CN217024499U - Tail vehicle double-oil-cylinder synchronous control system for bulk cargo machine - Google Patents
Tail vehicle double-oil-cylinder synchronous control system for bulk cargo machine Download PDFInfo
- Publication number
- CN217024499U CN217024499U CN202220511480.8U CN202220511480U CN217024499U CN 217024499 U CN217024499 U CN 217024499U CN 202220511480 U CN202220511480 U CN 202220511480U CN 217024499 U CN217024499 U CN 217024499U
- Authority
- CN
- China
- Prior art keywords
- oil
- synchronous control
- control circuit
- loop
- slave
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Fluid-Pressure Circuits (AREA)
Abstract
The embodiment of the utility model discloses a tail vehicle double-oil-cylinder synchronous control system for a bulk cargo machine, which comprises: a hydraulic pump main loop, a hydraulic pump control loop, an electromagnetic valve control loop and a master-slave synchronous control unit; the main loop of the hydraulic pump is connected with an oil pump, an oil tank heater and an oil tank air cooling motor of the hydraulic system; the hydraulic pump control loop is connected with the hydraulic pump main loop; the electromagnetic valve control loop is connected with the hydraulic pump main loop; the master-slave synchronous control unit comprises a master synchronous control circuit and a slave synchronous control circuit, the master synchronous control circuit is connected with a feedback sensor of the oil cylinder serving as a main shaft, the slave synchronous control circuit is connected with a feedback sensor of the oil cylinder serving as a slave shaft, and the synchronism of actions of the double oil cylinders is detected through the electromagnetic valve control loop. The utility model has the effects of real-time position closed-loop detection, master-slave synchronization coordination function, differential output of the proportional valve and the like.
Description
Technical Field
The utility model relates to a tail car double-oil-cylinder synchronous control system for a bulk cargo machine.
Background
The control mode of the traditional turning back type bucket wheel machine tail car lifting system is that the electromagnetic directional valve is controlled to control the tail car to lift so as to change the material piling and taking process. And in a double-oil-cylinder system, the reversing valve simultaneously drives the two oil cylinders to lift, the stroke detection of the two oil cylinders is lacked in design, and the flow speed cannot be adjusted by the electromagnetic reversing valve. Therefore, in actual use, the tail car steel structure is twisted due to the fact that the stroke of the oil cylinder is asynchronous frequently, especially the phenomenon of asynchronism is serious when the temperature is low in winter, and the hydraulic station regulating valve can be manually regulated manually only manually and manually. If a single-oil-cylinder lifting system is adopted, although the problem of synchronous error does not exist, the steel structure strength of the tail car and the rated pressure of the oil cylinder need to be additionally increased, the manufacturing and construction difficulty is increased, and the cost is increased greatly.
SUMMERY OF THE UTILITY MODEL
In order to solve a series of problems caused by asynchronous lifting of a traditional bucket wheel machine tail car, the utility model designs a tail car double-oil-cylinder synchronous control system, namely the tail car double-oil-cylinder synchronous control system for the bulk cargo machine.
The utility model provides a two hydro-cylinders synchronous control system of trailer for bulk cargo machine which characterized in that includes: a hydraulic pump main loop, a hydraulic pump control loop, an electromagnetic valve control loop and a master-slave synchronous control unit;
the hydraulic pump main loop is connected with an oil pump, an oil tank heater and an oil tank air cooling motor of the hydraulic system, so that corresponding actions are carried out under the control of the hydraulic pump control loop when the hydraulic pump is started to enable an oil path of the hydraulic system to be circulated;
the hydraulic pump control circuit is connected with the hydraulic pump main circuit;
the electromagnetic valve control loop is connected with the hydraulic pump main loop so as to adjust the pressure state of the hydraulic system by adjusting the power-on and power-off state of the electromagnetic valve control loop and the hydraulic pump main loop in a matching manner and drive the double oil cylinders of the hydraulic system to perform corresponding actions;
the master-slave synchronous control unit comprises a master synchronous control circuit and a slave synchronous control circuit, the master synchronous control circuit is connected with a feedback sensor of the oil cylinder serving as a main shaft, the slave synchronous control circuit is connected with a feedback sensor of the oil cylinder serving as a slave shaft, and the synchronism of actions of the double oil cylinders is adjusted through the electromagnetic valve control loop.
Further, the hydraulic pump main circuit includes: the oil pump main loop, the oil tank heater main loop and the oil tank air-cooled motor main loop are connected with the oil pump main loop; wherein the oil pump main circuit includes: the first breaker QF1 and a first contactor KM1, wherein one end of the first contactor KM1 is connected with an oil pump, and the other end of the first contactor KM1 is connected with the first breaker QF 1; the tank heater primary circuit includes: the second breaker QF2 and a second contactor KM2, wherein one end of the second contactor KM2 is connected with the oil tank heater, and the other end of the second contactor KM2 is connected with the second breaker QF 2; the oil tank air-cooled motor major loop includes: and the third breaker QF3 is connected with a third contactor KM3, one end of the third contactor KM3 is connected with the oil tank heater, and the other end of the third contactor KM3 is connected with the third breaker QF 3.
Further, the hydraulic pump control circuit includes: the oil pump control circuit, the oil tank heater control circuit and the oil tank air cooling motor control circuit are connected in series; wherein the oil pump control circuit includes: a first switch K1 and a fourth contactor KM4 connected with the first switch K1; the tank heater control circuit includes: a second switch K2 and a fifth contactor KM5 connected thereto; the oil tank air cooling motor control circuit comprises: a third switch K3 and a sixth contactor KM6 connected with the third switch K3.
Further, the solenoid valve control circuit includes: a silicon controlled rectifier UR01 as a power supply of the electromagnetic valve, a first overflow valve Y01, a fourth switch K4, a first control valve Y02 and a second control valve Y03; the positive electrode of the silicon controlled rectifier UR01 is connected to the fourth switch K4, the other end of the fourth switch K4 is connected to one end of the first overflow valve Y01, and the other end of the fourth switch K4 is connected to the negative electrode of the silicon controlled rectifier UR 01.
Further, the master-slave synchronization control unit includes: the system comprises a power supply, a PLC (programmable logic controller), a main shaft synchronous control circuit and a driven shaft synchronous control circuit; the main shaft synchronous control circuit can receive speed and position control instructions sent to a main shaft by an upper computer, and is respectively connected with a power supply, a PLC (programmable logic controller), a feedback sensor of an oil cylinder serving as the main shaft and a first control valve Y02; the slave shaft synchronous control circuit is respectively connected with a power supply, a PLC controller, a feedback sensor serving as a slave shaft oil cylinder and a second control valve Y03.
Furthermore, the main shaft synchronous control circuit and the slave shaft synchronous control circuit both adopt a synchronous control card form to carry out master-slave synchronous control, so that the synchronism of the actions of the double oil cylinders of the tail car for the bulk cargo machine is determined by adopting a position closed loop detection mode.
Furthermore, the first control valve Y02/the second control valve Y03 are proportional valves to drive the oil cylinder to act.
Furthermore, the system also comprises a temperature controller which can be matched with the oil tank heater and the oil tank air cooling motor to dynamically control the oil temperature of the oil tank.
The utility model has the beneficial effects that:
the electric control system has the effects of real-time position closed-loop detection, master-slave synchronization coordination function, differential output of the proportional valve and the like, can effectively detect the strokes of the two oil cylinders, enables the electromagnetic directional valve to effectively adjust the flow rate, further ensures the synchronism of the strokes of the oil cylinders, and prevents the occurrence of the torsion accident of a steel structure of a trailer.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings 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 drawings without creative efforts.
Wherein:
FIG. 1 is a schematic diagram of the system infrastructure in one embodiment;
FIG. 2 is a schematic diagram of the master-slave synchronization control unit circuit in one embodiment;
FIG. 3 is a schematic diagram of the hydraulic pump main circuit in one embodiment;
FIG. 4 is a schematic diagram of a hydraulic pump control circuit according to one embodiment;
FIG. 5 is a schematic diagram of a solenoid valve control loop circuit according to one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and do not limit the utility model.
The terms "first," "second," and the like as used herein may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present application. The first and second elements are both elements, but they are not the same element.
The utility model belongs to the field of bucket wheel machine equipment of bulk material mechanical equipment, and particularly provides a tail vehicle double-oil-cylinder synchronous control system for a bulk material machine, which is shown in figures 1-5 and is characterized by comprising the following components: a hydraulic pump main loop, a hydraulic pump control loop, an electromagnetic valve control loop and a master-slave synchronous control unit;
the hydraulic system comprises a hydraulic pump main loop, an oil tank heater, an oil tank air cooling motor, an electromagnetic valve control loop and a hydraulic pump control loop, wherein the hydraulic pump main loop is connected with an oil pump, the oil tank heater and the oil tank air cooling motor of the hydraulic system so as to perform corresponding actions under the control of the hydraulic pump control loop when the hydraulic pump is started to enable an oil path of the hydraulic system to establish circulation (meanwhile, the electromagnetic valve control loop is electrified to generate corresponding actions); specifically, the hydraulic pump main circuit includes: the oil pump main loop, the oil tank heater main loop and the oil tank air-cooled motor main loop are arranged in the oil tank; wherein the oil pump main circuit includes: the first breaker QF1 and a first contactor KM1, wherein one end of the first contactor KM1 is connected with an oil pump MA1, and the other end of the first contactor KM1 is connected with the first breaker QF 1; the tank heater primary circuit includes: a second breaker QF2 and a second contactor KM2, wherein one end of the second contactor KM2 is connected with the oil tank heater EH2, and the other end is connected with the second breaker QF 2; the oil tank air-cooled motor major loop includes: and the third breaker QF3 and a third contactor KM3, wherein one end of the third contactor KM3 is connected with the oil tank air-cooled motor MA3, and the other end of the third contactor KM3 is connected with the third breaker QF 3.
The hydraulic pump control circuit is connected with the hydraulic pump main circuit; specifically, the hydraulic pump control circuit includes: the oil pump control circuit, the oil tank heater control circuit and the oil tank air cooling motor control circuit are connected in series; wherein the oil pump control circuit includes: a first switch K1 and a fourth contactor KM4 connected with the first switch K1; the tank heater control circuit includes: a second switch K2 and a fifth contactor KM5 connected thereto; the oil tank air cooling motor control circuit comprises: a third switch K3 and a sixth contactor KM6 connected thereto.
The electromagnetic valve control loop is connected with the hydraulic pump main loop so as to adjust the pressure state of the hydraulic system by adjusting the power-on and power-off state of the electromagnetic valve control loop and the hydraulic pump main loop in a matching manner and drive the double oil cylinders of the hydraulic system to perform corresponding actions; specifically, the solenoid valve control circuit includes: silicon controlled rectifier UR01, first overflow valve Y01, fourth switch K4, first control valve Y02 and second control valve Y03; the positive electrode of the silicon controlled rectifier UR01 is connected to the fourth switch K4, the other end of the fourth switch K4 is connected to one end of the first overflow valve Y01, and the other end of the fourth switch K4 is connected to the negative electrode of the silicon controlled rectifier UR 01.
The master-slave synchronous control unit comprises a master synchronous control circuit and a slave synchronous control circuit, the master synchronous control circuit is connected with a feedback sensor of the oil cylinder serving as a main shaft, the slave synchronous control circuit is connected with a feedback sensor of the oil cylinder serving as a slave shaft, and the electromagnetic valve is used for controlling an adjusting loop to detect the synchronism of actions of the double oil cylinders; specifically, the master-slave synchronization control unit includes: a power supply (24V), a PLC, a main shaft synchronous control circuit and a slave shaft synchronous control circuit; the main shaft synchronous control circuit can receive speed and position control instructions sent to a main shaft by an upper computer, and is respectively connected with a power supply, a PLC (programmable logic controller), a feedback sensor serving as an oil cylinder of the main shaft and a first control valve Y02; the slave shaft synchronous control circuit is respectively connected with a power supply, a PLC controller, a feedback sensor serving as a slave shaft oil cylinder and a second control valve Y03.
Preferably, the main shaft synchronous control circuit and the slave shaft synchronous control circuit both adopt a synchronous control card form to carry out master-slave synchronous control (namely two synchronous control cards are adopted for external feedback signals, namely closed-loop control, and a master-slave synchronous control mode is adopted), so that the synchronism of the double-oil-cylinder action of the tail car for the bulk material machine is determined by adopting a position closed-loop detection mode. The MASTER-SLAVE synchronous control card-SLAVE receives speed and position instructions sent to the MASTER, drives the MASTER to run, collects a MASTER position feedback signal, and enables the SLAVE to take a following mode to act according to the position of the MASTER and the position of the SLAVE through the SLAVE synchronous control circuit-SLAVE synchronous control card-SLAVE, so that functions of real-time position closed-loop detection, MASTER-SLAVE synchronous coordination and the like are realized.
Preferably, the first control valve Y02/the second control valve Y03 are proportional valves, and differential output drive is performed by the proportional valves, that is, two cylinders are driven by the first control valve Y02 as a master proportional valve and the second control valve Y03 as a slave proportional valve, respectively, thereby realizing a proportional valve differential output design.
Preferably, the system also comprises a temperature controller which can be matched with the oil tank heater and the oil tank air cooling motor to dynamically control the oil temperature of the oil tank, so as to avoid solidification or overheating of the oil line.
Based on the design content, the principle of the tail car double-oil-cylinder synchronous control system is as follows:
when an oil pump MA1 is started to enable a system oil path to establish circulation and a control electromagnetic valve control loop is electrified to establish system pressure, a 24V working power supply is provided for a master-slave synchronous card, namely a main shaft synchronous control circuit and a slave shaft synchronous control circuit (specifically, refer to terminals 3 and 4 of each synchronous card); sending ENABLE and START instructions (terminals 8 and 7) to the master-slave synchronous card through the PLC digital quantity output terminal control of the PLC controller, wherein ENABLE is enabled, and START is started; meanwhile, an SC _ ACTIVE (terminal 5) command is sent to one of the synchronous cards through PLC digital quantity output terminal control, the triggered synchronous card is a slave synchronous card, the card controls a slave shaft to adopt a motion mode following the main shaft, so that the main shaft and the slave shaft feed back position signals to the synchronous card (terminal 14) to form closed-loop control in the mode, and the main shaft position signals are simultaneously fed back to the slave shaft synchronous card (terminal 6) to perform double-shaft position comparison; then, a speed command (terminals 9 and 10) and a position command (terminal 13) are sent to the spindle synchronous card through the PLC analog quantity output terminal control, so that the spindle outputs a signal to a spindle proportional valve (Y02) through a differential output terminal (terminals 15 and 16) of the spindle synchronous card according to the set target position and speed; the slave shaft at this time assumes a follow-up master shaft mode according to its own position (terminal 14) and the slave shaft position (terminal 6) to which the master shaft is fed back, by outputting a signal from the synchronization card differential output terminals (terminals 15 and 16) to the slave shaft proportional valve (Y03); after reaching the set position, the PLC controller stops sending ENABLE and START commands to the master-slave synchronization card (terminals 8 and 7).
In addition, the master and slave synchronous cards may send READY and INPOS ERROR signals (terminals 2 and 1) to the PLC controller for detecting the status of the synchronous cards. The READY signal is READY, when the input ENABLE (terminal 8) is triggered and the feedback sensor is error-free, the READY signal is sent to the PLC, and the LED lamp READY in the synchronous card displays green. The INPOS _ ERROR signal (terminal 1) is used for master-slave synchronization ERROR detection when START (terminal 7) and SC _ ACTIVE (terminal 5) commands are triggered. And when the difference value exceeds a certain range, sending the difference value to the PLC for alarming or stopping, and displaying yellow by an LED lamp STATUS in the synchronous card.
In addition, the corresponding definition of the terminal numbers of the master-slave synchronous cards in the embodiment is attached:
the above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, and these are all within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (8)
1. The utility model provides a two hydro-cylinders synchronous control system of tail car for bulk cargo machine which characterized in that includes: a hydraulic pump main loop, a hydraulic pump control loop, an electromagnetic valve control loop and a master-slave synchronous control unit;
the hydraulic pump main loop is connected with an oil pump, an oil tank heater and an oil tank air cooling motor of the hydraulic system, so that corresponding actions are carried out under the control of the hydraulic pump control loop when the hydraulic pump is started to enable an oil path of the hydraulic system to be circulated;
the hydraulic pump control circuit is connected with the hydraulic pump main circuit;
the electromagnetic valve control loop is connected with the hydraulic pump main loop so as to adjust the pressure state of a hydraulic system by adjusting the power-on and power-off state of the electromagnetic valve control loop and the hydraulic pump main loop in a matching manner, and drive double oil cylinders of the hydraulic system to perform corresponding actions;
the master-slave synchronous control unit comprises a master synchronous control circuit and a slave synchronous control circuit, the master synchronous control circuit is connected with a feedback sensor of the oil cylinder serving as a master shaft, the slave synchronous control circuit is connected with a feedback sensor of the oil cylinder serving as a slave shaft, and the synchronism of actions of the double oil cylinders is adjusted through the electromagnetic valve control loop.
2. The tail car double-cylinder synchronous control system for the bulk cargo machine according to claim 1,
the hydraulic pump main circuit includes: the oil pump main loop, the oil tank heater main loop and the oil tank air-cooled motor main loop are arranged in the oil tank; wherein the oil pump main circuit includes: the first breaker QF1 and a first contactor KM1, wherein one end of the first contactor KM1 is connected with an oil pump, and the other end of the first contactor KM1 is connected with the first breaker QF 1; the tank heater primary circuit includes: the second breaker QF2 and a second contactor KM2, wherein one end of the second contactor KM2 is connected with the oil tank heater, and the other end of the second contactor KM2 is connected with the second breaker QF 2; the oil tank air-cooled motor major loop includes: and the third breaker QF3 and a third contactor KM3, wherein one end of the third contactor KM3 is connected with the oil tank heater, and the other end of the third contactor KM3 is connected with the third breaker QF 3.
3. The tail-car double-cylinder synchronous control system for the bulk machine according to claim 1,
the hydraulic pump control circuit includes: the oil pump control circuit, the oil tank heater control circuit and the oil tank air cooling motor control circuit are connected in series; wherein the oil pump control circuit includes: a first switch K1 and a fourth contactor KM4 connected with the first switch K1; the tank heater control circuit includes: a second switch K2 and a fifth contactor KM5 connected with the second switch; the oil tank air cooling motor control circuit comprises: a third switch K3 and a sixth contactor KM6 connected with the third switch K3.
4. The tail-car double-cylinder synchronous control system for the bulk machine according to claim 1,
the solenoid valve control circuit includes: silicon controlled rectifier UR01, first overflow valve Y01, fourth switch K4, first control valve Y02 and second control valve Y03; the positive electrode of the silicon controlled rectifier UR01 is connected with the fourth switch K4, the other end of the fourth switch K4 is connected with one end of a first overflow valve Y01, and the other end of the fourth switch K4 is connected with the negative electrode of the silicon controlled rectifier UR 01.
5. The tail car double-cylinder synchronous control system for the bulk cargo machine according to claim 1,
the master-slave synchronization control unit includes: the system comprises a power supply, a PLC (programmable logic controller), a main shaft synchronous control circuit and a slave shaft synchronous control circuit; the main shaft synchronous control circuit can receive speed and position control instructions sent to a main shaft by an upper computer, and is respectively connected with a power supply, a PLC (programmable logic controller), a feedback sensor of an oil cylinder serving as the main shaft and a first control valve Y02; the slave shaft synchronous control circuit is respectively connected with a power supply, a PLC controller, a feedback sensor serving as a slave shaft oil cylinder and a second control valve Y03.
6. The double-cylinder synchronous control system of the tail car for the bulk material machine as claimed in claim 5, wherein the main shaft synchronous control circuit and the slave shaft synchronous control circuit both adopt a synchronous control card form to perform master-slave synchronous control so as to determine the synchronism of the double-cylinder action of the tail car for the bulk material machine by adopting a position closed loop detection mode.
7. The tail-car double-cylinder synchronous control system for the bulk cargo machine according to claim 5 or 6,
the first control valve Y02/the second control valve Y03 are proportional valves to drive the oil cylinder to act.
8. The tail-car double-cylinder synchronous control system for the bulk machine according to claim 1,
the system also comprises a temperature controller which can be matched with the oil tank heater and the oil tank air cooling motor to dynamically control the oil temperature of the oil tank.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220511480.8U CN217024499U (en) | 2022-03-10 | 2022-03-10 | Tail vehicle double-oil-cylinder synchronous control system for bulk cargo machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220511480.8U CN217024499U (en) | 2022-03-10 | 2022-03-10 | Tail vehicle double-oil-cylinder synchronous control system for bulk cargo machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217024499U true CN217024499U (en) | 2022-07-22 |
Family
ID=82453727
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220511480.8U Active CN217024499U (en) | 2022-03-10 | 2022-03-10 | Tail vehicle double-oil-cylinder synchronous control system for bulk cargo machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217024499U (en) |
-
2022
- 2022-03-10 CN CN202220511480.8U patent/CN217024499U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107420384B (en) | System is used in the storage of lifting device gravitional force P-V | |
| CN106671091B (en) | A kind of robot hydraulic-driven cradle head closed-loop control system | |
| CN206553166U (en) | A kind of Side turning machine synchronous control system and the Side turning machine with the system | |
| CN110374940A (en) | A kind of real-time recycling system of elevator potential energy and its control method | |
| CN105203956A (en) | AC motor control performance automatic testing system and testing method | |
| CN203161129U (en) | Intelligent control device for coiled tubing operation machine | |
| CN217024499U (en) | Tail vehicle double-oil-cylinder synchronous control system for bulk cargo machine | |
| CN102491173A (en) | Crane and closed type winch negative power control system for crane | |
| CN208236791U (en) | The precision pressure control system of servo-pump control hydraulic press | |
| CN107524187B (en) | Hydraulic-electric hybrid recycling system for braking energy of rotary motion | |
| CN201696724U (en) | Integrated electro-hydraulic valve driving device | |
| CN201529605U (en) | Digital system of dual-surface plate coating machine | |
| CN201415463Y (en) | Energy-saving high-precision gas-electric hybrid injection molding machine | |
| CN106762979B (en) | A kind of electrical power reclaiming type hydraulic pump motor reliability test and method | |
| CN204916067U (en) | Boats and ships windlass control system equipment | |
| CN102864810A (en) | Hydraulic energy-saving device of engineering plant, control method and excavator | |
| CN206530575U (en) | A kind of hydraulic system for realizing the stepless accurate speed governing of hydraulic press | |
| CN104571060B (en) | A kind of automatic control system | |
| CN215910810U (en) | Synchronous adjusting device of solenoid hoist | |
| CN106122186B (en) | A kind of hydraulic system for realizing the stepless accurate speed governing of hydraulic press | |
| CN206747294U (en) | A kind of aluminum section extruder constant speed control system | |
| CN113898623B (en) | Hydraulic system, control system and control method of multifunctional hydraulic forging press | |
| CN208966747U (en) | A kind of oil inlet of load-sensitive circuit controls valve block | |
| CN114109936B (en) | Boom hydraulic transmission system and control method thereof | |
| CN204661158U (en) | Side stevedoring crane automatic loading and unloading control system and side stevedoring crane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |