CN215814781U - Simulation training platform for coal mining machine control system - Google Patents
Simulation training platform for coal mining machine control system Download PDFInfo
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- CN215814781U CN215814781U CN202121575195.4U CN202121575195U CN215814781U CN 215814781 U CN215814781 U CN 215814781U CN 202121575195 U CN202121575195 U CN 202121575195U CN 215814781 U CN215814781 U CN 215814781U
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Abstract
The utility model discloses a simulation training platform of a coal mining machine control system, which comprises an industrial personal computer, a main display, a functional module, a CAN sub-master station module, a motor control module, a lifting control module, an end station module, a walking control module, a rocker arm inclination angle module, a gas module, an early warning device module, a sensing center module and an end display module. The simulation training platform can meet all functions of coal mining machine operation in a coal mine, and meanwhile, simulation analysis can be performed on faults through the simulation sensor without personnel going down the coal mine, so that unnecessary danger is avoided.
Description
Technical Field
The utility model relates to the technical field of automatic control of coal mining machines, in particular to a simulation training platform of a coal mining machine control system.
Background
Coal is a basic energy industry in China, and a good foundation can be laid for economic construction only by ensuring the stable operation of a foundation pillar industry. In recent years, with the rapid improvement of the mechanization and automation degree of a coal mine, the operation and maintenance requirements of coal mine equipment are more strict, and particularly, the requirements of a coal mining machine as direct coal mining equipment for coal mining are more strict. The actual equipment is very large and expensive, and timely fault treatment and training learning of corresponding personnel cannot be met.
SUMMERY OF THE UTILITY MODEL
Aiming at the defects in the prior art, the utility model provides the simulation training platform for the control system of the coal mining machine, which can meet all functions of the coal mining machine operated by a coal mine, and can carry out simulation analysis on faults through a simulation sensor without personnel going underground the coal mine, thereby avoiding unnecessary danger.
In order to achieve the purpose, the utility model adopts the following technical scheme:
the embodiment of the utility model provides a simulation training platform of a coal mining machine control system, which comprises a main display screen (1), an industrial personal computer (2), a first CAN sub-master station (23), a second CAN sub-master station (24), a third CAN sub-master station (25), a left motor cutting control module (4), an oil pump motor control module (5), a crushing motor control module (6), a right motor cutting control module (7), a left lifting control module (3), a right lifting control module (8), a left rocker arm inclination angle module (9), a right rocker arm inclination angle module (14), a left walking control module (10), a right walking control module (13), a left end station module (11), a right end station module (12), a left sensing center module (15), a right sensing center module (20), a left early warning module (16), a right early warning module (19), a left gas module (17), A right gas module (18), a left end display module (21) and a right end display module (22);
the industrial personal computer (2) is communicated with the CAN sub-master station module through an X2X bus, and the industrial personal computer (2) realizes control output and data reading of all modules connected with the CAN sub-master station through X2X communication;
the industrial personal computer (2) is in direct communication with the left motor cutting control module (4), the oil pump motor control module (5), the crushing motor control module (6), the right motor cutting control module (7), the left lifting control module (3), the right lifting control module (8), the left rocker arm inclination angle module (9) and the right rocker arm inclination angle module (14) through a CAN bus;
the left rocker arm inclination angle module (9), the left walking control module (10) and the left end station module (11) are connected with an interface 1 of a first CAN slave station (23) through a CAN bus; the right rocker arm inclination angle module (14), the right walking control module (13) and the right end head station module (12) are connected with an interface 2 of a first CAN sub-master station (23) through a CAN bus;
the left sensing center module (15), the left early warning module (16) and the left gas module (17) are connected with an interface 1 of a second CAN sub-master station (24) through a CAN bus; the right sensing center module (20), the right early warning module (19) and the right gas module (18) are connected with an interface 2 of a second CAN sub-master station (24) through a CAN bus;
the left end display module (21) is connected with an interface 1 of a third CAN slave station (25) through a CAN bus and is used for displaying the current working state of the left rocker arm; the right end display module (22) is connected with an interface 2 of a third CAN slave station (25) through a CAN bus and is used for displaying the current working state of the right rocker arm; the main display screen (1) is used for displaying motor current, temperature, sensor data, fault content, a temperature curve, a current curve and the working states of all modules;
the left end station module (11) controls the contactor to be attracted and disconnected through the left cutting motor control module (4) and the oil pump motor control module (5), and controls the on-off of the switch valve through the left lifting control module (3); the right end station module (12) controls the contactor to be attracted and disconnected through the crushing motor control module (6) and the right motor cutting control module (7), and controls the on-off of the switch valve through the right lifting control module (8); the left end station module (11) and the right end station module (12) cross control the left walking control module (10) and the right walking control module (13) to drive the frequency converter to drive the motor to rotate;
the industrial personal computer (2) is used for detecting an oil circuit system, a water circuit system and gas concentration, and sending read data to the industrial personal computer (2) through a second CAN sub-master station (24).
Optionally, the main display screen (1) adopts beijialai 5AP1120.121E and is directly connected with the industrial personal computer (2) through a backplane bus; the industrial personal computer (2) selects a PPC2200 controller of Begaliy.
Optionally, the first CAN slave station (23), the second CAN slave station (24), and the third CAN slave station (25) adopt a CS2770 bus module of beigali, and each has two independent CAN interfaces.
Optionally, the left lifting control module (3), the left sensing center module (15) and the left early warning module (16) are placed on the left side panel of the platform, the right lifting control module (8), the right sensing center module (20) and the right early warning module (19) are placed on the right side panel of the platform, the main display screen (1), the left end station module (11), the right end station module (12), the left end display module (21) and the right end display module (22) are placed on the front panel of the platform, and the rest of the modules are placed inside the platform.
Optionally, the left lifting control module (3), the left motor stopping control module (4) and the oil pump motor control module (5) are respectively and symmetrically arranged with the right lifting control module (8), the right motor stopping control module (7) and the crushing motor control module (6) through the industrial personal computer (2), and communication addresses of the same functional modules are the same;
the left rocker arm inclination angle module (9), the left walking control module (10) and the left end station module (11) are respectively and symmetrically arranged with the right rocker arm inclination angle module (14), the right walking control module (13) and the right rocker arm inclination angle module (14) through a first CAN sub-master station (23), and communication addresses of modules with the same function are the same;
the left sensing center module (15), the left early warning module (16) and the left gas module (17) are symmetrically arranged with the right sensing center module (20), the right early warning module (19) and the right gas module (18) through a second CAN sub-master station (24), and communication addresses of modules with the same function are the same;
and the left end display module (21) and the right end display module (22) are symmetrically arranged through a third CAN sub-master station (25), and the communication addresses of the left end display module and the right end display module are the same.
Optionally, the left sensing center module (15) is used for detecting high-pressure oil pressure, low-pressure oil pressure, brake pressure and oil tank height temperature of an oil circuit system, the right sensing center module (20) is used for detecting water inlet pressure, water inlet flow, cooling water pressure, cooling water flow and cooling water temperature of a water circuit system, and the left gas module (17) and the right gas module (18) are used for detecting gas concentration.
Optionally, the left end station module (11) sends start and stop commands to the left-hand-off motor control module (4) and the oil pump motor control module (5), the left-hand-off motor control module (4) controls the suction and the disconnection of the left-hand-off contactor, and the oil pump motor control module (5) controls the suction and the disconnection of the oil pump contactor; the left end station module (11) sends a lifting command to the left lifting control module (3), and the left lifting control module (3) controls a lifting coil of the left switch valve.
The right end station module (12) sends starting and stopping commands to the crushing motor control module (6) and the right cutting motor control module (7), the crushing contactor is controlled to be attracted and disconnected through the crushing motor control module (6), and the right cutting motor control module (7) controls the right cutting contactor to be attracted and disconnected; the right end station module (12) sends a lifting command to the right lifting control module (8), and the right lifting control module (8) controls a lifting coil of the right switch valve.
Optionally, the left end station module (11) and the right end station module (12) respectively send direction and acceleration and deceleration commands to the left walking control module (10) and the right walking control module (13), and the left walking control module (10) and the right walking control module (13) drive the frequency converter to drive the motor to rotate. The left end station module (11) and the right end station module (12) cross control the left walking control module (10) and the right walking control module (13).
Optionally, the left end head display module (21) is used for displaying the current mining height, the bedding amount, the traction speed and a fault code of the left rocker arm; and the left end head display module (22) is used for displaying the current mining height, the bedding amount, the traction speed and the fault code of the right rocker arm.
The utility model has the beneficial effects that:
1. under the condition of not using an actual loader, all actual operation flows of the coal mining machine can be simulated, and the temperature and pressure conditions of each component can be simulated.
2. All modules adopt CAN communication, the CAN interface of the industrial personal computer is connected into a key module, and the CAN sub-master station module is connected into other modules, so that the data pressure of bus communication is reduced, and the adverse effect on the whole system caused by the damage of a single module is avoided.
3. The utility model reduces the danger of field operation and the learning cost of the coal mine by simulating the actual machine, and provides more convenient conditions for the operation of the coal mining machine.
4. All modules are symmetrically arranged in a left-right mode, communication addresses of the modules with the same function are the same, and maintenance is facilitated.
Drawings
Fig. 1 is a schematic structural diagram of a coal cutter control system simulation training platform according to an embodiment of the present invention.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings.
It should be noted that the terms "upper", "lower", "left", "right", "front", "back", etc. used in the present invention are for clarity of description only, and are not intended to limit the scope of the utility model, and the relative relationship between the terms and the terms is not limited by the scope of the utility model.
Fig. 1 is a schematic structural diagram of a coal cutter control system simulation training platform according to an embodiment of the present invention. This emulation training platform includes main display screen 1, industrial computer 2, first CAN divides main website 23, second CAN divides main website 24, third CAN divides main website 25, left side cuts motor control module 4, oil pump motor control module 5, broken motor control module 6, right side cuts motor control module 7, left lift control module 3, right lift control module 8, left rocking arm inclination module 9, right rocking arm inclination module 14, left walking control module 10, right walking control module 13, left end station module 11, right end station module 12, left side center of sensing module 15, right side center of sensing module 20, left early warning module 16, right early warning module 19, left gas module 17, right gas module 18, left end display module 21, right end display module 22.
Simulation training platform structure
The industrial personal computer 2 can adopt a PPC2200 controller of Begaliy. The industrial personal computer 2 is communicated with the CAN sub-master station module through an X2X bus, and all modules connected with the CAN sub-master station by the industrial personal computer 2 are controlled to output and read data through X2X communication. The first CAN sub-master station 23, the second CAN sub-master station 24 and the third CAN sub-master station 25 CAN adopt a CS2770 bus module of Beigali and all have two independent CAN interfaces
The industrial personal computer 2 is in direct communication with the left cutting motor control module 4, the oil pump motor control module 5, the crushing motor control module 6, the right cutting motor control module 7, the left lifting control module 3, the right lifting control module 8, the left rocker arm inclination angle module 9 and the right rocker arm inclination angle module 14 through a CAN bus.
The left rocker arm inclination angle module 9, the left walking control module 10 and the left end station module 11 are connected with an interface 1 of a first CAN sub-master station 23 through a CAN bus; the right rocker arm inclination angle module 14, the right walking control module 13 and the right end head station module 12 are connected with the interface 2 of the first CAN sub-master station 23 through CAN buses.
The left sensing center module 15, the left early warning module 16 and the left gas module 17 are connected with an interface 1 of a second CAN sub-master station 24 through a CAN bus; the right sensing center module 20, the right early warning module 19, the right gas module 18 and the interface 2 of the second CAN sub-master station 24 are connected through a CAN bus.
The main display screen 1 can adopt Beijialai 5AP1120.121E and is directly connected with the industrial personal computer 2 through a backboard bus without being connected through a communication line; the left end display module 21 is connected with an interface 1 of a third CAN slave station 25 through a CAN bus; the right end display module 22 is connected with the interface 2 of the third CAN slave station 25 through a CAN bus.
So, all modules adopt the CAN communication, and the CAN interface of industrial computer itself inserts key module, and other modules are inserted to CAN branch main website module, have both reduced the data pressure of bus communication and have avoided single module to damage to cause adverse effect to entire system again.
In some examples, the left lifting control module 3, the left sensing center module 15, and the left warning module 16 are disposed on the left side panel of the platform, the right lifting control module 8, the right sensing center module 20, and the right warning module 19 are disposed on the right side panel of the platform, the main display screen 1, the left end station module 11, the right end station module 12, the left end display module 21, and the right end display module 22 are disposed on the front panel of the platform, and the rest modules are disposed inside the platform.
In other examples, the left lifting control module 3, the left cutting motor control module 4 and the oil pump motor control module 5 are symmetrically arranged with the right lifting control module 8, the right cutting motor control module 7 and the crushing motor control module 6 through the industrial personal computer 2, and the communication addresses of the same functional modules are the same; the left rocker arm inclination angle module 9, the left walking control module 10 and the left end station module 11 are symmetrically arranged with the right rocker arm inclination angle module 14, the right walking control module 13 and the right rocker arm inclination angle module 14 through a first CAN sub-master station 23 respectively, and communication addresses of the same functional modules are the same; the left sensing center module 15, the left early warning module 16 and the left gas module 17 are symmetrically arranged with the right sensing center module 20, the right early warning module 19 and the right gas module 18 through a second CAN sub-master station 24 respectively, and the communication addresses of the modules with the same function are the same; the left end display module 21 and the right end display module 22 are symmetrically arranged through a third CAN sub-master station 25, and the communication addresses of the left end display module and the right end display module are the same. All modules are symmetrically arranged in a left-right mode, communication addresses of modules with the same function are the same, and maintenance is facilitated
(II) simulation training principle
(1) Display device
The simulation training platform of this embodiment is provided with three display modules, which are a left end display module 21, a right end display module 22 and a main display screen 1. The purpose is to realize classified display through three display modules.
For example, the left end display module 21 is configured to display the current mining height, bedding amount, traction speed, and fault code of the left rocker arm; the right end display module 22 is used for displaying the current mining height, the bedding amount, the traction speed and the fault code of the right rocker arm; the main display screen 1 is used for displaying motor current, temperature, sensor data, fault content, temperature curves, current curves and the working states of all modules.
(2) Control simulation
And the simulation control object at least comprises contactors of a left rocker arm and a right rocker arm, a switch valve, a frequency converter and a walking motor. For this, the simulation control loop is set as follows:
the left end station module 11 sends start and stop commands to the left-hand-off motor control module 4 and the oil pump motor control module 5, the left-hand-off motor control module 4 controls the suction and the breaking of a left-hand-off contactor, and the oil pump motor control module 5 controls the suction and the breaking of an oil pump contactor; the left end station module 11 sends a lifting command to the left lifting control module 3, and the left lifting control module 3 controls the lifting of the left switch valve. The right end station module 12 sends start and stop commands to the crushing motor control module 6 and the right cutting motor control module 7, the crushing contactor is controlled to be attracted and disconnected by the crushing motor control module 6, and the right cutting motor control module 7 controls the right cutting contactor to be attracted and disconnected; the right end station module 12 sends a lifting command to the right lifting control module 8, and the right lifting control module 8 controls a lifting coil of the right switch valve. In this embodiment, the lift control buttons of the left and right end station modules 11 and 12 are only used to control the corresponding on-off valves. The left end station module 11 and the right end station module 12 respectively send direction and acceleration and deceleration commands to the left walking control module 10 and the right walking control module 13, and the left walking control module 10 and the right walking control module 13 drive the frequency converter to drive the motor to rotate. The left end station module 11 and the right end station module 12 cross control the left walking control module 10 and the right walking control module 13.
(3) Detection of
The left sensing center module 15, the right sensing center module 20, the left gas module 17 and the right gas module 18 are used for detecting an oil circuit system, a water circuit system and gas concentration, read data are sent to the industrial personal computer 2 through the second CAN sub-master station 24 and are displayed through the display module, and a user CAN timely master a simulation result of a control instruction and further make further judgment. For example, the left sensing center module 15 is used for detecting high-pressure oil pressure, low-pressure oil pressure, brake pressure and tank height temperature of an oil circuit system, the right sensing center module 20 is used for detecting water inlet pressure, water inlet flow, cooling water pressure, cooling water flow and cooling water temperature of a water circuit system, and the left gas module 17 and the right gas module 18 are used for detecting gas concentration.
As a preferred example, the industrial personal computer 2 is internally provided with fault analysis software, and the industrial personal computer 2 receives data collected by the left sensing center module 15, the right sensing center module 20, the left gas module 17 and the right gas module 18, and then judges whether a fault occurs through data analysis.
(4) Feedback
If the user or the industrial personal computer 2 judges that a fault occurs, the user directly sends a command to the left-hand motor control module 4, the oil pump motor control module 5, the crushing motor control module 6 and the right-hand motor control module 7 through the industrial personal computer 2 or the industrial personal computer 2 according to an analysis result, and a control loop is cut off according to the simulated fault. For example, the left sensing center module 15 is used for detecting high-pressure oil pressure, low-pressure oil pressure, brake pressure and tank height temperature of an oil circuit system, the right sensing center module 20 is used for detecting water inlet pressure, water inlet flow, cooling water pressure, cooling water flow and cooling water temperature of a water circuit system, and the left gas module 17 and the right gas module 18 are used for detecting gas concentration.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the utility model may be made by those skilled in the art without departing from the principle of the utility model.
Claims (9)
1. The utility model provides a coal-winning machine control system emulation training platform, a serial communication port, emulation training platform includes that main display screen (1), industrial computer (2), first CAN divides main website (23), second CAN divides main website (24), third CAN divides main website (25), left side cuts motor control module (4), oil pump motor control module (5), broken motor control module (6), right side cuts motor control module (7), left lift control module (3), right lift control module (8), left rocking arm inclination module (9), right rocking arm inclination module (14), left side walking control module (10), right side walking control module (13), left end station module (11), right end station module (12), left side sensing center module (15), right side sensing center module (20), left early warning module (16), right early warning module (19), left gas module (17), A right gas module (18), a left end display module (21) and a right end display module (22);
the industrial personal computer (2) is communicated with the CAN sub-master station module through an X2X bus, and the industrial personal computer (2) realizes control output and data reading of all modules connected with the CAN sub-master station through X2X communication;
the industrial personal computer (2) is in direct communication with the left motor cutting control module (4), the oil pump motor control module (5), the crushing motor control module (6), the right motor cutting control module (7), the left lifting control module (3), the right lifting control module (8), the left rocker arm inclination angle module (9) and the right rocker arm inclination angle module (14) through a CAN bus;
the left rocker arm inclination angle module (9), the left walking control module (10) and the left end station module (11) are connected with an interface 1 of a first CAN slave station (23) through a CAN bus; the right rocker arm inclination angle module (14), the right walking control module (13) and the right end head station module (12) are connected with an interface 2 of a first CAN sub-master station (23) through a CAN bus;
the left sensing center module (15), the left early warning module (16) and the left gas module (17) are connected with an interface 1 of a second CAN sub-master station (24) through a CAN bus; the right sensing center module (20), the right early warning module (19) and the right gas module (18) are connected with an interface 2 of a second CAN sub-master station (24) through a CAN bus;
the left end display module (21) is connected with an interface 1 of a third CAN slave station (25) through a CAN bus and is used for displaying the current working state of the left rocker arm; the right end display module (22) is connected with an interface 2 of a third CAN slave station (25) through a CAN bus and is used for displaying the current working state of the right rocker arm; the main display screen (1) is used for displaying motor current, temperature, sensor data, fault content, a temperature curve, a current curve and the working states of all modules;
the left end station module (11) controls the contactor to be attracted and disconnected through the left cutting motor control module (4) and the oil pump motor control module (5), and controls the on-off of the switch valve through the left lifting control module (3); the right end station module (12) controls the contactor to be attracted and disconnected through the crushing motor control module (6) and the right motor cutting control module (7), and controls the on-off of the switch valve through the right lifting control module (8); the left end station module (11) and the right end station module (12) cross control the left walking control module (10) and the right walking control module (13) to drive the frequency converter to drive the motor to rotate;
the industrial personal computer (2) is used for detecting an oil circuit system, a water circuit system and gas concentration, and sending read data to the industrial personal computer (2) through a second CAN sub-master station (24).
2. The simulation training platform for the control system of the coal mining machine according to claim 1, wherein the main display screen (1) is a Beijialai 5AP1120.121E and is directly connected with the industrial personal computer (2) through a backboard bus; the industrial personal computer (2) selects a PPC2200 controller of Begaliy.
3. The simulation training platform for the control system of the coal mining machine according to claim 1, wherein the first CAN sub-master station (23), the second CAN sub-master station (24) and the third CAN sub-master station (25) adopt a CS2770 bus module of Begaliy and are provided with two independent CAN interfaces.
4. The simulation training platform of the coal mining machine control system according to claim 1, wherein the left lifting control module (3), the left sensing center module (15) and the left early warning module (16) are placed on a left side panel of the platform, the right lifting control module (8), the right sensing center module (20) and the right early warning module (19) are placed on a right side panel of the platform, the main display screen (1), the left end station module (11), the right end station module (12), the left end display module (21) and the right end display module (22) are placed on a front panel of the platform, and the rest modules are placed inside the platform.
5. The simulation training platform of the coal mining machine control system according to claim 1, wherein the left lifting control module (3), the left cutting motor control module (4) and the oil pump motor control module (5) are symmetrically arranged with the right lifting control module (8), the right cutting motor control module (7) and the crushing motor control module (6) through the industrial personal computer (2), and communication addresses of the same functional modules are the same;
the left rocker arm inclination angle module (9), the left walking control module (10) and the left end station module (11) are respectively and symmetrically arranged with the right rocker arm inclination angle module (14), the right walking control module (13) and the right rocker arm inclination angle module (14) through a first CAN sub-master station (23), and communication addresses of modules with the same function are the same;
the left sensing center module (15), the left early warning module (16) and the left gas module (17) are symmetrically arranged with the right sensing center module (20), the right early warning module (19) and the right gas module (18) through a second CAN sub-master station (24), and communication addresses of modules with the same function are the same;
and the left end display module (21) and the right end display module (22) are symmetrically arranged through a third CAN sub-master station (25), and the communication addresses of the left end display module and the right end display module are the same.
6. The simulation training platform for the control system of the coal mining machine according to any one of claims 1 to 5, wherein the left sensing center module (15) is used for detecting high-pressure oil pressure, low-pressure oil pressure, braking pressure and oil tank height temperature of an oil circuit system, the right sensing center module (20) is used for detecting water inlet pressure, water inlet flow, cooling water pressure, cooling water flow and cooling water temperature of a water circuit system, and the left gas module (17) and the right gas module (18) are used for detecting gas concentration.
7. The simulation training platform for the control system of the coal mining machine according to any one of claims 1 to 5, wherein the left end station module (11) sends starting and stopping commands to the left-hand motor control module (4) and the oil pump motor control module (5), the left-hand contact is controlled to be closed and opened through the left-hand motor control module (4), and the oil pump motor control module (5) controls the oil pump contact to be closed and opened; the left end station module (11) sends a lifting command to the left lifting control module (3), and the left lifting control module (3) controls a lifting coil of the left switch valve;
the right end station module (12) sends starting and stopping commands to the crushing motor control module (6) and the right cutting motor control module (7), the crushing contactor is controlled to be attracted and disconnected through the crushing motor control module (6), and the right cutting motor control module (7) controls the right cutting contactor to be attracted and disconnected; the right end station module (12) sends a lifting command to the right lifting control module (8), and the right lifting control module (8) controls a lifting coil of the right switch valve.
8. The simulation training platform of the control system of the coal mining machine according to any one of claims 1 to 5, wherein the left end station module (11) and the right end station module (12) respectively send direction and acceleration and deceleration commands to the left traveling control module (10) and the right traveling control module (13), and the left traveling control module (10) and the right traveling control module (13) drive a frequency converter to drive a motor to rotate; the left end station module (11) and the right end station module (12) cross control the left walking control module (10) and the right walking control module (13).
9. The simulation training platform for the control system of the coal mining machine according to any one of claims 1 to 5, wherein the left end head display module (21) is used for displaying the current mining height, bedding amount, traction speed and fault code of the left rocker arm; and the right end head display module (22) is used for displaying the current mining height, the bedding amount, the traction speed and the fault code of the right rocker arm.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113539049A (en) * | 2021-07-12 | 2021-10-22 | 上海富锲智能科技有限公司 | Simulation training platform for coal mining machine control system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113539049A (en) * | 2021-07-12 | 2021-10-22 | 上海富锲智能科技有限公司 | Simulation training platform for coal mining machine control system |
| CN113539049B (en) * | 2021-07-12 | 2024-05-14 | 上海富锲智能科技有限公司 | Simulation training platform for coal mining machine control system |
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