CN214315098U - Band-type brake drive circuit, band-type brake drive arrangement and band-type brake equipment - Google Patents
Band-type brake drive circuit, band-type brake drive arrangement and band-type brake equipment Download PDFInfo
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- CN214315098U CN214315098U CN202120203561.7U CN202120203561U CN214315098U CN 214315098 U CN214315098 U CN 214315098U CN 202120203561 U CN202120203561 U CN 202120203561U CN 214315098 U CN214315098 U CN 214315098U
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Abstract
The utility model discloses a band-type brake drive circuit, band-type brake drive arrangement and band-type brake equipment. This band-type brake drive circuit includes: the power supply input end is used for providing power supply voltage for the band-type brake; the voltage sampling circuit is connected with the power supply input end at a sampling end and used for sampling the voltage of the power supply obtained by the brake and outputting a voltage sampling signal; the main controller is used for outputting a first preset PWM control signal, adjusting the duty ratio of the first preset PWM control signal generated by the main controller when the power failure of the power supply input end is determined according to the voltage sampling signal, and outputting the adjusted first preset PWM control signal; and the controlled end of the switching circuit is connected with the output end of the main controller, the first end of the switching circuit is connected with the band-type brake and used for adjusting the power supply voltage loaded on the band-type brake according to the received PWM control signal so as to enable the average value of the power supply voltage loaded on the band-type brake to be equal to the preset working voltage value. The utility model discloses band-type brake drive circuit can prolong the life of band-type brake equipment.
Description
Technical Field
The utility model relates to a band-type brake drive technical field, in particular to band-type brake drive circuit, band-type brake drive arrangement and band-type brake equipment.
Background
At present, a band-type brake device is generally adopted in the industrial control industry to stop a servo motor quickly. However, if the brake power supply is suddenly powered off when the servo motor operates normally or at a high speed, the excitation coil of the brake is simultaneously powered off in the brake control mode adopted by the prior art, and the brake locks the rotating servo motor immediately, so that the purpose of quickly stopping the motor is achieved.
However, in such a control mode, when the motor operates normally, especially at a high speed, excessive mechanical abrasion is generated on the brake pads in the brake equipment, and the service life of the brake equipment is greatly influenced.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a band-type brake drive circuit aims at improving the life of band-type brake equipment.
In order to achieve the above object, the present invention provides a band-type brake driving circuit. The band-type brake drive circuit includes:
the power supply input end is used for providing power supply voltage for the band-type brake;
the voltage sampling circuit is used for sampling the voltage of the power supply voltage obtained by the band-type brake and outputting a voltage sampling signal;
the main controller is connected with the output end of the voltage sampling circuit and is used for outputting a first preset PWM control signal, adjusting the duty ratio of the first preset PWM control signal generated by the main controller when the power failure of the power supply input end is determined according to the voltage sampling signal, and outputting the adjusted first preset PWM control signal; and
the controlled end of the switch circuit is connected with the output end of the main controller, the first end of the switch circuit is connected with the band-type brake, and the switch circuit is used for adjusting the power voltage loaded on the band-type brake according to the received PWM control signal so that the average value of the power voltage loaded on the band-type brake is equal to a preset working voltage value.
Optionally, the main controller is further configured to control the switching circuit to be turned on to drive the internal contracting brake to operate when it is determined that the power supply voltage output by the power supply input terminal is lower than a preset operating voltage value according to the voltage sampling signal.
Optionally, the main controller is further configured to output the first preset PWM control signal when it is determined that the power input terminal is powered on according to the voltage sampling signal, so that the switching circuit drives the internal contracting brake to normally operate.
Optionally, the switching circuit is any one or a combination of multiple of a triode, a MOS transistor, a GTO, an IGBT, and a driver chip.
Optionally, the second end of the switch circuit is connected to the power input end, and the first end of the switch circuit is connected to the input end of the internal contracting brake.
Optionally, a first end of the switching circuit is connected to an output end of the internal contracting brake, and a second end of the switching circuit is grounded.
Optionally, the band-type brake driving circuit further comprises a switch driving circuit; the input end of the switch driving circuit is connected with the output end of the main controller, the output end of the switch driving circuit is connected with the input end of the switch circuit, and the switch driving circuit is used for outputting the PWM control signal output by the main controller after amplification.
Optionally, the band-type brake driving circuit further comprises a unidirectional conducting element; and the input end and the output end of the one-way conduction element are respectively connected with the output end and the input end of the band-type brake in a one-to-one correspondence manner.
The utility model discloses still provide a band-type brake drive arrangement, band-type brake drive arrangement include power supply and as above band-type brake drive circuit.
The utility model also provides a band-type brake device, the band-type brake driving circuit comprises a band-type brake and the band-type brake driving device;
or, the band-type brake driving circuit comprises a band-type brake and the band-type brake driving circuit.
The utility model discloses band-type brake drive circuit is through setting up power input end, voltage sampling circuit, main control unit and switch circuit to through the duty cycle that makes main control unit adjust the first PWM control signal of predetermineeing that self generated according to the voltage sampling signal of voltage sampling circuit output, so that switch circuit can be according to the first PWM control signal of predetermineeing after the adjustment mains voltage who loads on the band-type brake, so that this mains voltage's average value equals to predetermine operating voltage value. The utility model discloses band-type brake drive circuit is through when the power input end falls the electricity, and the duty cycle of the first PWM control signal of predetermineeing of adjustment makes the band-type brake still be in not band-type brake state at this in-process, has increased one section buffer time in other words, and servo motor's rotational speed can continuously reduce in this section time, and the mechanical wear of band-type brake piece can be reduced in the band-type brake action of carrying out again behind buffer time, and then the life of extension band-type brake.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic diagram of functional modules of an embodiment of a band-type brake driving circuit according to the present invention;
fig. 2 is a schematic functional block diagram of another embodiment of the band-type brake driving circuit of the present invention;
fig. 3 is a schematic functional block diagram of another embodiment of the band-type brake driving circuit of the present invention;
fig. 4 is a schematic diagram of a change of the first preset PWM control signal along with the power down time in another embodiment of the band-type brake driving circuit of the present invention.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) |
| 10 | |
60 | One- |
| 20 | |
70 | Band- |
| 30 | Main controller | T1 | N- |
| 40 | Switching circuit | D1 | Diode with a high- |
| 50 | Switch driving circuit |
The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that all the directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
In the present application, unless expressly stated or limited otherwise, the terms "connected" and "fixed" are to be construed broadly, e.g., "fixed" may be fixedly connected or detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In addition, descriptions in the present application as to "first", "second", and the like are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
The utility model provides a band-type brake drive circuit is applied to in the band-type brake equipment. The brake equipment can be provided with an armature component and a brake lining, and the armature component can be provided with an excitation coil. When the servo motor works normally, the power input end provides power voltage for the magnet exciting coil, so that the armature component generates magnetic attraction to attract the brake holding piece (namely, the brake holding action is not executed).
Referring to fig. 1 to 4, in an embodiment of the present invention, the band-type brake driving circuit includes:
a power input terminal for providing a power voltage to the internal contracting brake 70;
the voltage sampling circuit 20, a sampling end of the voltage sampling circuit 20 is connected to the power input end, and the voltage sampling circuit 20 is configured to perform voltage sampling on the power voltage obtained by the internal contracting brake 70 and output a voltage sampling signal;
the main controller 30 is connected with the output end of the voltage sampling circuit 20, and the main controller 30 is configured to output a first preset PWM control signal, adjust a duty ratio of the first preset PWM control signal generated by the main controller when the power failure of the power input end is determined according to the voltage sampling signal, and output the adjusted first preset PWM control signal; and
the controlled end of the switch circuit 40 is connected to the output end of the main controller 30, the first end of the switch circuit 40 is connected to the internal contracting brake 70, and the switch circuit 40 is configured to adjust the power voltage loaded on the internal contracting brake 70 according to the received PWM control signal, so that the average value of the power voltage loaded on the internal contracting brake 70 is equal to a preset working voltage value.
In this embodiment, the power input terminal 10 may be a dc power supply or an ac power supply, so as to provide power voltages for the dc brake device and the ac brake device, respectively.
The voltage sampling circuit 20 may be constructed by using a resistance element, or may be implemented by using a dedicated voltage sampling device such as a hall device. The voltage sampling circuit 20 is configured to sample the power voltage provided by the power input terminal 10 for the internal contracting brake 70 in real time, and output a voltage sampling signal with a corresponding magnitude. In practical applications, the voltage sampled by the voltage sampling circuit 20 is the excitation voltage provided by the power input terminal 10 to the excitation coil in the internal contracting brake 70.
The main controller 30 may be one of an MCU, a DSP, or an FPGA, or may also be a dedicated band-type brake control chip. The main controller 30 may have integrated therein corresponding hardware circuitry, a memory having stored therein a corresponding software program or algorithm and data, and a processor for calling the memory contents. The main controller 30 may output a first preset PWM control signal having a preset voltage amplitude and a preset duty ratio by calling a pre-selected stored voltage amplitude parameter and duty ratio parameter and by operating a PWM generation circuit or a PWM generation program; in this embodiment, the first preset PWM control signal is a PWM control signal outputted by the main controller 30 for controlling the brake device not to execute the brake action when the servo motor normally works (i.e. when the power supply of the power input terminal 10 is normal). The main controller 30 may further integrate an ADC conversion circuit to convert the received voltage sampling signal into a digital signal, and compare the digital signal with a voltage threshold (the voltage threshold may be equal to a power voltage value normally provided by the power input terminal 10), and when the comparison result is smaller than the voltage threshold, it may be determined that the power input terminal 10 is in a power-down state at this time.
The switching circuit 40 may be constructed from a variety of switching devices. The switch circuit 40 may be disposed on a loop from the power input terminal 10 to the ground through the excitation coil of the internal contracting brake 70, and the switch circuit 40 is configured to be turned on/off according to the received PWM control signal, and when turned on, make the loop connected, so as to energize the excitation coil of the internal contracting brake 70. When the brake 70 is normally operated (i.e. not performing a brake operation), the switch circuit 40 is turned on/off according to the first predetermined PWM control signal to maintain the power voltage applied to the excitation coil of the brake 70 from the power input terminal 10 equal to the predetermined operating voltage value. When the power supply input terminal 10 is powered down, because the power down state is a continuous process, in this process, the voltage value corresponding to the voltage sampling signal is lower and lower, so the main controller 30 needs to adjust the duty ratio of the first preset PWM control signal generated by itself according to the real-time voltage sampling signal, so that in the power down process, the switching frequency of the switching circuit 40 meets the switching frequency required for maintaining the power supply voltage on the excitation coil of the band-type brake 70 to be equal to the preset working voltage value.
Referring to fig. 4, it is assumed that, during normal operation, the power supply voltage is U1, the excitation voltage of the excitation coil of the band-type brake 70 is U2 (i.e., the preset operating voltage value), that is, the duty ratio of the first preset PWM control signal is U2/U1; when the power input end 10 suddenly loses power, in the process of the U1 descending, the main controller 30 obtains the power voltage input to the band-type brake 70 in real time through the voltage sampling circuit 20 and calculates the appropriate duty ratio, so as to control the switching frequency of the switching circuit 40 to keep the average value of the excitation voltage of the band-type brake 70 continuously at the U2, thereby prolonging the pull-in time of the band-type brake piece, reducing the mechanical wear of the band-type brake piece, and further prolonging the service life of the band-type brake 70.
The utility model discloses band-type brake drive circuit is through setting up power input end 10, voltage sampling circuit 20, main control unit 30 and switch circuit 40 to through the duty cycle that makes main control unit 30 adjust the first PWM control signal of predetermineeing that self generated according to the voltage sampling signal of voltage sampling circuit 20 output, so that switch circuit 40 can be according to the first PWM control signal of predetermineeing after the adjustment mains voltage who loads on band-type brake 70, so that this mains voltage's average value equals to predetermine the operating voltage value. The utility model discloses band-type brake drive circuit is through when the power input 10 falls the electricity, adjusts the duty cycle of first predetermined PWM control signal, makes band-type brake 70 still be in not band-type brake state at this in-process, has increased a section buffer time in other words, and servo motor's rotational speed can continuously reduce in this section time, executes the band-type brake action again behind buffer time and can reduce the mechanical wear of band-type brake piece, and then prolongs band-type brake 70's life.
Referring to fig. 1 to 4, in an embodiment of the present invention, the main controller 30 is further configured to control the switch circuit 40 to open to drive the internal contracting brake 70 to operate when the power voltage output by the power input terminal 10 is lower than the preset operating voltage value according to the voltage sampling signal.
In this embodiment, the main controller 30 may further store a reference voltage corresponding to the preset operating voltage value, and compare the accessed voltage sampling signal with the reference voltage after digital-to-analog conversion by the ADC conversion circuit to determine whether the voltage value corresponding to the voltage sampling signal is lower than the preset operating voltage value corresponding to the reference voltage, and when it is determined that the voltage value is lower than the preset operating voltage value, control each switching device in the switching circuit 40 to be turned on, so that the power voltage at this time is completely loaded on the excitation coil of the band-type brake 70. In practical applications, a functional component for pushing the brake disc to perform a brake action when the voltage of the excitation coil is insufficient may exist in the brake device, for example: and when the power supply voltage is lower than the preset working voltage value, the magnetic attraction force generated by the armature component is smaller than the elastic force generated by the spring component, and at the moment, the band-type brake equipment works and executes the band-type brake action. Because the supply voltage is still in the state of continuously reducing to zero at this stage, therefore the contracting brake piece is for deepening its contact dynamics with servo motor gradually, and then makes servo motor stall gradually, and is not once only directly impose the contracting brake piece on servo motor, makes it shut down by force, so set up, can further reduce the mechanical wear of contracting brake piece, is favorable to prolonging the life of contracting brake 70.
Referring to fig. 1 to 4, in an embodiment of the present invention, the main controller 30 is further configured to output the first preset PWM control signal when the power input terminal 10 is powered on according to the voltage sampling signal, so that the switching circuit 40 drives the internal contracting brake 70 to normally operate.
Further, the switching circuit 40 is any one or a combination of a triode, a MOS transistor, a GTO, an IGBT, and a driver chip.
In this embodiment, when the power input end 10 is in a power-on state, there are two situations, one of which is when the power supply of the power input end 10 is normal, that is, when the servo motor is normally powered on, the main controller 30 outputs a first preset PWM control signal to control the internal contracting brake device not to execute the internal contracting brake action; in another case, when the power input terminal 10 is powered up again (at this time, the servo motor is powered up again at the same time), the voltage sampling circuit 20 also naturally recovers to output the voltage sampling signal corresponding to the preset working voltage, and the main controller 30 also recovers to output the first preset PWM control signal according to the voltage sampling signal, which is essential to control the switch circuit 40 according to the voltage sampling signal, so that the average value of the power voltage loaded on the band-type brake 70 is equal to the preset working voltage value. Of course, it should be noted that the types of the switching devices are not limited to the above-listed ones, and the switching devices can be turned on/off by the PWM control signal. In an alternative embodiment, switching circuit 40 is implemented using a single N-MOS transistor T1. By the arrangement, when the power input end 10 is electrified again, the contracting brake equipment and the servo motor can synchronously recover to work normally, and the contracting brake equipment can be prevented from being in a contracting brake state after the servo motor recovers to work and rotates, so that the contracting brake piece is abraded for the second time.
Referring to fig. 1 to 4, in an embodiment of the present invention, the second terminal of the switching circuit 40 is connected to the power input terminal 10, and the first terminal of the switching circuit 40 is connected to the input terminal of the internal contracting brake 70.
Further, a first end of the switch circuit 40 is connected to an output end of the internal contracting brake 70, and a second end of the switch circuit 40 is grounded.
In the present embodiment, either one of the first terminal and the second terminal of the switch circuit 40 can be an input terminal, and the other one can be an output terminal. When the first end of the switch circuit 40 is the input end and the second end is the output end, the switch circuit 40 is arranged between the internal contracting brake 70 and the ground; when the second terminal of the switch circuit 40 is an input terminal and the first terminal is an output terminal, the switch circuit 40 is disposed between the power input terminal 10 and the internal contracting brake 70. However, no matter where the internal combustion engine is arranged, the switch circuit 40 is configured to control the power voltage applied to the internal combustion engine 70 by the power input terminal 10 by using the on/off of the switch circuit, so as to drive the internal combustion engine 70.
Referring to fig. 1 to 4, in an embodiment of the present invention, the band-type brake driving circuit further includes a switch driving circuit 50; the input end of the switch driving circuit 50 is connected with the output end of the main controller 30, the output end of the switch driving circuit 50 is connected with the input end of the switch circuit 40, and the switch driving circuit 50 is used for outputting the PWM control signal output by the main controller 30 after amplification processing.
Furthermore, the band-type brake driving circuit also comprises a one-way conduction element; the input end and the output end of the unidirectional conducting element are respectively connected with the output end and the input end of the internal contracting brake 70 in a one-to-one correspondence manner.
In this embodiment, the driving circuit may be implemented by a signal modulation circuit, a power amplification circuit, or an amplification device. The driving circuit is used for amplifying the PWM control signal output by the main controller 30, so that a high level signal in the PWM control signal can drive a corresponding switching device in the switching circuit 40 to turn on/off. The single-phase conducting element can be realized by using a diode D1, and the one-way conducting element can be used for preventing reverse conduction when the power voltage is normal. By setting the switch driving circuit 50
The utility model also provides a band-type brake driving device, which comprises a power supply and the band-type brake driving circuit; the detailed structure of the brake driving circuit can refer to the above embodiments, and is not described herein again; it can be understood that, because the band-type brake driving circuit is used in the band-type brake driving device, the embodiment of the band-type brake driving device includes all technical solutions of all embodiments of the band-type brake driving circuit, and the achieved technical effects are also completely the same, and are not described herein again.
In the embodiment, the output end of the power supply is correspondingly connected with the power input end 10 in the band-type brake driving circuit.
The utility model also provides a band-type brake device, which comprises a band-type brake 70 and the band-type brake driving device; or a band-type brake driving circuit as described above.
The band-type brake equipment comprises the band-type brake driving circuit; the detailed structure of the brake driving circuit can refer to the above embodiments, and is not described herein again; it can be understood that, because the band-type brake driving circuit is used in the band-type brake device, the embodiment of the band-type brake device includes all technical solutions of all embodiments of the band-type brake driving circuit, and the achieved technical effects are also completely the same, and are not described herein again. The band-type brake equipment can further comprise the band-type brake driving device, which is already described above and is not repeated here.
In the present embodiment, the band-type brake 70 may be constructed by a band-type brake main body, an armature component provided with an excitation coil, a spring component, and a band-type brake pad. Both ends of the brake 70 (which may be two terminals of the field coil on the armature assembly) may be electrically connected to the output of the brake driving circuit/brake driving device of the present invention.
The above is only the optional embodiment of the present invention, and not therefore the limit of the patent scope of the present invention, all of which are in the concept of the present invention, the equivalent structure transformation of the content of the specification and the drawings is utilized, or the direct/indirect application is included in other related technical fields in the patent protection scope of the present invention.
Claims (10)
1. A brake driving circuit, comprising:
the power supply input end is used for providing power supply voltage for the band-type brake;
the voltage sampling circuit is used for sampling the voltage of the power supply voltage obtained by the band-type brake and outputting a voltage sampling signal;
the main controller is connected with the output end of the voltage sampling circuit and is used for outputting a first preset PWM control signal, adjusting the duty ratio of the first preset PWM control signal generated by the main controller when the power failure of the power supply input end is determined according to the voltage sampling signal, and outputting the adjusted first preset PWM control signal; and
the controlled end of the switch circuit is connected with the output end of the main controller, the first end of the switch circuit is connected with the band-type brake, and the switch circuit is used for adjusting the power voltage loaded on the band-type brake according to the received PWM control signal so that the average value of the power voltage loaded on the band-type brake is equal to a preset working voltage value.
2. The band-type brake driving circuit according to claim 1, wherein the main controller is further configured to control the switching circuit to be turned on to drive the band-type brake to operate when it is determined that the power supply voltage output by the power supply input terminal is lower than a preset operating voltage value thereof according to the voltage sampling signal.
3. The band-type brake driving circuit according to claim 1, wherein the main controller is further configured to output the first preset PWM control signal when it is determined that the power supply input terminal is powered on according to the voltage sampling signal, so that the switching circuit drives the band-type brake to normally operate.
4. The band-type brake driving circuit according to claim 1, wherein the switching circuit is any one or more of a triode, a MOS transistor, a GTO, an IGBT, and a driving chip.
5. A brake driving circuit according to any one of claims 1 to 4, wherein the second terminal of the switching circuit is connected to the power input terminal and the first terminal of the switching circuit is connected to the input terminal of the brake.
6. A brake driving circuit according to any one of claims 1 to 4, wherein a first terminal of the switching circuit is connected to an output terminal of the brake, and a second terminal of the switching circuit is connected to ground.
7. The brake driving circuit according to claim 1, wherein the brake driving circuit further comprises a switch driving circuit; the input end of the switch driving circuit is connected with the output end of the main controller, the output end of the switch driving circuit is connected with the input end of the switch circuit, and the switch driving circuit is used for outputting the PWM control signal output by the main controller after amplification.
8. The brake driving circuit according to claim 1, wherein the brake driving circuit further comprises a unidirectional conducting element; and the input end and the output end of the one-way conduction element are respectively connected with the output end and the input end of the band-type brake in a one-to-one correspondence manner.
9. A brake driving device, characterized in that the brake driving device comprises a power supply and a brake driving circuit according to any one of claims 1-8.
10. A brake device, wherein the brake driving circuit comprises a brake and the brake driving device according to claim 9;
alternatively, the brake driving circuit comprises a brake and the brake driving circuit according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120203561.7U CN214315098U (en) | 2021-01-25 | 2021-01-25 | Band-type brake drive circuit, band-type brake drive arrangement and band-type brake equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120203561.7U CN214315098U (en) | 2021-01-25 | 2021-01-25 | Band-type brake drive circuit, band-type brake drive arrangement and band-type brake equipment |
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| CN214315098U true CN214315098U (en) | 2021-09-28 |
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| CN202120203561.7U Active CN214315098U (en) | 2021-01-25 | 2021-01-25 | Band-type brake drive circuit, band-type brake drive arrangement and band-type brake equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115199170A (en) * | 2022-07-19 | 2022-10-18 | 安徽海尚变频技术有限公司 | Control method of gantry crane high-precision hovering band-type brake |
-
2021
- 2021-01-25 CN CN202120203561.7U patent/CN214315098U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115199170A (en) * | 2022-07-19 | 2022-10-18 | 安徽海尚变频技术有限公司 | Control method of gantry crane high-precision hovering band-type brake |
| CN115199170B (en) * | 2022-07-19 | 2024-03-12 | 安徽海尚变频技术有限公司 | Control method for high-precision hovering band-type brake of door machine |
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