this
The crane interlock control system for implementing to provide can also include more or fewer sub-control subsystems.For example, special in lifting
When not complicated object, the crane work of more platforms can be controlled simultaneously using crane interlock control system；In lifting phase
When to simple object, it also can use the two crane work of crane interlock control system while control, at this point, crane
Interlock control system only includes a sub-control subsystem.
Although when describing crane interlock control system provided in this embodiment, by means of the concept of crane,
It should be understood that crane is only the control object of crane interlock control system, and the structure of crane interlock control system
With function independent of crane, therefore, crane interlock control system can be used as independent product.
Crane interlock control system provided in this embodiment includes master control subsystem and at least one sub-control subsystem
System, master control subsystem include at least one main fixing type telecontrol device, and sub-control subsystem includes a secondary fixing type telecontrol device,
Master control subsystem and sub-control subsystem are realized and are communicated by main fixing type telecontrol device and secondary fixing type telecontrol device；In main control
Main detection electricity when the control object in any main linkage control circuit stops working in subsystem, with the control object corresponding function
Road generates fault-signal, and fault-signal is sent to corresponding secondary fixing type telecontrol device by each main fixing type telecontrol device, respectively
Secondary fixing type telecontrol device controls the dynamic control loop of corresponding duplicate invoice according to the fault-signal received and stops working；In sub-control
When the control object that any duplicate invoice moves control loop in system stops working, the secondary detection circuit with the control object corresponding function
Fault-signal is generated, and fault-signal is sent to corresponding main fixing type telecontrol device, each master by each secondary fixing type telecontrol device
Fixing type telecontrol device controls corresponding main linkage control circuit according to the fault-signal received and stops working；In main control subsystem
When the control object of system or any one sub-control subsystem breaks down, the control object of other all same types is stopped
Only work, realize interlock protection function, avoid different cranes work it is asynchronous caused by unsafe problems generation.
Fig. 2 is main multicontact switch module provided in an embodiment of the present invention and main single action control loop group and main linkage control
The connection relationship diagram of loop sets.Optionally, referring to FIG. 2, master control subsystem further includes main multicontact switch module 104
And main single action control loop group 105, main single action control loop group 105 include multiple main single action control loops 115；Main multiconductor
The first main contacts 114 in switch module 104 connects each main single action control loop 115, and in main multicontact switch module 104
Two main contacts 124 connect each main linkage control circuit 111.
Specifically, when in main multicontact switch module 104 switch and the first main contacts 114 contact when, main control subsystem
System is in single action control model, and master control subsystem can individually carry out operation；Switch in main multicontact switch module 104
When contacting with the second main contacts 124, master control subsystem is in linkage control mode, and master control subsystem and at least one pair are controlled
Subsystem cooperates.
Fig. 3 is secondary multicontact switch module provided in an embodiment of the present invention and secondary single action control loop group and secondary linkage control
The connection relationship diagram of loop sets.Optionally, referring to FIG. 2, sub-control subsystem further includes secondary multicontact switch module 204
And secondary single action control loop group 205, secondary single action control loop group 205 include multiple secondary single action control loops 215；Secondary multiconductor
The first auxiliary contact 214 in switch module 204 connects each secondary single action control loop 215, and the in secondary multicontact switch module 204
Two auxiliary contacts 224 connect each duplicate invoice and move control loop 211.
Specifically, Fig. 2 and Fig. 3, secondary multicontact switch module 204 and secondary single action control loop group 205 and duplicate invoice are please referred to
Connection relationship between dynamic control loop group 201, with main multicontact switch module 104 and main single action control loop group 105 and master
The connection relationship of linkage control loop sets 101 is identical.Secondary multicontact switch module 204 and secondary single action control loop group 205 and pair
The beneficial effect of specific connection relationship between linkage control loop sets 201, can refer to about main multicontact switch module 104 with
The description of the connection relationship of main single action control loop group 105 and main linkage control loop sets 101.It should be noted that when master is more
When switch and the second main contacts 124 in contact switch module 104 contact, at least one secondary multicontact switch module 204
Switch contacted with the second auxiliary contact 224, to guarantee that at least two cranes link operations.
Optionally, main multicontact switch module includes many-contact relay；Secondary multicontact switch module include multiconductor after
Electric appliance.
Specifically, by taking main multicontact switch module as an example, multiple different contacts are selected from many-contact relay, respectively
The public touching as the first main contacts, the second main contacts and the property of can choose being connect with the first main contacts and the second main contacts
Point, and make the difference of common based on the received electrical signal, selection is contacted with the first main contacts or the second main contacts
Realize the switching of single action control model and linkage control mode.Similarly, secondary multicontact switch module can be with main multicontact switch
The structure of module is identical, repeats no more.It should be understood that many-contact relay is only a kind of possible main multiconductor module or secondary more
The structure of contact modules, rather than the limitation of the structure to main multiconductor module or secondary multiconductor module.
Optionally, please continue to refer to Fig. 2 and Fig. 3, main linkage control circuit 111 further include include main switching control 121, it is main
Control switch 121 is connected with the second main contacts 124 in main multicontact switch module 104；Duplicate invoice moves control loop 211
Sub-control switch 221, sub-control switch 221 connect 224 in secondary multicontact switch module 204 the second auxiliary contact.
Specifically, it by taking main switching control 121 as an example, is sent out in the corresponding secondary detection circuit in Cong Yuzhu linkage control circuit 111
Fault-signal out eventually arrives at main switching control 121, and disconnects main switching control 121, and then make main switching control 121
The modular construction of the crane of the master control system controlled also stops working.Similarly, for sub-control switch 221 with it is corresponding
Main detection circuit connection, and then realize control of the main detection circuit to sub-control switch 221.
Fig. 4 is the structural schematic diagram of transmitter and receiver provided in an embodiment of the present invention.Optionally, referring to FIG. 4, it is main
Control subsystem further includes main transmitter 106 and main receiver 107 corresponding with main transmitter 106；Sub-control subsystem is also
Including secondary transmitter 206 and the companion receiver 207 corresponding with secondary transmitter 206；Main receiver 106 connects main multiconductor and opens
Close the control terminal of module 104, the control terminal of 206 auxiliary connection multicontact switch module 204 of companion receiver.
Specifically, in general, master control subsystem and each sub-control subsystem are located on different cranes, lead to
It crosses main transmitter 106 and sends control signal to main receiver 107, the list to the crane where master control subsystem may be implemented
Solely control；Similarly, it using secondary transmitter 206 and companion receiver 207, also may be implemented to the crane where sub-control subsystem
Control.Certainly, when needing to link, main transmitter 106 or any one same time control of secondary transmitter 206 also be can use
Main receiver 107 and at least one companion receiver 207 are made, alternatively, controlling multiple companion receivers 207 simultaneously.Dotted line table in Fig. 4
Show, main transmitter 106 and main receiver 107 belong to the same master control subsystem, can be with co- controlling when DA SA is
One crane；And secondary transmitter 206 and companion receiver 207 belong to the same sub-control subsystem, in DA SA,
It can be with one crane of co- controlling.
Optionally, when single action controls, each transmitter controls a receiver, and in linkage control, in order to guarantee
The synchronization for controlling signal, generally selects a transmitter, while controlling multiple receivers (including main receiver 107 and at least one
A companion receiver 207).For the work in linkage control for further illustrating crane interlock control system provided in this embodiment
Make principle, in the present embodiment and the following examples, using main transmitter 106 as linkage control when transmitter, when
So, it should be appreciated that main transmitter, main receiver, and secondary transmitter and companion receiver, it is only for facilitate description and be arranged
Different names, essential function be it is identical, therefore, in practical applications, can choose main transmitter 106 or any one
Transmitter when a pair transmitter 206 is as linkage control.
Fig. 5 is the structural schematic diagram of another transmitter and receiver provided in an embodiment of the present invention.Optionally, figure is please referred to
5, main transmitter 106 includes at least two adapter tube keys, and at least two adapter tube keys are including a main adapter tube key 116 and at least
One first secondary adapter tube key 126；Each pair transmitter 206 includes one second secondary adapter tube key 216；First secondary adapter tube key
126 and second secondary 216 one-to-one correspondence of adapter tube key；Main adapter tube key 116 generates adapter tube master for controlling main transmitter 106
The instruction of receiver 107, the first secondary adapter tube key 126 generate the finger of adapter tube companion receiver 207 for controlling main transmitter 106
It enables, the second secondary adapter tube key 216 generates the instruction of adapter tube companion receiver 207 for controlling secondary transmitter 206.
Specifically, when crane interlock control system includes a master control subsystem and a sub-control subsystem,
When main adapter tube key 116 is in down state, main transmitter 106 can control main receiver 107.In the first secondary adapter tube key
126 when being in down state, main transmitter 106 can adapter tube companion receiver 207, the second secondary adapter tube key 216, which is in, presses shape
When state, secondary transmitter 206 can adapter tube companion receiver 207.
If the second secondary adapter tube key 216 is in down state, secondary 206 adapter tube companion receiver 207 of transmitter, even if first
Secondary adapter tube key 126 is in down state, main transmitter 106 also can not adapter tube companion receiver, at this point, pair transmitter 206 is only controlled
Secondary transmitter 207 is made, therefore, crane interlock control system is in single action control model.It is in the second secondary adapter tube key 216
When bouncing state, secondary transmitter 206 discharges companion receiver 207, if on main transmitter 106 only at the first secondary adapter tube key 126
When down state, main transmitter 106 can adapter tube companion receiver 207, also, the only adapter tube companion receiver 207 of main transmitter 106
Without taking over main receiver 107, can be worked by the crane where main transmitter 106 individually control sub-control subsystem.
Therefore, even if secondary transmitter 206 damages, the lifting where main transmitter 106 individually control sub-control subsystem can also be passed through
Machine work.When the second secondary adapter tube key 216 is in and bounces state, the second secondary adapter tube key 216 discharges companion receiver 207, such as
Main adapter tube key 116 and the first secondary adapter tube key 126 are in down state to fruit at this time, and main transmitter 106 is taken over master simultaneously and connect
Master control subsystem and secondary control system can be controlled simultaneously by receiving device 107 and companion receiver 207, main transmitter 106.Therefore, originally
The crane interlock control system that embodiment provides has a variety of different control models, and diversified control function may be implemented
Energy.
It should be noted that although the present embodiment is to include rising for a master control subsystem and sub-control subsystem
For heavy-duty machine interlock control system, the function of crane interlock control system is illustrated, however, it is to be understood that working as
When heavy-duty machine interlock control system includes multiple secondary control systems, the control that above-mentioned principle realizes kind of mode of doing also can use.Show
Example property, when crane interlock control system includes a master control subsystem and two sub-control subsystems, the first pair is connect
The quantity of pipe key 126 and the second secondary adapter tube key 216 is also 2, and two first secondary adapter tube keys 126 are taken over different respectively
Companion receiver 207, the second secondary adapter tube key 216 also take over different companion receivers 207 respectively.
It should also be noted that, realizing linkage control or single action control by button operation, being only provided in this embodiment
A kind of alternative embodiment can also control operation by others and realize linkage control in other embodiments.
In addition, it is necessary to explanation, crane interlock control system provided in this embodiment although control 3 or more simultaneously
More cranes, still, in the actual production process, more situations is interlocked using crane provided in this embodiment
Control system controls two cranes simultaneously, at this point, crane interlock control system provided in this embodiment only includes a master
Control subsystem and a sub-control subsystem.
Optionally, crane interlock control system provided in this embodiment further includes main alarm and at least one pair alarm
Device, main alarm are connect with each main detection circuit；Secondary alarm connects one to one with each secondary detection circuit.
Specifically, after main detection circuit detects that its corresponding modular construction stops working, it can control main alarm
Device generates alarm signal.Also, if in linkage control, when main detection circuit detects that its corresponding modular construction stops work
When making, the corresponding modular construction of each pair detection circuit can also stop working, and then each secondary alarm is made also to issue alarm
Signal.Similarly, in linkage control, if the corresponding modular construction damage of one of pair detection circuit, can also make each
Main alarm and each secondary alarm generate alarm signal.Therefore, when the mutual alignment of more cranes relatively far away from when, only
Nearby there is staff in operating area where wanting any crane, and alarm signal can pass to staff, with
Just staff is as early as possible repaired or replaced the crane to break down.
Based on the same inventive concept, the present embodiment additionally provides a kind of lifting unit, is not described in detail in the present embodiment
Part, please refer to any embodiment of that present invention offer crane interlock control system.Specifically, which includes appointing
Crane interlock control system described in embodiment of anticipating.
Specifically, according to the quantity of crane in lifting unit, the secondary control in crane interlock control system can be set
The quantity of subsystem, and then can use crane interlock control system and control more crane work, and at any one
When some modular construction failure in crane, the identical modular construction controlled in other all cranes also stops work
Make.
Lifting unit provided in an embodiment of the present invention includes master control subsystem and at least one sub-control subsystem, master control
Subsystem includes at least one main fixing type telecontrol device, and sub-control subsystem includes a secondary fixing type telecontrol device, main control
Subsystem and sub-control subsystem are realized and are communicated by main fixing type telecontrol device and secondary fixing type telecontrol device；In master control subsystem
In the control object in any main linkage control circuit when stopping working, generated with the main detection circuit of the control object corresponding function
Fault-signal, and fault-signal is sent to corresponding secondary fixing type telecontrol device by each main fixing type telecontrol device, it is each secondary fixed
Formula remote controler controls the dynamic control loop of corresponding duplicate invoice according to the fault-signal received and stops working；In sub-control subsystem
When the control object that any duplicate invoice moves control loop stops working, event is generated with the secondary detection circuit of the control object corresponding function
Hinder signal, and fault-signal is sent to corresponding main fixing type telecontrol device by each secondary fixing type telecontrol device, each master is fixed
Remote controler controls corresponding main linkage control circuit according to the fault-signal received and stops working；In master control subsystem or appoint
When the control object of what sub-control subsystem breaks down, the control object of other all same types stops work
Make, realize interlock protection function, avoid different cranes work it is asynchronous caused by unsafe problems generation.
Optionally, the quantity of the crane in heavy-duty machine group group is greater than or equal to 2.
Based on the same inventive concept, the present embodiment additionally provides a kind of control method of crane interlock control system, uses
In controlling crane interlock control system described in above-mentioned any embodiment, the part not being described in detail in the present embodiment is asked
The crane interlock control system provided with reference to any embodiment of that present invention.Fig. 6 is crane connection provided in an embodiment of the present invention
The flow chart of the control method of lock control system.Specifically, referring to FIG. 6, the control method includes:
Step 11, main detection circuit detect that the control object in main linkage control circuit corresponding with main detection circuit occurs
Failure generates fault-signal and fault-signal is sent to each main fixing type telecontrol device.
Specifically, in the corresponding crane of master control subsystem, for example, being used for the modular construction failure of lifting heavy
When, fault-signal can be generated in corresponding main detection circuit, and fault-signal is occurred to make main fixing type telecontrol device.
The fault-signal that step 12, each main fixing type telecontrol device will receive, is sent respectively to and main fixing type telecontrol device
Corresponding pair fixing type telecontrol device.
It specifically, can be by rising where master control subsystem by main fixing type telecontrol device and secondary fixing type telecontrol device
The fault-signal of heavy-duty machine is sent to each sub-control subsystem.
Step 13, the secondary fixing type telecontrol device for receiving fault-signal, according to fault-signal control and main detection circuit pair
The duplicate invoice answered moves control loop and stops working.
Illustratively, when modular construction of the master control subsystem for lifting heavy breaks down, fault-signal passes through
Main timing remote controller admittedly and secondary fixing type telecontrol device, arrival and the modular construction for being used to control lifting heavy in sub-control subsystem
Duplicate invoice move control loop and stop working, and then make in the crane where every sub-control subsystem for lifting heavy
Modular construction also all stops working, and then has achieved the purpose that while having controlled more cranes to be simultaneously stopped work.
The control method of crane interlock control system provided in this embodiment, can be in the control in main linkage control circuit
It when object breaks down, controls the dynamic control loop of corresponding duplicate invoice and stops working, make the control of each corresponding secondary linkage control
Object also stops working, realize interlock protection function, avoid different cranes work it is asynchronous caused by unsafe problems hair
It is raw.
Based on the same inventive concept, the present embodiment additionally provides a kind of control method of crane interlock control system, uses
In controlling crane interlock control system described in above-mentioned any embodiment, the part not being described in detail in the present embodiment is asked
The crane interlock control system provided with reference to any embodiment of that present invention.Fig. 7 is another lifting provided in an embodiment of the present invention
The flow chart of the control method of machine interlock control system.Specifically, referring to FIG. 7, the control method includes:
The control object that step 21, secondary detection circuit detect that duplicate invoice corresponding with secondary detection circuit moves control loop occurs
Failure generates fault-signal and fault-signal is sent to corresponding secondary fixing type telecontrol device.
Specifically, when control object failure in the crane where sub-control subsystem, secondary detection circuit be can produce
Fault-signal, and fault-signal is sent to corresponding secondary fixing type telecontrol device.
Fault-signal is sent to and secondary fixing type telecontrol device by step 22, the secondary fixing type telecontrol device for receiving fault-signal
Corresponding main fixing type telecontrol device.
It specifically, can be with transmission failure signal using main fixing type telecontrol device and secondary solid timing remote controller.
Step 23, the main fixing type telecontrol device for receiving fault-signal, according to fault-signal control and secondary detection circuit pair
The main linkage control circuit answered stops working.
Specifically, when the fault-signal from secondary detection circuit reaches main linkage control circuit corresponding with secondary detection circuit
When, main linkage control circuit stops working, and then the control object in the main linkage control circuit is made to stop working.
Step 24, main detection circuit corresponding with the main linkage control circuit to stop working generate control signal and will controls
Signal is sent to each main fixing type telecontrol device.
Specifically, when the control object in the main linkage control circuit to stop working in step 23 stops working, with the master
The corresponding main detection circuit in linkage control circuit can generate control signal, and the control signal is sent to each main fixing type telecontrol
Device.It should be noted that fault-signal and control signal, can be that main detection circuit or secondary detection circuit are detecting that it is each
When self-corresponding test object stops working, the signal of generation.But the control pair in the main linkage control circuit in the present embodiment
As stopping working not due to failure cause, therefore, using naming method as " control signal ", to be different from detection
The case where object is stopped working due to failure.
Step 25, each main fixing type telecontrol device for receiving control signal are sent control signals to solid with each master respectively
The corresponding secondary fixing type telecontrol device of fixed pattern remote controler.
Specifically, by each main fixing type telecontrol device and each secondary fixing type telecontrol device, the transmission of control signal may be implemented.
Step 26 receives the secondary fixing type telecontrol device of control signal according to the corresponding secondary linkage control of control signal control
Circuit stops working.
Specifically, when control signal reaches corresponding duplicate invoice and moves control loop, which moves control loop and stops working,
The control object that the duplicate invoice moves control loop also stops working.
The control method of crane interlock control system provided in this embodiment can be returned in any one secondary linkage control
When the control object on road breaks down, controls corresponding main linkage control circuit and stop working, make the control pair of main linkage control
As also stopping working；At this point, generating control signal by main detection circuit again, all pairs for controlling the control object can be made
Linkage control circuit stops working, and realizes interlock protection function, dangerous caused by avoiding different crane work asynchronous to ask
The generation of topic.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of crane interlock control system characterized by comprising
Master control subsystem and at least one sub-control subsystem；
Wherein, the master control subsystem includes main linkage control loop sets, main detection circuit group and at least one main fixation
Formula remote controler；The main linkage control loop sets include multiple main linkage control circuits, and the main detection circuit group includes multiple
Main detection circuit, each main fixing type telecontrol device connect each main linkage control circuit and each main detection electricity
Road；The main detection circuit and the main linkage control circuit correspond, and the main detection circuit is for detecting and the master
The fault condition of the control object in the corresponding main linkage control circuit of detection circuit；
The sub-control subsystem includes that duplicate invoice moves control loop group, secondary detection circuit group and at least one secondary fixing type telecontrol
Device；It includes that multiple duplicate invoices move control loop that the duplicate invoice, which moves control loop group, and the pair detection circuit group includes to multiple secondary inspections
Slowdown monitoring circuit；Each secondary fixing type telecontrol device connects each duplicate invoice and moves control loop and each secondary detection circuit；Institute
It states secondary detection circuit and the duplicate invoice moves control loop and corresponds, the pair detection circuit is for detecting and the secondary detection electricity
The corresponding duplicate invoice in road moves the fault condition of the control object of control loop；
The main linkage control circuit and the duplicate invoice move control loop and correspond, and the main linkage control in correspondence with each other is returned
Road is identical as the dynamic type of control object of control loop of the duplicate invoice；The main detection circuit and the secondary detection circuit are one by one
Corresponding, the main detection circuit in correspondence with each other is identical as the secondary type of test object of detection circuit；The main linkage
The control object of control loop is identical with the test object of the corresponding main detection circuit；In the same sub-control subsystem
In, the control object that the duplicate invoice moves control loop is identical with the corresponding secondary test object of detection circuit；
The quantity of at least one main fixing type telecontrol device is equal with the quantity of at least one sub-control subsystem, described
Main fixing type telecontrol device and the secondary fixing type telecontrol device correspond；The main fixing type telecontrol device includes radio communication mold
Block, the pair fixing type telecontrol device includes wireless communication module.
2. crane interlock control system according to claim 1, which is characterized in that the master control subsystem further includes
Main multicontact switch module and main single action control loop group, the main single action control loop group include that multiple main single actions control back
Road；The first main contacts in the main multicontact switch module connects each main single action control loop, and the main multiconductor is opened
The second main contacts closed in module connects each main linkage control circuit；
The sub-control subsystem further includes secondary multicontact switch module and secondary single action control loop group, the pair single action control
Loop sets include multiple secondary single action control loops；The first auxiliary contact connection in the pair multicontact switch module is each described secondary single
Control loop is moved, the second auxiliary contact in the pair multicontact switch module connects each duplicate invoice and moves control loop.
3. crane interlock control system according to claim 2, which is characterized in that the main multicontact switch module packet
Include many-contact relay；The pair multicontact switch module includes many-contact relay.
4. crane interlock control system according to claim 2, which is characterized in that also wrap in the main linkage control circuit
Main switching control is included, the main switching control is connected with the second main contacts in the main multicontact switch module；
It includes sub-control switch that the duplicate invoice, which moves control loop to further include, the sub-control switch and the secondary multicontact switch mould
The second auxiliary contact series connection in block.
5. crane interlock control system according to claim 2, which is characterized in that the master control subsystem further includes
Main transmitter and main receiver corresponding with the main transmitter；The sub-control subsystem further include secondary transmitter and with
The corresponding companion receiver of the pair transmitter；
The main receiver connects the control terminal of the main multicontact switch module, the companion receiver connection secondary multiconductor
The control terminal of switch module.
6. crane interlock control system according to claim 5, which is characterized in that the main transmitter includes at least two
A adapter tube key, at least two adapter tubes key include a main adapter tube key and at least one first secondary adapter tube key；Often
A secondary transmitter includes one second secondary adapter tube key；Described first secondary adapter tube key and the second secondary adapter tube key one
One is corresponding；
The main adapter tube key is used to control the main transmitter and generates the instruction for taking over the main receiver, and first pair connects
Pipe key is used to control the main transmitter and generates the instruction for taking over the companion receiver, and the described second secondary adapter tube key is for controlling
It makes the secondary transmitter and generates the instruction for taking over the companion receiver.
7. crane interlock control system according to claim 1, which is characterized in that further include main alarm and at least one
A pair alarm, the main alarm are connect with each main detection circuit；The pair alarm and each secondary detection circuit
It connects one to one.
8. a kind of lifting unit, which is characterized in that including any one of the claim 1-7 crane interlock control system.
9. a kind of control method of crane interlock control system, for controlling the claims 1-8 described in any item
Heavy-duty machine interlock control system characterized by comprising
The main detection circuit detects that the control object in the main linkage control circuit corresponding with the main detection circuit is sent out
Raw failure generates fault-signal and the fault-signal is sent to each main fixing type telecontrol device；
The fault-signal that each main fixing type telecontrol device will receive is sent respectively to and the main fixing type telecontrol device
The corresponding secondary fixing type telecontrol device；
The secondary fixing type telecontrol device for receiving the fault-signal, according to fault-signal control and the main detection electricity
The corresponding duplicate invoice in road moves control loop and stops working.
10. a kind of control method of crane interlock control system, for controlling the claims 1-8 described in any item
Heavy-duty machine interlock control system characterized by comprising
The control object that the pair detection circuit detects that the duplicate invoice corresponding with the pair detection circuit moves control loop is sent out
Raw failure generates fault-signal and the fault-signal is sent to the corresponding secondary fixing type telecontrol device；
Receive the fault-signal the secondary fixing type telecontrol device fault-signal is sent to it is fixed with the pair
The corresponding main fixing type telecontrol device of remote controler；
The main fixing type telecontrol device for receiving the fault-signal, according to fault-signal control and the secondary detection electricity
The corresponding main linkage control circuit in road stops working；
The main detection circuit corresponding with the main linkage control circuit to stop working generates control signal and by the control
Signal processed is sent to each main fixing type telecontrol device；
Receive it is described control signal each main fixing type telecontrol device, respectively by the control signal be sent to it is each described
The corresponding secondary fixing type telecontrol device of main fixing type telecontrol device；
The secondary fixing type telecontrol device for receiving the control signal controls the corresponding duplicate invoice according to the control signal
Dynamic control loop stops working.
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| CN201910126977.0A CN109650259B (en) | 2019-02-20 | 2019-02-20 | Crane interlocking control system, control method thereof and crane unit |
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| CN201910126977.0A CN109650259B (en) | 2019-02-20 | 2019-02-20 | Crane interlocking control system, control method thereof and crane unit |
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| CN109650259B (en) | 2024-01-05 |
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