CN110995080A - Wireless lifting table system based on multiple sensors - Google Patents
Wireless lifting table system based on multiple sensors Download PDFInfo
- Publication number
- CN110995080A CN110995080A CN201911119417.9A CN201911119417A CN110995080A CN 110995080 A CN110995080 A CN 110995080A CN 201911119417 A CN201911119417 A CN 201911119417A CN 110995080 A CN110995080 A CN 110995080A
- Authority
- CN
- China
- Prior art keywords
- motor
- module
- detection module
- triode
- desktop
- 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.)
- Pending
Links
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/03—Arrangements for regulating or controlling the speed or torque of electric DC motors for controlling the direction of rotation of DC motors
- H02P7/04—Arrangements for regulating or controlling the speed or torque of electric DC motors for controlling the direction of rotation of DC motors by means of a H-bridge circuit
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
- A47B9/00—Tables with tops of variable height
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
- H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
- H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
- A47B2200/00—General construction of tables or desks
- A47B2200/008—Tables or desks having means for applying electronic or electric devices
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention relates to the field of intelligent home furnishing, in particular to a wireless lifting table system based on multiple sensors, which comprises: the motor driving module is used for controlling the running direction and speed of the motor; the position detection module is used for detecting the position of the desktop; the acceleration detection module is used for detecting the acceleration of the ascending or descending of the desktop; the angular speed detection module is used for detecting the angular speed of the motor when the desktop ascends or descends; the processor is in communication connection with each module and is used for sending a control instruction to the motor driving module and acquiring position data of the desktop, acceleration data of ascending or descending of the desktop and angular velocity data of the motor; and the power supply module is detachably mounted and used for supplying power. The invention has the following beneficial effects: the communication between each module all adopts wireless communication's mode to remove the communication line, adopted the power supply of dismantling simultaneously, thereby removed power connection plug, made the lift table more pleasing to the eye, also avoided the trouble that causes because the circuit is ageing.
Description
Technical Field
The invention relates to the field of smart homes, in particular to a wireless lifting table system based on multiple sensors.
Background
The lifting table is a table capable of freely lifting, and one type of the lifting table is a sitting type lifting table, the lifting range is small, the lifting table is suitable for users with different heights, and the lifting table is a learning table with high lifting height commonly used by growing children; one type is a sitting and standing alternative lifting table, the lifting range is large, and two modes of sitting and working and standing and working can be realized.
The existing lifting table has the following disadvantages:
1. acceleration data of the table top ascending or descending and angular speed data of the motor cannot be monitored;
2. the lifting table has more power connecting wires and communication wires, which affects the beauty and the service life of the lifting table.
Disclosure of Invention
In order to solve the problems, the invention provides a wireless lifting table system based on multiple sensors.
Wireless lift table system based on multisensor includes:
the motor driving module is used for controlling the running direction and speed of the motor;
the position detection module is used for detecting the position of the desktop;
the acceleration detection module is used for detecting the acceleration of the ascending or descending of the desktop;
the angular speed detection module is used for detecting the angular speed of the motor when the desktop ascends or descends;
the processor is in wireless communication connection with the motor driving module, the position detection module, the acceleration detection module and the angular velocity detection module and is used for sending a control instruction to the motor driving module, acquiring position data of the desktop, acceleration data of rising or falling of the desktop and angular velocity data of the motor, and sending the control instruction to the motor driving module to control the motor to stop running when the acceleration of rising or falling of the desktop is larger than a set threshold value and the angular velocity of the motor is larger than the set threshold value when the desktop rises or falls;
the detachable power module is used for supplying power to the motor, the motor driving module, the position detection module, the acceleration detection module, the angular velocity detection module and the processor.
Preferably, the motor driving module includes: an H-bridge control circuit connected to the motor, the H-bridge control circuit comprising: triode Q1, Q2, Q3, Q4, the positive pole of power is connected to triode Q1's projecting pole, and the treater is connected to triode Q1's base, and the motor is connected to triode Q1's collecting electrode and triode Q2's collecting electrode, the treater is connected to triode Q2's base, and the negative pole of power is connected to triode Q2's projecting pole, the positive pole of power is connected to triode Q3's projecting pole, and the treater is connected to triode Q3's base, and the motor is connected to triode Q3's collecting electrode and triode Q4's collecting electrode, the treater is connected to triode Q4's base, and the negative pole of power is connected to triode Q4's projecting pole.
Preferably, the method further comprises the following steps: and the current acquisition module is connected with the processor and used for acquiring the input current of the motor, and when the absolute value of the current is greater than a set threshold or the fluctuation value of the current is greater than the set threshold, the processor sends a control instruction to the motor driving module to control the motor to stop running.
Preferably, the method further comprises the following steps: and the temperature acquisition module is connected with the processor and used for acquiring the temperature of the motor driving module, and when the acquired temperature is greater than a set threshold value, the processor sends a control instruction to the motor driving module to control the motor to stop running.
Preferably, the power supply module includes:
the first power supply module is connected with the motor and used for supplying power for the operation of the motor;
the second power supply module is connected with the motor driving module and used for supplying power to the motor driving module;
and the third power supply module is connected with the position detection module, the acceleration detection module, the angular velocity detection module and the processor and is used for supplying power to the position detection module, the acceleration detection module, the angular velocity detection module and the processor.
Preferably, the hand controller is in wireless communication connection with the processor and is used for sending a control instruction to the processor.
The invention has the following beneficial effects:
1. the communication among the modules in the system adopts a wireless communication mode, so that a communication line is removed, and meanwhile, the detachable power supply module is adopted for supplying power, so that a power supply connecting plug is removed, the lifting table is more attractive, and faults caused by line aging are avoided;
2. the motor driving module controls the running direction and speed of the motor, so that the lifting direction and speed of the lifting table are controlled, and the stability in the lifting process is improved;
3. the position of the lifting table is detected through the position detection module, so that the state of the lifting table is monitored;
4. the acceleration detection module and the angular velocity detection module are used for detecting the acceleration and the angular velocity of the lifting table during ascending or descending so as to monitor the working state of the lifting table;
5. data interaction and control instruction transmission are realized through the communication module;
6. the first power supply module, the second power supply module and the third power supply module are respectively controlled to achieve the purpose of saving electricity;
7. the input current of the motor is acquired through the current acquisition module, and when the absolute value of the current is greater than a set threshold or the fluctuation value of the current is greater than the set threshold, the processor sends a control instruction to the motor driving module to control the motor to stop running, so that the fault of the motor is avoided;
8. the temperature of the motor driving module is acquired through the temperature acquisition module, and when the acquired temperature is greater than a set threshold value, the processor sends a control instruction to the motor driving module to control the motor to stop running, so that the fault of the motor is avoided.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic diagram of a connection of a multi-sensor based wireless elevating table system according to an embodiment of the present invention;
FIG. 2 is a circuit diagram of a motor driving module in a multi-sensor based wireless elevating table system according to an embodiment of the present invention;
FIG. 3 is a Hall signal diagram of a Hall sensor in a multi-sensor based wireless elevating table system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the connection of a first power module, a second power module, and a third power module in a multi-sensor based wireless lifting table system according to an embodiment of the invention;
FIG. 5 is a schematic diagram of the connection of a current collection module in a multi-sensor based wireless elevating table system according to an embodiment of the present invention;
fig. 6 is a schematic connection diagram of a temperature acquisition module in a wireless elevating table system based on multiple sensors according to an embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be further described below with reference to the accompanying drawings, but the present invention is not limited to these embodiments.
The basic idea of this embodiment is to control the direction and speed of the motor operation by the motor driving module, detect the position of the desktop by the position detection module, detect the acceleration of the desktop when it rises or falls by the acceleration detection module, detect the angular velocity of the motor when the desktop rises or falls by the angular velocity detection module, send a control command to the motor driving module by the processor in wireless communication with the motor driving module, the position detection module, the acceleration detection module, and the angular velocity detection module, and obtain the position data of the desktop, the acceleration data of the desktop when it rises or falls and the angular velocity data of the motor, when the acceleration of the desktop when it rises or falls is greater than a set threshold value, send a control command to the motor driving module to control the motor to stop operating, by the detachably installed power module, the device is used for supplying power to the motor, the motor driving module, the position detection module, the acceleration detection module, the angular velocity detection module and the processor.
Based on the above idea, an embodiment of the present invention provides a wireless lifting table system based on multiple sensors, as shown in fig. 1, including: the motor driving module is used for controlling the running direction and speed of the motor; the position detection module is used for detecting the position of the desktop; the acceleration detection module is used for detecting the acceleration of the ascending or descending of the desktop; the angular speed detection module is used for detecting the angular speed of the motor when the desktop ascends or descends; the processor is in wireless communication connection with the motor driving module, the position detection module, the acceleration detection module and the angular velocity detection module and is used for sending a control instruction to the motor driving module, acquiring position data of the desktop, acceleration data of rising or falling of the desktop and angular velocity data of the motor, and sending the control instruction to the motor driving module to control the motor to stop running when the acceleration of rising or falling of the desktop is larger than a set threshold value and the angular velocity of the motor is larger than the set threshold value when the desktop rises or falls; the detachable power module is used for supplying power to the motor, the motor driving module, the position detection module, the acceleration detection module, the angular velocity detection module and the processor.
As shown in fig. 2, the motor drive module includes: an H-bridge control circuit connected to the motor, the H-bridge control circuit comprising: triode Q1, Q2, Q3, Q4, the positive pole of power is connected to triode Q1's projecting pole, and the treater is connected to triode Q1's base, and the motor is connected to triode Q1's collecting electrode and triode Q2's collecting electrode, the treater is connected to triode Q2's base, and the negative pole of power is connected to triode Q2's projecting pole, the positive pole of power is connected to triode Q3's projecting pole, and the treater is connected to triode Q3's base, and the motor is connected to triode Q3's collecting electrode and triode Q4's collecting electrode, the treater is connected to triode Q4's base, and the negative pole of power is connected to triode Q4's projecting pole.
The motor is controlled to rise and fall by the PWM of the dead zone control using an H-bridge control circuit. By adjusting the output duty ratio of the PWM, the running speed of the motor can be increased, so that the lifting speed of the lifting table is increased; by reducing the output duty ratio of the PWM, the running speed of the motor can be reduced, and therefore the lifting speed of the lifting table is reduced. By the PID principle, the motor position signal is used as an input condition, the PWM duty ratio is used as an output condition, and the constant speed control of the lifting table in no-load and load lifting can be realized. In addition, because the characteristic of motor both ends short circuit when H bridge control circuit PWM closes, can provide mechanical auto-lock to a certain extent when the lift table descends to increase the stability of lift table operation.
In this embodiment, the inside hall circuit that contains of motor, contains 2 hall sensor on the hall circuit, and 2 hall sensor fixed positions exist certain angle, consequently when the motor is rotatory, exist the time difference when the inside magnetic ring south north pole of motor passes through 2 hall sensor to make the wave form that 2 hall sensor produced have the phase difference. As shown in fig. 3, the motor rotates forward and reversely to generate different phase differences, and the processor can judge whether the lifting table ascends or descends by judging the forward rotation and the reverse rotation of the motor according to the phase difference between the two hall sensors. Because the rotatory a week of motor has the signal of fixed quantity, when the lift table of motor corotation rose, the hall signal count accumulated, otherwise, the hall signal count accumulated and subtracted. Through the proportional relation of the stroke of the lifting table and the signal, the controller can accurately calculate the stroke height of the lifting table, so that the position of the lifting table is judged and controlled.
The acceleration detection module and the angular velocity detection module are used for detecting the changes of acceleration and angular velocity when the desktop is lifted, and when the acceleration or the angular velocity of the motor is larger than a set threshold value when the desktop is lifted, the sensor module sends a signal to the lifting table processor. After receiving the signals sent by the sensors, the lifting table processor judges that abnormity occurs during lifting and makes emergency stop processing.
As shown in fig. 4, the power supply module includes: the first power supply module is connected with the motor and used for supplying power for the motor drive; the second power supply module is connected with the motor driving module and used for supplying power to the motor driving module; and the third power supply module is connected with the position detection module, the acceleration detection module, the angular velocity detection module and the processor and is used for supplying power to the position detection module, the acceleration detection module, the angular velocity detection module and the processor.
In this embodiment, the power module of connection can be dismantled in the adoption supplies power, and does not need wired power cord, has improved the pleasing to the eye degree of lift table on the one hand, has also avoided the trouble that reasons such as the ageing of power cord led to the fact simultaneously.
The power supply module is input by a lithium battery, and the input voltage is 29 VDC. Because different modules of the lifting table need to use different power supplies, the power supply module decomposes the power supply into a first power supply module, a second power supply module and a third power supply module. When the power supply module is designed, the power consumption of a system power supply is fully considered, the power supply module is designed according to the low-power-consumption standard, and in the standby mode, the processor enters a low-power-consumption state and simultaneously closes the first power supply module and the second power supply module, so that the purpose of saving electricity is achieved. When the communication module receives external signal stimulation, the processor exits from the low power consumption mode, the first power supply module, the second power supply module and the third power supply module are turned on, and power is restored to each module again.
As shown in fig. 5, as a further option of this embodiment, the wireless elevating table system further includes: and the current acquisition module is connected with the processor and used for acquiring the input current of the motor, and when the absolute value of the current is greater than a set threshold or the fluctuation value of the current is greater than the set threshold, the processor sends a control instruction to the motor driving module to control the motor to stop running.
As shown in fig. 6, as a further option of this embodiment, the wireless elevating table system further includes: and the temperature acquisition module is connected with the processor and used for acquiring the temperature of the motor driving module, and when the acquired temperature is greater than a set threshold value, the processor sends a control instruction to the motor driving module to control the motor to stop running.
The current collection module and the temperature collection module are mainly used for collecting the current of the motor of the lifting table and collecting the temperature of the motor driving module. And when the acquired current is subjected to filtering accumulation processing, the absolute value of the current is greater than a set threshold value or the fluctuation value of the current is greater than a set threshold value, the processor judges that abnormality occurs during lifting and makes emergency stop processing. When the collected motor driving temperature is larger than a set threshold, the processor judges that the motor running time exceeds the set threshold, and emergency stop processing is carried out until the temperature returns to a normal value.
In the system, one of wireless communication modules such as a Bluetooth communication module and a 4G communication module can be adopted as a wireless communication mode among a motor driving module, a position detection module, an acceleration detection module, an angular velocity detection module, a processor and the like. The processor performs data interaction with the communication module through the UART serial port, sends data in a query mode and receives data in an interruption mode. Meanwhile, the lifting table system can also realize communication with other lifting table systems, and all network points in the local area network can communicate with each other. In addition, the processor can also realize communication with a remote server, and can realize uploading of position data of the lifting table, ascending or descending acceleration data of the lifting table, motor angular velocity data and other data and receive control instructions of the remote server and the like.
In this embodiment, wireless communication is adopted between each module, and wired communication lines are not required, so that the attractiveness of the lifting table is improved, and faults caused by aging of the communication lines and other reasons are avoided.
Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (6)
1. Wireless lift table system based on multisensor, its characterized in that includes:
the motor driving module is used for controlling the running direction and speed of the motor;
the position detection module is used for detecting the position of the desktop;
the acceleration detection module is used for detecting the acceleration of the ascending or descending of the desktop;
the angular speed detection module is used for detecting the angular speed of the motor when the desktop ascends or descends;
the processor is in wireless communication connection with the motor driving module, the position detection module, the acceleration detection module and the angular velocity detection module and is used for sending a control instruction to the motor driving module, acquiring position data of the desktop, acceleration data of rising or falling of the desktop and angular velocity data of the motor, and sending the control instruction to the motor driving module to control the motor to stop running when the acceleration of rising or falling of the desktop is larger than a set threshold value and the angular velocity of the motor is larger than the set threshold value when the desktop rises or falls;
the detachable power module is used for supplying power to the motor, the motor driving module, the position detection module, the acceleration detection module, the angular velocity detection module and the processor.
2. The multi-sensor based wireless elevating table system of claim 1 wherein said motor drive module comprises: an H-bridge control circuit connected to the motor, the H-bridge control circuit comprising: triode Q1, Q2, Q3, Q4, the positive pole of power is connected to triode Q1's projecting pole, and the treater is connected to triode Q1's base, and the motor is connected to triode Q1's collecting electrode and triode Q2's collecting electrode, the treater is connected to triode Q2's base, and the negative pole of power is connected to triode Q2's projecting pole, the positive pole of power is connected to triode Q3's projecting pole, and the treater is connected to triode Q3's base, and the motor is connected to triode Q3's collecting electrode and triode Q4's collecting electrode, the treater is connected to triode Q4's base, and the negative pole of power is connected to triode Q4's projecting pole.
3. The multi-sensor based wireless elevating table system of claim 1 further comprising: and the current acquisition module is connected with the processor and used for acquiring the input current of the motor, and when the absolute value of the current is greater than a set threshold or the fluctuation value of the current is greater than the set threshold, the processor sends a control instruction to the motor driving module to control the motor to stop running.
4. The multi-sensor based wireless elevating table system of claim 1 further comprising: and the temperature acquisition module is connected with the processor and used for acquiring the temperature of the motor driving module, and when the acquired temperature is greater than a set threshold value, the processor sends a control instruction to the motor driving module to control the motor to stop running.
5. The multi-sensor based wireless elevating table system of claim 1 wherein said power module comprises:
the first power supply module is connected with the motor and used for supplying power for the operation of the motor;
the second power supply module is connected with the motor driving module and used for supplying power to the motor driving module;
and the third power supply module is connected with the position detection module, the acceleration detection module, the angular velocity detection module and the processor and is used for supplying power to the position detection module, the acceleration detection module, the angular velocity detection module and the processor.
6. The wireless elevating table system based on multiple sensors according to any one of claims 1 to 5, further comprising a hand controller wirelessly connected to the processor, the hand controller being configured to send control commands to the processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911119417.9A CN110995080A (en) | 2019-11-15 | 2019-11-15 | Wireless lifting table system based on multiple sensors |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911119417.9A CN110995080A (en) | 2019-11-15 | 2019-11-15 | Wireless lifting table system based on multiple sensors |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110995080A true CN110995080A (en) | 2020-04-10 |
Family
ID=70084425
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911119417.9A Pending CN110995080A (en) | 2019-11-15 | 2019-11-15 | Wireless lifting table system based on multiple sensors |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110995080A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111824094A (en) * | 2020-07-30 | 2020-10-27 | 中车大同电力机车有限公司 | Braking system for train and train |
| CN114631687A (en) * | 2022-03-07 | 2022-06-17 | 深圳市瑞必达科技有限公司 | Control method for performing knocking protection and inclination protection on lifting table without calculating Euler angle |
-
2019
- 2019-11-15 CN CN201911119417.9A patent/CN110995080A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111824094A (en) * | 2020-07-30 | 2020-10-27 | 中车大同电力机车有限公司 | Braking system for train and train |
| CN111824094B (en) * | 2020-07-30 | 2022-03-04 | 中车大同电力机车有限公司 | Braking system for train and train |
| CN114631687A (en) * | 2022-03-07 | 2022-06-17 | 深圳市瑞必达科技有限公司 | Control method for performing knocking protection and inclination protection on lifting table without calculating Euler angle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9144139B2 (en) | Method and apparatus for controlling light levels to save energy | |
| CN211296605U (en) | Wireless lifting table system based on multiple sensors | |
| CN207337129U (en) | A kind of pumpingh well monitoring system | |
| CN110995080A (en) | Wireless lifting table system based on multiple sensors | |
| CN108173473A (en) | A kind of Remote Control System of Industry Devices based on switched reluctance machines | |
| CN205151565U (en) | Tower crane intelligence control system | |
| CN104180481A (en) | Indoor air quality monitoring system and method | |
| CN207337130U (en) | A kind of oil pumping machine control cabinet | |
| CN211110920U (en) | Electric device for lifting overhead line pole | |
| CN111781876B (en) | Energy-saving intelligent clothes airing machine based on human body induction control and implementation method thereof | |
| CN212137485U (en) | Variable frequency motor | |
| CN102707751A (en) | Temperature and humidity intelligent monitoring system of standardized security apparatus storeroom for electrified operation | |
| CN201723211U (en) | Energy-saving oil extraction controller | |
| CN216252582U (en) | Direct-current driving controller of oxygen increasing machine controlled by Internet of things | |
| CN101674044A (en) | Voltage protection device | |
| CN203545361U (en) | Construction elevator monitoring device | |
| CN105404214A (en) | Solar aerator intelligent control system and method | |
| CN2849547Y (en) | Intelligent energy-saving controller for air conditioning system | |
| CN201667581U (en) | Direct-driven climb assisting host | |
| CN205265571U (en) | Brushless DC motor speed adjusting device | |
| CN211085318U (en) | Intelligent acquisition device and system | |
| CN203718927U (en) | Intelligent electrical oil heater control device | |
| CN202630973U (en) | Detection device for motor rotation | |
| CN208249600U (en) | A kind of sensor-based system for Internet of Things elevator | |
| CN107601284B (en) | Rotary control unit of tower crane |
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 |