CN110161960B - Positioning vehicle speed control and monitoring method and management system of tippler system - Google Patents
Positioning vehicle speed control and monitoring method and management system of tippler system Download PDFInfo
- Publication number
- CN110161960B CN110161960B CN201910512748.2A CN201910512748A CN110161960B CN 110161960 B CN110161960 B CN 110161960B CN 201910512748 A CN201910512748 A CN 201910512748A CN 110161960 B CN110161960 B CN 110161960B
- Authority
- CN
- China
- Prior art keywords
- positioning vehicle
- current
- speed
- motor
- positioning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000012544 monitoring process Methods 0.000 title claims abstract description 25
- 238000013507 mapping Methods 0.000 claims abstract description 9
- 238000001514 detection method Methods 0.000 claims description 5
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 2
- 230000001133 acceleration Effects 0.000 abstract description 7
- 102100026205 1-phosphatidylinositol 4,5-bisphosphate phosphodiesterase gamma-1 Human genes 0.000 description 18
- 101000691599 Homo sapiens 1-phosphatidylinositol 4,5-bisphosphate phosphodiesterase gamma-1 Proteins 0.000 description 18
- 101100408464 Caenorhabditis elegans plc-1 gene Proteins 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 238000002474 experimental method Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035772 mutation Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/058—Safety, monitoring
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/14—Plc safety
- G05B2219/14006—Safety, monitoring in general
Abstract
The invention discloses a positioning vehicle speed control method of a tippler system, which comprises the following steps: acquiring the current load capacity drawn by the positioning vehicle in real time; determining the target current of the motor and the target speed of the positioning vehicle under the current load according to a preset mapping relation among the load quantity pulled by the positioning vehicle, the motor current of the positioning vehicle and the vehicle speed of the positioning vehicle; and controlling the motor to work according to the target current and/or the target speed. The control and monitoring of the positioning vehicle can be effectively realized, the positioning vehicle can obtain higher loading speed and acceleration, the full-cycle operation efficiency of the positioning vehicle is improved, the operation time of the tipper system is shortened, and the purposes of improving energy and increasing efficiency are achieved.
Description
Technical Field
The invention relates to the technical field of a tippler system, in particular to a positioning car speed control method of the tippler system, a positioning car monitoring method of the tippler system and a positioning car speed management system.
Background
The tipper system is widely applied to bulk cargo wharfs and power plants, and the positioning car belongs to key equipment of the tipper system and mainly plays a role in pulling heavy cars and positioning the heavy cars. As the requirement of the bulk cargo wharf on efficiency is higher and higher, the flow connection is tighter and tighter. The speed of pulling the positioning car is an important parameter for restricting the system efficiency of the tippler, the pulling speed of the positioning car is mainly constant-speed pulling, and the positioning car only takes a fixed point as a reference position to carry out acceleration and deceleration control during the whole cycle of the tippler operation.
Disclosure of Invention
In view of the above existing technologies, the present invention provides a positioning car speed control method, a monitoring method and a management system for a car dumper system, so as to improve the working efficiency of the car dumper system.
In order to achieve the aim, the invention discloses a positioning vehicle speed control method of a tippler system, which comprises the following steps:
acquiring the current load capacity drawn by the positioning vehicle in real time;
determining the target current of the motor and the target speed of the positioning vehicle under the current load according to a preset mapping relation among the load quantity pulled by the positioning vehicle, the motor current of the positioning vehicle and the vehicle speed of the positioning vehicle;
and controlling the motor to work according to the target current and/or the target speed.
Further, the real-time current capacity of obtaining the location vehicle traction includes:
and acquiring the current load capacity pulled by the positioning car according to the current cycle times of the tipper and the mapping relation between the preset cycle times of the tipper and the load capacity pulled by the positioning car.
Further, the controlling the motor to operate according to the target current and/or the target speed includes:
and controlling the motor of the positioning vehicle to work by sending a control signal to a frequency converter connected with the motor.
On the other hand, the invention also discloses a positioning vehicle monitoring method of the tippler system, which comprises the following steps:
under the condition that a motor of the positioning vehicle is controlled according to the positioning vehicle speed control method, the actual current of the motor of the positioning vehicle and the actual speed of the positioning vehicle are obtained in real time;
according to the current load amount of the traction of the positioning vehicle, comparing the actual current of the motor and the actual speed of the positioning vehicle with the target current of the motor and the target speed of the positioning vehicle under the current load amount respectively, judging whether the actual current is smaller than the target current, judging whether the actual speed is larger than the target speed, and monitoring the running state of the positioning vehicle according to the judgment result.
Further, the real-time obtaining of the actual current of the motor of the positioning vehicle and the actual speed of the positioning vehicle includes:
the actual current of the motor of the positioning vehicle and the actual speed of the positioning vehicle are obtained through current detection information and rotating speed detection information sent by a current sensor and a speed measurement sensor of the motor.
Further, the determining whether the actual current is smaller than the target current, determining whether the actual speed is smaller than the target speed, and monitoring the operating state of the positioning vehicle according to the determination result includes:
and if the actual current is smaller than the target current, adjusting the actual current to the target current to control the motor to work.
Further, judging whether the actual current is smaller than the target current, judging whether the actual speed is smaller than the target speed, and monitoring the running state of the positioning vehicle according to the judgment result, including:
and if the actual speed is greater than the target speed, judging that the positioning vehicle is in an abnormal operation state.
In another aspect, the present invention further discloses a positioning car speed management system of a car dumper, comprising:
the positioning vehicle is used for carrying out traction operation under the control of the PLC;
and the PLC is used for controlling the positioning vehicle to carry out traction operation according to the speed control method.
Furthermore, a motor of the positioning vehicle is connected with a frequency converter, and the PLC controls the positioning vehicle to carry out traction operation by controlling the frequency converter.
Further, the PLC is also used for monitoring the running state of the positioning vehicle according to the positioning vehicle monitoring method.
The invention has at least the following beneficial effects:
according to the load quantity dragged by the current positioning vehicle, the built-in given reference coefficient table is searched, the target speed of the positioning vehicle and the target current of the motor of the positioning vehicle can be obtained under the current load quantity, and because the load with a fixed quantity can be reduced in each cycle of the operation of the tippler, the PLC can obtain the current load quantity of the positioning vehicle through the current cycle number, and the PLC controls the motor by taking the calculated target speed and the target current as control parameters.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is an overall flowchart of a positioning car speed control method of a car dumper system according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating a method for monitoring a positioning car of a car dumper system according to an embodiment of the present invention;
fig. 3 is a circuit connection diagram of a positioning car speed management system of a car dumper according to an embodiment of the present invention.
Description of the reference numerals
1-PLC
2-frequency converter
3-current transformer
4-three-phase asynchronous motor
5-speed measuring encoder
Detailed Description
In addition, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
The positioning vehicle speed control method of the tippler system shown in fig. 1 comprises the following steps:
(1) and acquiring the current traction capacity of the positioning vehicle in real time.
In the tipper system, the load that the locating car pulls is mainly for heavily driving and the material that heavily driving loaded, and along with the continuous going on of dumping circulation, the load that the locating car pulls also constantly reduces, among the prior art, adopts the constant speed to pull to the locating car speed, has guaranteed the safe operation of locating car, but has seriously restricted efficiency. In the traction process of the positioning vehicle, the motor can correspondingly improve the acceleration and the running speed of the positioning vehicle according to the transformation degree of load reduction under the condition that the rated current output is unchanged. Therefore, the load quantity drawn by the current positioning vehicle is obtained and is an important parameter for controlling the speed of the positioning vehicle.
Various methods can be adopted for acquiring the load capacity, for example, a weight sensor device is used for detecting, detected weight information is sent to the PLC1 to be processed to obtain the current load capacity, the current load capacity is difficult to accurately obtain through the sensor device in the working environment of the tippler system, and the cost is increased due to the installation of the weight sensor. The embodiment of the invention discloses a method for acquiring the current load capacity of a positioning vehicle, wherein the weight of each heavy vehicle and the weight of materials loaded by the heavy vehicle, which are dragged by the positioning vehicle, is constant, and the same quantity of materials loaded by the heavy vehicle are unloaded each time along with the continuous operation of a dumping cycle, so that the reduction amount of the load capacity, which is dragged by the positioning vehicle, is also constant along with each dumping cycle; generally, a tipper dumps 2-4 heavy cars each time, and the product of the cycle times and the load reduced by a single cycle is subtracted from the total load, so that the load corresponding to the current cycle times can be obtained. In the actual implementation process, the mapping relation between the cycle number of the tippler and the traction load of the positioning vehicle can be preset in the PLC1 in advance, and can be stored and called in a spreadsheet form.
It is worth mentioning that the load is measured and calculated under the line according to the parameters such as the heavy vehicle model, the capacity, the material density and the like, and the corresponding relation between the load and the cycle number is obtained, which can be realized by the prior art, so the invention is not explained in detail.
(2) And determining the target current of the motor and the target speed of the positioning vehicle under the current load according to the preset mapping relation among the load quantity pulled by the positioning vehicle, the motor current of the positioning vehicle and the vehicle speed of the positioning vehicle.
The given reference coefficient table is also called as a maximum given reference coefficient table, is preset in the PLC1 in the form of an electronic table or other electronic files and can be identified and called by the PLC1, can be made through offline experiments and calculation and is mainly used for recording the mapping relation between load capacity and motor current and vehicle speed (engine rotating speed), the PLC1 can refer to the given reference coefficient table according to the current load capacity and then output the reference coefficient of the cycle to the frequency converter 2 of the motor according to the target speed and/or the target current corresponding to the current load capacity obtained by referring, so that the positioning vehicle can improve the vehicle speed under the condition of safe operation. Preferably, the given reference coefficient table can be processed by existing methods such as vehicle whole vehicle experiments, and the specific flow is the prior art and is not described in detail.
It is worth mentioning that, because the number of cycles is limited and the load amount called by the PLC1 is limited and determined during the complete operation of a tippler system, in order to simplify the given reference coefficient table, it is only necessary to record the mapping relationship between the load amount pulled by each cycle positioning vehicle and the target current and the target speed.
According to different known parameters such as different positioning vehicle motor models, heavy vehicle models and the rated load capacity of the heavy vehicle, the given reference coefficient tables are different, in order to enhance the adaptability of the invention, a plurality of given reference coefficient tables are preset in the PLC1, and workers can select the applicable given reference coefficient tables according to the current actual conditions.
(3) The PLC1 controls the motor to work according to the target current and/or the target speed, the loading capacity is continuously reduced along with the process of dumping circulation, the speed of the positioning car is continuously increased under the condition of ensuring the safety compliance, and finally the working efficiency of the whole car dumper system is improved. Under the condition of inputting the target speed and/or the target current, the PLC1 can realize the control of the motor according to the existing logic structure, and the specific program algorithm is the prior art and is not described in detail herein.
In order to ensure safe and effective operation of the control method, the invention also discloses a positioning vehicle monitoring method of the tippler system, which specifically comprises the following steps as shown in fig. 2:
firstly, the PLC1 controls the motor to work by adopting the control method when the cycle starts, the PLC1 obtains the actual current and the actual rotating speed of the motor in real time, and the PLC1 can convert the rotating speed of the motor into the speed of the positioning vehicle so as to obtain the actual speed of the positioning vehicle. The positioning vehicle may comprise a plurality of motors, as shown in fig. 3, in this embodiment, the positioning vehicle has 6 motors, which are respectively numbered 1# -6 # (M1-M6 in fig. 3), the motors may preferably be three-phase asynchronous motors 4, and each motor is respectively connected with a frequency converter 2 for controlling the motor to rotate under the control of the PLC 1; the motor is also connected with a current sensor for detecting current, the current sensor can preferably be the combination of an ammeter and a current transformer 3, and each current sensor is respectively connected with the PLC 1; the motor No. 1 is provided with a speed measuring sensor for acquiring the rotating speed information of the motor, preferably a speed measuring encoder 5, and the speed measuring sensor is connected with the PLC 1.
Then, the actual current and the actual speed are respectively compared with the target current and the target speed corresponding to the current load capacity, whether the actual current is smaller than the target current or not is judged, whether the actual speed is larger than the target speed or not is judged, the running state of the positioning vehicle is monitored through a comparison result, the judgment rule can be formulated according to related production standards of various rated parameters of the motor, the acceleration, the braking time and the like of the positioning vehicle, and the purpose is to ensure that the tipper system can complete dumping work in a safe and compliant mode.
In actual work of the car dumper system, due to various objective conditions and individual differences, the load actually pulled by the positioning car may not be completely consistent with the load corresponding to the cycle number recorded in the given reference coefficient table, for example, in some embodiments of the present invention, the given reference coefficient table is formulated under the condition that the heavy car is in a full load state, and in an actual dumping cycle, the heavy car may be overloaded or the load may be not full. When the situation is similar to the above, errors are generated in the target speed and the actual speed, and the target current and the actual current, so that the positioning vehicle needs to be monitored, the production safety is ensured, and the adaptive adjustment is performed according to the actual situation.
In some embodiments of the present invention, the load on the motor of the positioning vehicle is proportional to the current relationship of the motor. In this embodiment, if it is detected that the actual current is greater than the target current, it is determined that the current load amount is greater than the load amount corresponding to the given reference coefficient table, and the positioning vehicle may still operate according to the instruction output by the given reference coefficient table by the PLC 1; if the actual current is monitored to be smaller than the target current, the current load is judged to be smaller than the corresponding load in the given reference coefficient table, the PLC1 can output parameters to the frequency converter 2 according to the actual current measured as the target current, and preferably, the actual detection result can be input into the given reference coefficient table to be adjusted. In addition, the detected actual current can be directly processed by the PLC1 to realize the monitoring of items including current balance, maximum output current limiting, current mutation and the like without comparing each target parameter recorded in a given reference coefficient table with the target current.
In some embodiments of the present invention, if the actual speed is greater than the target speed, the PLC1 determines that the positioning vehicle is in an abnormal operation state. In the embodiment, when the actual speed of the PLC1 exceeds the target speed, the PLC1 gives an alarm, and proposes to operate and stop the machine, and checks related equipment to prevent accidents; and when the actual speed of the PLC1 is lower than the target speed, judging that the load dragged by the current positioning vehicle is small, and not processing.
Through the control and monitoring method disclosed by the embodiment, the defect that the original positioning vehicle continues to use one target speed and acceleration in all dumping cycles is overcome, so that the phenomena that the utilization rate of the front part of the circulation equipment of the positioning vehicle is high and the utilization rate of the rear part of the circulation equipment of the positioning vehicle is low are caused. The invention utilizes the cycle number of the tippler system along with the operation to reduce the load regularity, thereby ensuring that the positioning vehicle can obtain higher loading speed and acceleration under the condition of ensuring that the positioning vehicle provides rated current. The invention improves the full-cycle operation efficiency of the positioning vehicle, shortens the operation time of the tippler system and achieves the purpose of improving energy and increasing efficiency.
The invention also discloses a positioning car speed management system of the car dumper, which comprises the following steps:
the positioning vehicle is used for carrying out traction operation under the control of the PLC;
and the PLC is used for controlling the positioning vehicle to carry out traction operation according to the speed control method.
Furthermore, a motor of the positioning vehicle is connected with a frequency converter, and the PLC controls the positioning vehicle to carry out traction operation by controlling the frequency converter.
Further, the PLC is also used for monitoring the running state of the positioning vehicle according to the positioning vehicle monitoring method.
The positioning vehicle speed management system of the tippler can effectively control and monitor the positioning vehicle, and the positioning vehicle can obtain higher loading speed and acceleration. The invention improves the full-cycle operation efficiency of the positioning vehicle, shortens the operation time of the tippler system and achieves the purpose of improving energy and increasing efficiency.
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 (9)
1. A positioning vehicle speed control method of a tippler system is characterized by comprising the following steps:
acquiring the current load capacity drawn by the positioning vehicle in real time;
determining the target current of the motor and the target speed of the positioning vehicle under the current load according to a preset mapping relation among the load quantity pulled by the positioning vehicle, the motor current of the positioning vehicle and the vehicle speed of the positioning vehicle;
controlling the motor to work according to the target current and/or the target speed;
obtain the towed current capacity of positioning vehicle in real time, include:
and acquiring the current load capacity pulled by the positioning car according to the current cycle times of the tipper and the mapping relation between the preset cycle times of the tipper and the load capacity pulled by the positioning car.
2. The positioning vehicle speed control method of the car dumper system as claimed in claim 1, wherein the controlling the motor to operate according to the target current and/or the target speed comprises:
and controlling the motor of the positioning vehicle to work by sending a control signal to a frequency converter connected with the motor.
3. A positioning vehicle monitoring method of a tippler system is characterized by comprising the following steps:
under the condition that a motor of a positioning vehicle is controlled according to the method of any one of claims 1-2, acquiring the actual current of the motor of the positioning vehicle and the actual speed of the positioning vehicle in real time;
according to the current load amount of the traction of the positioning vehicle, comparing the actual current of the motor and the actual speed of the positioning vehicle with the target current of the motor and the target speed of the positioning vehicle under the current load amount respectively, judging whether the actual current is smaller than the target current, judging whether the actual speed is larger than the target speed, and monitoring the running state of the positioning vehicle according to the judgment result.
4. The positioning vehicle monitoring method of the car dumper system as claimed in claim 3, wherein the obtaining of the actual current of the motor of the positioning vehicle and the actual speed of the positioning vehicle in real time comprises:
the actual current of the motor of the positioning vehicle and the actual speed of the positioning vehicle are obtained through current detection information and rotating speed detection information sent by a current sensor and a speed measurement sensor of the motor.
5. The method for monitoring the positioning vehicle of the car dumper system according to claim 3, wherein the steps of judging whether the actual current is less than the target current, judging whether the actual speed is less than the target speed, and monitoring the running state of the positioning vehicle according to the judgment result comprise:
and if the actual current is smaller than the target current, adjusting the actual current to the target current to control the motor to work.
6. The positioning vehicle monitoring method of the car dumper system according to claim 3, wherein the determining whether the actual current is less than the target current and whether the actual speed is greater than the target speed and monitoring the running state of the positioning vehicle according to the determination result comprises:
and if the actual speed is greater than the target speed, judging that the positioning vehicle is in an abnormal operation state.
7. The utility model provides a location car speed management system of tipper which characterized in that includes:
the positioning vehicle is used for carrying out traction operation under the control of the PLC;
the PLC is used for controlling the positioning vehicle to carry out traction operation according to the method of any one of claims 1-2.
8. The positioning vehicle speed management system of the car dumper according to claim 7, wherein a frequency converter is connected to a motor of the positioning vehicle, and the PLC controls the positioning vehicle to perform traction operation by controlling the frequency converter.
9. The positioning vehicle speed management system of the tippler according to claim 7, wherein the PLC is further used for monitoring the running state of the positioning vehicle according to the method of any one of claims 3 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910512748.2A CN110161960B (en) | 2019-06-13 | 2019-06-13 | Positioning vehicle speed control and monitoring method and management system of tippler system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910512748.2A CN110161960B (en) | 2019-06-13 | 2019-06-13 | Positioning vehicle speed control and monitoring method and management system of tippler system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110161960A CN110161960A (en) | 2019-08-23 |
| CN110161960B true CN110161960B (en) | 2020-10-16 |
Family
ID=67628904
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910512748.2A Active CN110161960B (en) | 2019-06-13 | 2019-06-13 | Positioning vehicle speed control and monitoring method and management system of tippler system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110161960B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112974789B (en) * | 2021-02-08 | 2022-05-17 | 广东韶钢松山股份有限公司 | Refining furnace buggy ladle positioning method |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2129706Y (en) * | 1992-10-24 | 1993-04-14 | 沈太福 | Tipping machine |
| CN201174683Y (en) * | 2008-04-07 | 2008-12-31 | 武汉电力设备厂 | Tipping variable-frequency speed regulating apparatus preventing stall |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060049287A1 (en) * | 2004-09-08 | 2006-03-09 | Henderson Enterprises, Inc. | Spreader apparatus for vehicle |
| CN101934942B (en) * | 2010-07-30 | 2012-06-13 | 中国神华能源股份有限公司 | Speed control system and shunting system for shunting equipment |
| DE102012216781A1 (en) * | 2011-09-19 | 2013-03-21 | Schaeffler Technologies AG & Co. KG | Drive train for vehicle such as dump trucks for mines, comprises main drive that is connected with electric machines through summation gearboxes, to which mechanical torque transmission is connected |
| CN102904250B (en) * | 2012-10-16 | 2015-05-06 | 株洲南车时代电气股份有限公司 | Power coordinated control method of AC-DC (alternating current-direct current) locomotive under working condition of low system voltage |
| CN105883439B (en) * | 2016-06-12 | 2018-11-16 | 中国神华能源股份有限公司 | A kind of Control System for Tippler and method |
| CN106743339A (en) * | 2016-12-08 | 2017-05-31 | 中国神华能源股份有限公司 | A kind of method and apparatus for automatically adjusting adhesive tape conveyor speed |
| CN207670222U (en) * | 2017-12-15 | 2018-07-31 | 包头市天盛重工有限公司 | A kind of pure electric vehicle mine wide-body vehicle |
-
2019
- 2019-06-13 CN CN201910512748.2A patent/CN110161960B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2129706Y (en) * | 1992-10-24 | 1993-04-14 | 沈太福 | Tipping machine |
| CN201174683Y (en) * | 2008-04-07 | 2008-12-31 | 武汉电力设备厂 | Tipping variable-frequency speed regulating apparatus preventing stall |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110161960A (en) | 2019-08-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106443241B (en) | A kind of monitoring method, device and the guard method of vehicle-mounted braking resistor, device | |
| EP2665925B1 (en) | A method for diagnostic monitoring of a wind turbine generator system | |
| CN110501160B (en) | Train bearing fault early warning method, device, system and storage medium | |
| CN110161960B (en) | Positioning vehicle speed control and monitoring method and management system of tippler system | |
| US10315896B2 (en) | Electric winch device | |
| CN105110119B (en) | Elevator internal contracting brake detection method and electric life controller | |
| CN103043534A (en) | Tower crane hoisting and speed control system and speed control method thereof | |
| CN105110188B (en) | A kind of quick bridge-type grab ship unloader dynamic weighting method accurately | |
| CN105366549A (en) | Method and system for parameter calculation, control, running monitoring and load monitoring of crane | |
| CN111361413A (en) | Vehicle running detection control system and method | |
| JP5768552B2 (en) | Traveling control device for cargo handling crane | |
| CN205076705U (en) | Remote control's rubbish hoist | |
| CN109896382A (en) | Elevator Fault Diagnosis method, apparatus, equipment and medium | |
| CN104817018B (en) | A kind of variable arm Crane control method with vector variable voltage variable frequency converter as power supply | |
| CN114325385A (en) | Motor rack broken shaft detection method | |
| CN204659750U (en) | A kind of intelligent railway truck | |
| CN108128716A (en) | A kind of tower crane moment limiter and its safety control system, method | |
| CN105174064A (en) | Crane machinery brake self-check method and crane machinery brake self-check device | |
| JPH07506206A (en) | A method for monitoring and/or confirming the operating status of an electrically operated prime mover as it changes by applying a load. | |
| CN202245775U (en) | Portal crane control system | |
| CN202383261U (en) | Testing system for driving motor | |
| CN115043338B (en) | Safety control method and system of hoisting equipment | |
| CN104290775B (en) | The Lian Gua district modular automatic control system of car speed and the control method of this system | |
| CN113485238A (en) | Bucket wheel machine fault online diagnosis system and device | |
| CN202772833U (en) | Constant-power control device and constant-power traction drive system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 100011 Shenhua building, 22 West Binhe Road, Dongcheng District, Beijing Patentee after: China Shenhua Energy Co.,Ltd. Patentee after: Guoneng Huanghua Port Co.,Ltd. Address before: 100011 Shenhua building, 22 West Binhe Road, Dongcheng District, Beijing Patentee before: China Shenhua Energy Co.,Ltd. Patentee before: SHENHUA HUANGHUA PORT Co.,Ltd. |