CN109879172B - Amplitude variation control circuit for crane - Google Patents
Amplitude variation control circuit for crane Download PDFInfo
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- CN109879172B CN109879172B CN201910100429.0A CN201910100429A CN109879172B CN 109879172 B CN109879172 B CN 109879172B CN 201910100429 A CN201910100429 A CN 201910100429A CN 109879172 B CN109879172 B CN 109879172B
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Abstract
The invention discloses a variable amplitude control circuit for a crane. The control circuit comprises an operation module, a limit module and a loading module, the operation module comprises an ascending switch and a descending switch, the limit module comprises an upper limit switch, lower limit switch and limit relay, the loading module includes loading relay and loading solenoid valve, the first end and the live wire of rising switch are connected, the second end and the first end of decline switch of rising switch are connected, the second end of decline switch is connected with the zero line through limit relay's coil end, limit relay's normally open switch and loading relay's coil end establish ties between live wire and zero line, loading relay's normally open switch and loading solenoid valve establish ties between live wire and zero line, the first end and the live wire of upper limit switch are connected, the second end of upper limit switch is connected with the first end of lower limit switch and the first end of decline switch respectively, the second end of lower limit switch is connected with the second end of decline switch. The invention improves the reliability of the crane.
Description
Technical Field
The invention belongs to the field of electrical control, and particularly relates to a variable amplitude control circuit for a crane.
Background
In the working process of the crane, the lifting and the lowering of the heavy object are realized through the lifting of the lifting hook. In order to ensure that the lifting hook does not impact the boom and the platform of the crane, an upper limit position and a lower limit position of the lifting hook are usually set, a position sensor is arranged at the upper limit position and the lower limit position, and then the position sensor is monitored by a PLC control module so as to prevent the lifting hook from exceeding the upper limit position and the lower limit position.
In the process of implementing the invention, the inventor finds that the prior art has at least the following problems:
because the hoist is controlled by PLC control module, in case PLC control module breaks down, will lead to the limit function of hoist to become invalid.
Disclosure of Invention
The embodiment of the invention provides a variable amplitude control circuit for a crane, which can improve the reliability of the crane. The technical scheme is as follows:
the embodiment of the invention provides a variable amplitude control circuit for a crane, which comprises an operation module, a limit module and a loading module, wherein the operation module comprises an ascending switch and a descending switch, the limit module comprises an upper limit switch, a lower limit switch and a limit relay, the loading module comprises a loading relay and a loading electromagnetic valve, a first end and a second end of the ascending switch form a normally closed switch, the first end of the ascending switch is connected with a live wire, the second end of the ascending switch is connected with the first end of the descending switch, the first end and the second end of the descending switch form a normally closed switch, the second end of the descending switch is connected with a zero wire through a coil end of the limit relay, a normally open switch of the limit relay and a coil end of the loading relay are connected in series between the live wire and the zero wire, normally open switch of loading relay with the loading solenoid valve is established ties the live wire with between the zero line, go up limit switch's first end and second end and constitute normally closed switch, go up limit switch's first end with the live wire is connected, go up limit switch's second end respectively with lower limit switch's first end with the first end of decline switch is connected, limit switch's first end and second end constitute normally closed switch down, lower limit switch's second end with the second end of decline switch is connected.
In an implementation manner of the present invention, the control circuit further includes a bypass module, the bypass module includes a bypass switch and a bypass relay, the bypass switch and a coil end of the bypass relay are connected in series between the live wire and the zero wire, and a normally open switch of the bypass relay is connected in parallel with the lower limit switch.
In another implementation manner of the present invention, the control circuit further includes an alarm module, the alarm module includes an alarm relay and a buzzer relay, a third end of the upper limit switch and a third end of the lower limit switch are both connected to the zero line through a coil end of the alarm relay, a first end of a normally open switch of the alarm relay is connected to the live line, a second end of the normally open switch of the alarm relay is connected to the zero line through a coil end of the buzzer relay, and the first normally open switch of the buzzer relay and the buzzer are connected in series between the live line and the zero line.
In another implementation manner of the present invention, a first end of the second normally open switch of the buzzer relay is connected to the live wire, the control circuit further includes a silencing module, the silencing module includes a silencing switch and a silencing relay, a first end of the normally closed switch of the silencing relay is connected to a second end of the second normally open switch of the buzzer relay, a second end of the normally closed switch of the silencing relay is connected to the zero line through a coil end of the buzzer relay, a first end of the silencing switch is connected to a second end of the second normally open switch of the buzzer relay, a second end of the silencing switch is connected to the zero line through a coil end of the silencing relay, and the normally open switch of the silencing relay and the silencing switch are connected in parallel.
In another implementation manner of the present invention, the control circuit further includes an emergency stop module, the emergency stop module includes an emergency stop switch, a first emergency stop relay, a second emergency stop relay and a third emergency stop relay, the emergency stop switch is a normally closed switch, coil ends of the emergency stop switch and the first emergency stop relay are connected in series between the live line and the zero line, a first end of the normally closed switch of the first emergency stop relay is connected to the live line, a second end of the normally closed switch of the first emergency stop relay is connected to a first end of a normally open switch of the second emergency stop relay, a second end of the normally open switch of the second emergency stop relay is connected to the zero line through a coil end of the third emergency stop relay, a first end of the normally closed switch of the third emergency stop relay is connected to a second end of the down switch, and a second end of the normally closed switch of the third emergency stop relay is connected to the zero line through a coil end of the limit relay And the third end of the rising switch is connected with the zero line through the coil end of the second emergency stop relay.
In another implementation manner of the present invention, a first end of a normally open switch of the third emergency stop relay is connected to the live line, the emergency stop module further includes a reset switch, the reset switch is a normally closed switch, a first end of the reset switch is connected to a second end of the normally open switch of the third emergency stop relay, and a second end of the reset switch is connected to the neutral line through a coil end of the third emergency stop relay.
In another implementation manner of the present invention, a first end of the normally closed switch of the second emergency stop relay is connected to a second end of the normally closed switch of the first emergency stop relay, the control circuit further includes an emergency alarm module, the emergency alarm module includes a emergency report relay, the second end of the normally closed switch of the second emergency stop relay is connected to the zero line through a coil end of the emergency report relay, a first end of the first normally open switch of the emergency report relay is connected to the live line, and a second end of the first normally open switch of the emergency report relay is connected to the first end of the normally closed switch of the silencing relay.
In another implementation manner of the present invention, a first end of the normally closed switch of the emergency report relay is connected to a second end of the normally open switch of the second emergency stop relay, and a second end of the normally closed switch of the emergency report relay is connected to a second end of the normally open switch of the third emergency stop relay.
In another implementation manner of the invention, the second normally open switch of the emergency relay and the normally closed switch of the second emergency stop relay are connected in parallel.
In yet another implementation of the invention, the voltage between the live and neutral wires is 220V.
The technical scheme provided by the embodiment of the invention has the following beneficial effects:
through last limit switch, lower limit switch and limit relay's arrangement, when any disconnection in last limit switch or the lower limit switch, limit relay's coil end can't all be got electric for load relay's coil end can't get electric, thereby load relay's normally open switch can't be closed, and then the load solenoid valve can't get electric, and the hoist can't go up and down, thereby has played the effect that the lifting hook of restriction hoist surpassed upper limit position and lower limit position. In addition, the limiting function is realized without the control of the PLC control module, so that the limitation of the crane can be realized even if the PLC control module fails, and the reliability of the crane is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a first circuit diagram of a variable amplitude control circuit provided by an embodiment of the present invention;
fig. 2 is a second circuit diagram of the amplitude variation control circuit provided in the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
The embodiment of the invention provides a variable amplitude control circuit for a crane, as shown in fig. 1, the control circuit comprises an operation module, a limit module and a loading module, the operation module comprises an ascending switch 100 and a descending switch 200, the limit module comprises an upper limit switch 300, a lower limit switch 400 and a limit relay KA3, the loading module comprises a loading relay KA1 and a loading electromagnetic valve YA1(YA2), a first end 1 and a second end 2 of the ascending switch 100 form a normally closed switch, the first end 1 of the ascending switch 100 is connected with a live wire L, the second end 2 of the ascending switch 100 is connected with a first end of the descending switch 200, the first end and the second end of the descending switch 200 form a normally closed switch, the second end of the descending switch 200 is connected with a neutral wire N through a coil end of the limit relay KA3, the normally open switch of the limit relay KA3 and the coil end of the loading relay KA1 are connected in series between the live wire L and the neutral wire N, the normally open switch of the loading relay KA1 and the loading electromagnetic valve YA1(YA2) are connected in series between a live wire L and a zero wire N, a first end 1 'and a second end 2' of the upper limit switch 300 form a normally closed switch, the first end 1 'of the upper limit switch 300 is connected with the live wire L, the second end 2' of the upper limit switch 300 is connected with a first end 1 'of the lower limit switch 400 and a first end of the down switch 200 respectively, a first end 1' and a second end 2 'of the lower limit switch 400 form a normally closed switch, and a second end 2' of the lower limit switch 400 is connected with a second end of the down switch 200.
Through last limit switch 300, lower limit switch 400 and limit relay KA 3's arrangement, any disconnection in last limit switch 300 or lower limit switch 400, limit relay KA 3's coil end can't all be got electric, make loading relay KA 1's coil end can't get electric, thereby loading relay KA 1's normally open switch can't be closed, and then loading solenoid valve YA1(YA2) can't get electric, the unable lift of hoist, thereby the effect that the lifting hook of restriction hoist exceeded upper limit position and lower limit position has been played. In addition, the limiting function is realized without the control of the PLC control module, so that the limitation of the crane can be realized even if the PLC control module fails, and the reliability of the crane is improved.
In this embodiment, the voltage between the live line L and the neutral line N is 220V. That is to say, the variable amplitude control circuit can be suitable for commercial power with the voltage of 220V.
In this embodiment, the control circuit further comprises a bypass module, the bypass module comprises a bypass switch SA1 and a bypass relay KA5, the coil ends of the bypass switch SA1 and the bypass relay KA5 are connected in series between the live line L and the neutral line N, and the normally open switch of the bypass relay KA5 is connected in parallel with the lower limit switch 400.
In the above implementation, the bypass module is used to re-energize the load solenoid YA1(YA 2). The working process does, open bypass switch SA1, make bypass relay KA 5's coil end obtain electricity, bypass relay KA 5's normally open switch is closed, make the electric current can flow through bypass relay KA 5's normally open switch, thereby make limit relay KA 3's coil end obtain electricity, limit relay KA 3's normally open switch is closed, load relay KA 1's coil end obtains electricity, load relay KA 1's normally open switch is closed, final loading solenoid valve YA1(YA2) obtains electricity again.
Fig. 2 is a second circuit diagram of variable amplitude control circuit, refer to fig. 2, in this embodiment, control circuit still includes alarm module, alarm module includes alarm relay KA4 and buzzing relay KA9, third end 3 'of last limit switch 300 and third end 3 "of lower limit switch 400 are all connected with zero line N through alarm relay KA 4's coil end, alarm relay KA 4's normally open switch's first end is connected with live wire L, alarm relay KA 4's normally open switch's second end is connected with zero line N through buzzing relay KA 9's coil end, buzzing relay KA 9's first normally open switch 91 and buzzer 500 establish ties between live wire L and zero line N.
In the above implementation manner, when any one of the upper limit switch 300 and the lower limit switch 400 is triggered, the third terminal 3' of the upper limit switch 300 or the third terminal 3 ″ of the lower limit switch 400 is powered, so that the coil end of the alarm relay KA4 is powered, the normally open switch of the alarm relay KA4 is closed, the coil end of the buzzer relay KA9 is powered, the first normally open switch 91 of the buzzer relay KA9 is closed, the buzzer 500 is powered, and a buzzer alarm is issued, thereby playing a role in warning.
Optionally, the first end of the second normally-open switch 92 of the buzzer relay KA9 is connected with the live wire L, the control circuit further comprises a silencing module, the silencing module comprises a silencing switch SB10 and a silencing relay KA10, the first end of the normally-closed switch of the silencing relay KA10 is connected with the second end of the second normally-open switch 92 of the buzzer relay KA9, the second end of the normally-closed switch of the silencing relay KA10 is connected with the neutral wire N through the coil end of the buzzer relay KA9, the first end of the silencing switch SB10 is connected with the second end of the second normally-open switch 92 of the buzzer relay KA9, the second end of the silencing switch SB10 is connected with the neutral wire N through the coil end of the silencing relay KA10, and the normally-open switch of the silencing relay KA10 is connected with the silencing switch SB10 in parallel.
In the above implementation manner, after the coil end of the buzzer relay KA9 is powered, the second normally open switch 92 of the buzzer relay KA9 is also closed, so that the coil end of the buzzer relay KA9 can be powered continuously, and is no longer controlled by the alarm relay KA4, that is, the buzzer 500 will continue to give a buzzer alarm. When the buzzer alarms are stopped, the silencing switch SB10 is opened, the coil end of the silencing relay KA10 is electrified, the normally open switch of the silencing relay KA10 is closed, the normally closed switch of the silencing relay KA10 is disconnected, the coil end of the buzzer relay KA9 is electrified, the normally open switch 91 and the normally open switch 92 of the buzzer relay KA9 are both disconnected, the buzzer 500 is electrified, and the buzzer alarms.
In this embodiment, the control circuit further includes an emergency stop module, the emergency stop module includes an emergency stop switch 600, a first emergency stop relay KA8, a second emergency stop relay KA2 and a third emergency stop relay KA7, the emergency stop switch 600 is a normally closed switch, coil ends of the emergency stop switch 600 and the first emergency stop relay KA8 are connected in series between the live line L and the neutral line N, a first end of the normally closed switch of the first emergency stop relay KA8 is connected with the live line L, a second end of the normally closed switch of the first emergency stop relay KA8 is connected with a first end of the normally open switch of the second emergency stop relay KA2, a second end of the normally open switch of the second emergency stop switch 600 is connected with the neutral line N through a coil end of the third emergency stop relay KA7, a first end of the normally closed switch of the third emergency stop relay KA7 is connected with a second end of the down switch 200, a second end of the normally closed limit relay KA7 is connected with the neutral line N through a coil end of the normally closed limit relay KA3, the third terminal 3 of the rising switch 100 is connected with the neutral line N through the coil terminal of the second emergency stop relay KA 2.
In the implementation mode, when the crane is in a lifting state, a stalling and descending accident occurs, the emergency stop switch 600 is triggered, the emergency stop switch 600 is switched off, the coil end of the first emergency stop relay KA8 loses power, and the normally closed switch of the first emergency stop relay KA8 is closed. Because the first end 1 and the third end 3 intercommunication of rising switch 100 this moment, so the coil end of second emergency stop relay KA2 gets electricity, the normally open switch of second emergency stop relay KA2 is closed, the coil end of third emergency stop relay KA7 gets electricity, the normally closed switch disconnection of third emergency stop relay KA7, make limit relay KA 3's coil end lose electricity, limit relay KA 3's normally open switch disconnection, load relay KA 1's coil end loses electricity, load relay KA 1's normally open switch disconnection, loading solenoid valve YA1(YA2) loses electricity, the hoist stops rising, and then play the effect of emergency stop.
Optionally, the first end of the normally open switch of the third emergency stop relay KA7 is connected with the live wire L, the emergency stop module further includes a reset switch 700, the reset switch 700 is a normally closed switch, the first end of the reset switch 700 is connected with the second end of the normally open switch of the third emergency stop relay KA7, and the second end of the reset switch 700 is connected with the neutral wire N through the coil end of the third emergency stop relay KA 7.
In the implementation manner, after the coil end of the third emergency stop relay KA7 is powered on, the normally open switch of the third emergency stop relay KA7 is closed, so that the coil end of the third emergency stop relay KA7 is always powered on and is no longer controlled by the second emergency stop relay KA2, that is, the crane keeps a stop state. When the crane needs to be reset, the reset switch 700 is opened, so that the coil end of the third emergency stop relay KA7 loses power, the normally closed switch of the third emergency stop relay KA7 is closed again, the normally open switch of the third emergency stop relay KA7 is opened again, and the crane can work normally again.
In this embodiment, the first end of the normally closed switch of second emergency stop relay KA2 is connected with the second end of the normally closed switch of first emergency stop relay KA8, control circuit still includes emergency alarm module, emergency alarm module includes urgent newspaper relay KA6, the second end of the normally closed switch of second emergency stop relay KA2 is connected with zero line N through urgent newspaper relay KA 6's coil end, the first end and the live wire L of the first normally open switch of urgent newspaper relay KA6 are connected, the second end of the first normally open switch of urgent newspaper relay KA6 is connected with the first end of the normally closed switch of amortization relay KA 10.
Optionally, a first end of a normally closed switch of the emergency report relay KA6 is connected with a second end of a normally open switch of the second emergency stop relay KA2, and a second end of the normally closed switch of the emergency report relay KA6 is connected with a second end of a normally open switch of the third emergency stop relay KA 7.
Optionally, a second normally open switch of the emergency report relay KA6 and a normally closed switch of the second emergency stop relay KA2 are connected in parallel.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. The variable amplitude control circuit for the crane is characterized in that the control circuit comprises an operation module, a limit module and a loading module, the operation module comprises an ascending switch and a descending switch, the limit module comprises an upper limit switch, a lower limit switch and a limit relay, the loading module comprises a loading relay and a loading electromagnetic valve, a first end and a second end of the ascending switch form a normally closed switch, a first end of the ascending switch is connected with a live wire, a second end of the ascending switch is connected with a first end of the descending switch, a first end and a second end of the descending switch form a normally closed switch, a second end of the descending switch is connected with a zero wire through a coil end of the limit relay, a normally open switch of the limit relay and a coil end of the loading relay are connected in series between the live wire and the zero wire, normally open switch of loading relay with the loading solenoid valve is established ties the live wire with between the zero line, go up limit switch's first end and second end and constitute normally closed switch, go up limit switch's first end with the live wire is connected, go up limit switch's second end respectively with lower limit switch's first end with the first end of decline switch is connected, limit switch's first end and second end constitute normally closed switch down, lower limit switch's second end with the second end of decline switch is connected.
2. The amplitude control circuit according to claim 1, wherein the control circuit further comprises a bypass module, the bypass module comprises a bypass switch and a bypass relay, the bypass switch and the coil end of the bypass relay are connected in series between the live wire and the neutral wire, and the normally open switch of the bypass relay is connected in parallel with the lower limit switch.
3. The amplitude-variable control circuit according to claim 1, wherein the control circuit further comprises an alarm module, the alarm module comprises an alarm relay and a buzzer relay, the third end of the upper limit switch and the third end of the lower limit switch are both connected with the zero line through the coil end of the alarm relay, the first end of a normally open switch of the alarm relay is connected with the live line, the second end of the normally open switch of the alarm relay is connected with the zero line through the coil end of the buzzer relay, and the first normally open switch of the buzzer relay and the buzzer are connected in series between the live line and the zero line.
4. The amplitude-varying control circuit according to claim 3, wherein a first end of a second normally-open switch of the buzzer relay is connected with the live wire, the control circuit further comprises a silencing module, the silencing module comprises a silencing switch and a silencing relay, a first end of a normally-closed switch of the silencing relay is connected with a second end of the second normally-open switch of the buzzer relay, a second end of the normally-closed switch of the silencing relay is connected with the zero wire through a coil end of the buzzer relay, a first end of the silencing switch is connected with a second end of the second normally-open switch of the buzzer relay, a second end of the silencing switch is connected with the zero wire through a coil end of the silencing relay, and the normally-open switch of the silencing relay is connected with the silencing switch in parallel.
5. The amplitude control circuit according to claim 4, wherein the control circuit further comprises an emergency stop module, the emergency stop module comprises an emergency stop switch, a first emergency stop relay, a second emergency stop relay and a third emergency stop relay, the emergency stop switch is a normally closed switch, the emergency stop switch and a coil end of the first emergency stop relay are connected in series between the live wire and the zero wire, a first end of the normally closed switch of the first emergency stop relay is connected with the live wire, a second end of the normally closed switch of the first emergency stop relay is connected with a first end of the normally open switch of the second emergency stop relay, a second end of the normally open switch of the second emergency stop switch is connected with the zero wire through a coil end of the third emergency stop relay, and a first end of the normally closed switch of the third emergency stop relay is connected with a second end of the down switch, and a second end of a normally closed switch of the third emergency stop relay is connected with the zero line through a coil end of the limit relay, and a third end of the ascending switch is connected with the zero line through a coil end of the second emergency stop relay.
6. The amplitude control circuit according to claim 5, wherein a first end of a normally open switch of the third emergency stop relay is connected to the live wire, the emergency stop module further comprises a reset switch, the reset switch is a normally closed switch, a first end of the reset switch is connected to a second end of the normally open switch of the third emergency stop relay, and a second end of the reset switch is connected to the neutral wire through a coil end of the third emergency stop relay.
7. The amplitude-varying control circuit according to claim 6, wherein a first end of the normally closed switch of the second emergency stop relay is connected with a second end of the normally closed switch of the first emergency stop relay, the control circuit further comprises an emergency alarm module, the emergency alarm module comprises an emergency alarm relay, the second end of the normally closed switch of the second emergency stop relay is connected with the zero line through a coil end of the emergency alarm relay, a first end of the first normally open switch of the emergency alarm relay is connected with the live line, and a second end of the first normally open switch of the emergency alarm relay is connected with a first end of the normally closed switch of the silencing relay.
8. The amplitude-varying control circuit according to claim 7, wherein a first end of the normally closed switch of the emergency relay is connected with a second end of the normally open switch of the second emergency stop relay, and a second end of the normally closed switch of the emergency relay is connected with a second end of the normally open switch of the third emergency stop relay.
9. The amplitude control circuit of claim 7, wherein the second normally open switch of the emergency relay and the normally closed switch of the second emergency stop relay are connected in parallel.
10. The amplitude control circuit according to any one of claims 1 to 9, wherein the voltage between the live and neutral wires is 220V.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910100429.0A CN109879172B (en) | 2019-01-31 | 2019-01-31 | Amplitude variation control circuit for crane |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910100429.0A CN109879172B (en) | 2019-01-31 | 2019-01-31 | Amplitude variation control circuit for crane |
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| CN109879172A CN109879172A (en) | 2019-06-14 |
| CN109879172B true CN109879172B (en) | 2020-06-09 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU800107A1 (en) * | 1979-04-27 | 1981-01-30 | Войсковая Часть 93219 | Device for limiting the travel of load-engaging member of electric winch |
| CN203833505U (en) * | 2014-04-29 | 2014-09-17 | 纽科伦（新乡）起重机有限公司 | Control circuit for crane ground wire control operation |
| CN204145352U (en) * | 2014-10-21 | 2015-02-04 | 浙江箭环电气开关有限公司 | Tower crane luffing circuit for controlling motor |
| CN104891345A (en) * | 2015-04-22 | 2015-09-09 | 李志刚 | Crane ground operation position limitation control apparatus |
| CN105174060A (en) * | 2015-09-28 | 2015-12-23 | 河南省大方重型机器有限公司 | Control method for limiting of multi-trolley crane |
-
2019
- 2019-01-31 CN CN201910100429.0A patent/CN109879172B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU800107A1 (en) * | 1979-04-27 | 1981-01-30 | Войсковая Часть 93219 | Device for limiting the travel of load-engaging member of electric winch |
| CN203833505U (en) * | 2014-04-29 | 2014-09-17 | 纽科伦（新乡）起重机有限公司 | Control circuit for crane ground wire control operation |
| CN204145352U (en) * | 2014-10-21 | 2015-02-04 | 浙江箭环电气开关有限公司 | Tower crane luffing circuit for controlling motor |
| CN104891345A (en) * | 2015-04-22 | 2015-09-09 | 李志刚 | Crane ground operation position limitation control apparatus |
| CN105174060A (en) * | 2015-09-28 | 2015-12-23 | 河南省大方重型机器有限公司 | Control method for limiting of multi-trolley crane |
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| CN109879172A (en) | 2019-06-14 |
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