CN101983910A - Full-automatic vertical transport system for goods and control method thereof - Google Patents
Full-automatic vertical transport system for goods and control method thereof Download PDFInfo
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Abstract
The invention discloses a full-automatic vertical transport system for goods and a control method thereof. The system comprises a vertical lifting device, a horizontal conveying device and a system control device, wherein a cage and an intra-cage operating box are arranged in the vertical lifting device; the system control device comprises a special remote controller, a remote controller receiving terminal, a variable frequency elevator controller, a vertical gantry crane controller, a conveying device controller (PLC) and an alarm device; the system control device also comprises a conversion controller (PLC); the horizontal conveying device comprises an internal conveying device and a plurality of external conveying devices, wherein the internal conveying device is arranged in the cage of the vertical lifting device, and the external conveying device is arranged on each floor; and when the vertical lifting device stops on the floor, the internal conveying device and the external conveying device of the floor are butted in parallel at a hoist-way door. The vertical transport goods elevator and the horizontal goods transport device are organically combined together so that the system has the advantages of one-time remote control, whole-course automatic transport, intelligent linkage, unmanned operation and automatic control.
Description
Technical field
The present invention relates to a kind of goods full automaticity vertical transit system and control method thereof, this system comprises dedicated remote control, vertical lift device, horizontal feed equipment and system control device; This control setup is the purpose of full-automation, a remote control and whole-process automatic transportation.
Background technology
In the prior art, Cargo Lift needs manpower to cooperate shipping goods in the goods transport process, for example, goods is moved in the Cargo Lift from certain floor, goods also needs the manpower unloading and is transported to specific zone after transporting to the purpose floor, need drop into a large amount of labour powers like this, conveying efficiency is low, forms between can't accomplishing the Cargo Lift vertical transport and floor levels being transported to be connected automatically.
At present the vertical transport instrument that uses in goods vertical transport technical field generally is divided into two kinds: a kind of is that the chain gig adds load transfer device, and this kind transportation means speed of gig in transit is slower, is unfavorable for improving transport efficiency.Another kind is the vertical Lift type Cargo Lift, and this kind transportation mode needs manpower that goods is transported to the car of elevator, and human input is big, also is unfavorable for improving simultaneously transport efficiency.
Chinese patent by retrieval, the existing patent No.: CN02235312.7,200710161463.6,200810122266.8,200510127349.2, patent application 200810044184.6 and 200910212053.9, these patent documentations have disclosed the technical scheme of utilizing wireless remote controller remote control elevator, realized the purpose of remote control elevator, but its technology contents is different fully with the present invention with architectural feature.The automatic lifting of utilizing wireless remote controller to realize vertical lift device provided by the present invention, a kind of vertical lift of remote control realization vertical lift device and the intelligent linkage of goods level transportation further are provided, have finished the whole-process automatic control of goods between the floor transportation.Prior art does not relate to technology contents of the present invention, and all inevasible a large amount of human resources of input that need of prior art.
Summary of the invention
Purpose of the present invention is intended to solve the technical matters that prior art exists, a kind of goods full automaticity vertical transit system and control method thereof are provided, goods provided by the present invention utilizes the innovative form design plan of vertical lift device, horizontal feed equipment and system control device with the full automaticity vertical transit system, vertical lift device and horizontal trasportation equipment are organically combined, realize intelligent interlink, has unattended, automation control, improve the transport efficiency of goods effectively, saved labour power greatly.The control method that is provided, be the control method of goods with the full automaticity vertical transit system, can realize full automatic control with the design of simple structure especially change over controller, have that control is convenient, simple, practical, efficient is high and put things right once and for all above-mentioned vertical transit system.
Technical scheme of the present invention is: a kind of goods full automaticity vertical transit system, comprise vertical lift device, horizontal feed equipment and system control device, be provided with panel block in car and the sedan-chair in the vertical lift device, horizontal feed equipment comprises belt conveyor and driver train, system control device comprises dedicated remote control, remote controller receiving terminal, frequency-changing elevator controller, vertical gate machine controller and load transfer device controller PLC and warning device, wherein:
System control device also comprises change over controller PLC, and this change over controller is a small PLC, is used to realize the intelligent linkage of vertical lift device and horizontal feed equipment;
Horizontal feed equipment comprises a delivered inside equipment and many outside load transfer devices, the delivered inside facility location is in the car of vertical lift device, outside load transfer device is installed on each floor, when vertical lift device was parked in floor position, the outside load transfer device of delivered inside equipment and this floor was in the place's parallel docking of Room door.
Change over controller PLC comprises authority address signal input end X1～X7, purpose floor signal input end X11～X17, responsive feedback signal input part X21～X27 and purpose floor control signal output ends Y1～Y7, wherein, authority address signal input end X1～X7 is connected with the remote controller receiving terminal, is used to receive remote controller authority address signal to limit the floor rights of using of dedicated remote control; Purpose floor signal input end X11～X17 is connected with the remote controller receiving terminal, is used to receive the purpose floor signal; Responsive feedback signal input part X21～X27 is connected with the load transfer device controller PLC, is used to receive the responsive feedback signal; Purpose floor control signal output ends Y1～Y7 is connected with the frequency-changing elevator controller, is used to export purpose floor control signal.
As a further improvement on the present invention, change over controller PLC also comprises detection signal input end XO and power control signal mouth YO, wherein, detection signal input end XO links to each other with panel block in the sedan-chair, be used to receive panel block detection signal in the sedan-chair, power control signal mouth YO is connected with remote controller receiving terminal and load transfer device controller PLC, is used for the source switch of out-put supply control signal with control remote controller receiving terminal and load transfer device controller PLC.
Vertical lift device is the translation door system or is the vertical gate system that the Room door of vertical gate system is vertical folding, and the bottom of Room door and the upper surface of horizontal feed equipment are on the same horizontal surface when vertical Room door is closed.
The present invention provides a kind of control method that is applicable to above-mentioned goods with the full automaticity vertical transit system in addition, and this control method may further comprise the steps:
When (1) goods is in the as ready district, the beeper sends calling signal and purpose floor signal with dedicated remote control to the remote controller receiving terminal of system, the remote controller receiving terminal sends to frequency-changing elevator controller and change over controller PLC respectively after receiving, the frequency-changing elevator controller is handled calling signal and is sent the startup energizing signal to the load transfer device controller PLC simultaneously, and change over controller PLC processing intent floor signal sends the entry condition signal to the load transfer device controller PLC simultaneously;
(2) the frequency-changing elevator controller carries out responding calling signal after the logic determines to calling signal, the control vertical lift device moves to exhales terraced floor to open the door, and the vertical gate machine controller sends acknowledgment signal to the load transfer device controller PLC and sends feedback signal to the frequency-changing elevator controller simultaneously;
(3) after the load transfer device controller PLC receives and starts energizing signal, entry condition signal and acknowledgment signal, controlling outside load transfer device conveys goods on inner load transfer device, the load transfer device controller PLC is sent the responsive feedback signal to change over controller PLC simultaneously, change over controller PLC sends purpose floor control signal to the frequency-changing elevator controller, the load transfer device controller PLC is sent the work feedback signal to the frequency-changing elevator controller, and Room door keeps normally open;
(4) the goods horizontal feed is behind delivered inside equipment, the load transfer device controller PLC is sent the work feedback signal again to the frequency-changing elevator controller, Room door is closed, and the frequency-changing elevator controller moves to the purpose floor according to the purpose floor control signal control vertical lift device that change over controller PLC sends;
(5) after vertical lift device arrives the purpose floor, the frequency-changing elevator controller sends enabling signal to the vertical gate machine controller, Room door is opened, the vertical gate machine controller sends acknowledgment signal to the load transfer device controller PLC, whether load transfer device controller PLC determined level load transfer device is idle, convey goods as horizontal feed equipment is current, then the load transfer device controller PLC is reported to the police, and Room door keeps often opening; As the horizontal feed device free, then load transfer device controller PLC controlling level load transfer device break bulk, execution cycle sex work.
Further improvement as above-mentioned control method, in step (2) and step (4), when the detection signal input end X0 of change over controller PLC has in the sedan-chair input of panel block detection signal, the power control signal mouth Y0 out-put supply control signal of change over controller PLC, cut off the power supply of dedicated remote control and load transfer device controller PLC, vertical lift device breaks away from described goods full automaticity transport systems independent operating, no longer respond any signal that load transfer device controller PLC and dedicated remote control send, guarantee that the transportation of people in the operational process is preferential.
The present invention compared with prior art has following advantage:
The present invention organically combines the Cargo Lift of vertical transport and horizontal shipping goods device by change over controller PLC, a Remote, the whole-process automatic transportation, realize intelligent interlink, make to form between the transportation of Cargo Lift vertical transport and floor levels to be connected automatically to have unattended, automation and control, can effectively reduce the wait time of elevator and portage, greatly improve the efficient that goods is carried, saved labour power greatly.The goods provided by the present invention control method of full automaticity vertical transit system, can especially install the full automatic control of the design realization of change over controller PLC additional with simple structure to above-mentioned vertical transit system, have that control is convenient, simple, practical, efficient is high and put things right once and for all, actv. has solved the difficult problem that goods transports between floor.
Description of drawings
Fig. 1 is the control block diagram of goods of the present invention with the full automaticity vertical transit system;
Fig. 2 is the pinouts of change over controller PLC among Fig. 1;
Fig. 3 is a workflow diagram of the present invention.
Indicate among the figure: X0: be the detection signal input end, Y0: be the power control signal mouth, X1～X7: be authority address signal input end, X11～X17: be purpose floor signal input end, X21～X27: be the responsive feedback signal input part, Y1～Y7: be purpose floor control signal output ends.
The specific embodiment
The invention provides a kind of goods full automaticity vertical transit system, vertical lift elevator of general employing, at every layer many horizontal feed equipment can be set, horizontal feed equipment is divided into delivered inside equipment and outside load transfer device, delivered inside equipment is installed in the lift car, outside load transfer device is arranged in the Room outdoors, and delivered inside equipment and outside load transfer device are in Room door opening and closing place parallel docking, to guarantee the smooth transport of goods between delivered inside equipment and outside load transfer device; Butt joint between delivered inside equipment and the outside load transfer device is different and different according to elevator car door system.If the vertical lift elevator is the translation door system of both sides folding, then parallel docking place between delivered inside equipment and the outside load transfer device need leave the gap, and the gap should be greater than the thickness of hoistway door, to make things convenient for the folding of hoistway door.Vertical lift elevator of the present invention is adopting vertical door mechanism system, the Room door that is elevator is vertical folding, door bottom in the Room was on the same horizontal surface with the upper surface of load transfer device when vertical Room door was closed, that is to say that the bottom of Room door Room door when closing does not reach the bottom surface of lift car, but join with the surface of load transfer device, so, joint between outside load transfer device and the delivered inside equipment does not just need to leave bigger space, can effectively prevent to cause in the goods course of conveying falling of goods.Horizontal feed equipment can be belt conveyor, or rail vehicle, or transport trolley, and a jacking transfer machine is installed above, is used for bearing goods; The number of outside load transfer device can be installed according to actual needs, and present embodiment adopts three horizontal conveying belts, connects elevator respectively, treats goods area and loading dock that being provided with of particular location can change according to different needs.
At least one of dedicated remote control, be used for the beeper and send calling signal and purpose floor signal to system control device, adopt special communication protocol between system control device and the dedicated remote control, avoid air signal to disturb and the generation misoperation, and the limit address signal input end that is set to remote controller power of the X1～X7 input end by change over controller PLC fixes the floor rights of using of dedicated remote control, adopt point-to-point communication between system control device and the horizontal feed plant control unit, make communication more reliable, it is more accurate to move.
Below in conjunction with accompanying drawing the preferred embodiments of the present invention are described in detail; the embodiment of accompanying drawing is not a limitation of the present invention; every according to the present invention with embodiment improvement or the similar techniques scheme done, all belong to the claimed technical scope of the present invention.
The accompanying drawing 1 expression goods of the present invention control block diagram of full automaticity vertical transit system, be system of the present invention control principle signal, comprise remote controller receiving terminal, frequency-changing elevator controller, change over controller PLC, vertical gate machine controller, load transfer device controller PLC, accompanying drawing 3 is depicted as system works flow process figure, in conjunction with the accompanying drawings 1 and accompanying drawing 3, the principle of work of technical solution of the present invention specifically is described below:
When the as ready district has goods to transport, the beeper uses dedicated remote control to send calling signal and purpose floor signal, behind the calling signal and purpose floor signal that remote controller receiving terminal reception dedicated remote control sends, the remote controller receiving terminal sends to the frequency-changing elevator controller with calling signal, and the purpose floor signal is sent change over controller PLC; The frequency-changing elevator controller sends the startup energizing signal to the load transfer device controller PLC after receiving calling signal simultaneously, and change over controller PLC sends the entry condition signal to the load transfer device controller PLC after receiving the purpose floor signal; Frequency-changing elevator controller response calling signal need carry out logic determines from three aspects: treat the scalariform attitude calling signal that then makes an immediate response if elevator is in, frequency-changing elevator controller control elevator moves to exhales terraced floor, send enabling signal to the vertical gate machine controller, the vertical gate machine controller is opened hoistway door; If elevator is being carried out other transportation burden, then to treat to respond calling signal in order after other task is finished, frequency-changing elevator controller control elevator moves to exhales terraced floor, sends enabling signal to the vertical gate machine controller, and the vertical gate machine controller is opened hoistway door; If elevator is being carried out the order that conveys goods to exhaling terraced floor, after the system that then treats was transported to the loading dock with goods, the frequency-changing elevator controller responded calling signal again, and keep hoistway door to open this moment.When the vertical gate machine controller was opened hoistway door or kept hoistway door to open, the vertical gate machine controller sent acknowledgment signal to the load transfer device controller PLC.After change over controller PLC receives the purpose floor signal, change over controller PLC distributes corresponding purpose floor signal to give the frequency-changing elevator controller by the calling signal that elevator responded, make elevator when conveying goods, remain the sole purpose floor signal, avoid elevator to transport the floor mistake owing to signal holds the surplus goods that makes.After the load transfer device controller PLC is received the affirmation signal that entry condition signal that change over controller PLC sends, startup energizing signal that the frequency-changing elevator controller sends and vertical gate machine controller send, load transfer device controller PLC output control signal is given the actuating device of self, the motor that drives horizontal feed equipment is realized converting operation, reaches the purpose with the transportation of goods automatic horizontal.The load transfer device controller PLC is sent the responsive feedback signal to change over controller PLC when driving horizontal feed equipment delivery goods, change over controller PLC sends purpose floor control signal to the frequency-changing elevator controller after receiving the responsive feedback signal.Equally, when horizontal feed equipment brings into operation, the load transfer device controller PLC is also sent the work feedback signal to the frequency-changing elevator controller, and the horizontal transportation burden of apprizing system carries out, and elevator keeps door opening state; Finish when outside load transfer device transports, be about to goods and be transported on the delivered inside equipment, the load transfer device controller PLC is sent the work feedback signal to the frequency-changing elevator controller, informs that horizontal transportation burden finishes, and elevator door cuts out, and starts the vertical transport task.The frequency-changing elevator controller moves to the purpose floor according to the purpose floor signal control elevator that change over controller PLC distributes, and sends enabling signal to the vertical gate machine controller.The vertical gate machine controller drives hoistway door and opens, and sends acknowledgment signal to the load transfer device controller PLC simultaneously.When the load transfer device controller PLC receives the confirmation signal, the load transfer device controller PLC need be carried out logic determines: if there is not goods to be unloaded on the outside load transfer device, the direct response confirmation signal of load transfer device controller PLC then, the load transfer device loading dock that conveys goods is unloaded internally; If lead on the outside load transfer device of loading dock goods arranged, the load transfer device controller PLC is sent the work feedback signal to the frequency-changing elevator controller, elevator door keeps often opening, and give the alarm, after the goods on the outside load transfer device is removed, the load transfer device controller PLC is the response confirmation signal, conveys goods to the loading dock on the load transfer device internally.After goods is transported to the loading dock and unloads, horizontal feed equipment stops transportation, whether the load transfer device controller PLC detects the as ready district goods to be carried, if goods to be carried is arranged, the load transfer device controller PLC is sent the work feedback signal to the frequency-changing elevator controller, hoistway door keeps normally open, and horizontal feed equipment conveys goods in elevator; If the as ready district does not have goods to be carried, the load transfer device controller PLC is sent the work feedback signal to the frequency-changing elevator controller, hoistway door is closed, and system finishes full automaticity goods transport flow process one time, and elevator enters to be treated the scalariform attitude or respond other calling signal in order.
Accompanying drawing 2 is the pinouts of change over controller PLC among Fig. 1; 2 effects of explanation change over controller PLC in system control device with reference to the accompanying drawings below, in the specific embodiment of the present invention, change over controller adopts small PLC, X1～X7 is the authority address signal input end of remote controller, X11～X17 is a purpose floor signal input end, and X21～X27 is the responsive feedback signal input part, and Y1～Y7 is a purpose floor control signal output ends, X0 is the detection signal input end of panel block in the sedan-chair, and Y0 is the power control signal mouth.Suppose the input of detection signal input end X0 no signal, the beeper uses dedicated remote control to exhale ladder in the 3rd buildings, send calling signal, sends the purpose floor signal simultaneously, and having registered the purpose floor is the 5th buildings; The remote controller receiving terminal sends to purpose floor signal the 5th buildings the purpose floor signal input end X15 of change over controller PLC, change over controller PLC judges that by authority address signal input end X3 this purpose floor signal is the purpose floor signal that the 3rd buildings send, the storage of after the change over controller PLC received signal purpose floor signal the 5th buildings being ranked, calling signal when frequency-changing elevator controller ordinal response the 3rd buildings, the responsive feedback signal input part X25 of change over controller PLC exports purpose floor control signal (the 5th building) to the frequency-changing elevator controller from purpose floor control signal output ends Y5 after receiving the responsive feedback signal that the load transfer device controller PLC is sent outside three balconies, removes storage simultaneously; Move afterwards by elevator and load transfer device and finish, after goods is delivered in the car, send the straight signal for the frequency-changing elevator controller, guarantee that elevator does not respond other calling signal when conveying goods by the load transfer device controller PLC, this is the elevator current techique, does not do superfluous chatting.Above-mentioned working process is the full automaticity transportation that realizes under the situation unmanned in car, and promptly the button of panel block does not have manual incoming signal in the sedan-chair.But exist the people and goods to take the situation of an elevator simultaneously sometimes, at this time need the assurance personnel to transport preferential and personal safety.Concrete technical scheme is: the panel block detection signal has precedence over other remote signals in the sedan-chair, the detection signal input end X0 of change over controller PLC detects whether panel block has instructs registration in the sedan-chair, if the detection signal input end X0 of change over controller PLC detects panel block detection signal in the sedan-chair, show that the interior passenger of sedan-chair supresses the button of panel block in the sedan-chair, the power control signal mouth YO out-put supply control signal of change over controller PLC then, cut off the power supply of load transfer device and remote controller receiving terminal, make elevator independent operating in self control system, no longer respond any signal of dedicated remote control and load transfer device controller PLC, to guarantee the running priority of people in the sedan-chair, there is the people to enter elevator independence purpose of safe operation in the elevator in case reach.
Frequency-changing elevator controller control elevator among the present invention vertically moves, and load transfer device controller PLC driving horizontal feed equipment carries out goods and transports, and the present invention does not repeat them here.
The above is described in detail with regard to preferred implementation of the present invention; but can not be interpreted as restriction to alternate manner of the invention process; all improvement of carrying out on principle of the present invention basis and similar or identical scheme all are considered as protection scope of the present invention.
Claims (6)
1. goods full automaticity vertical transit system, comprise vertical lift device and horizontal feed equipment and system control device, wherein, be provided with panel block in car and the sedan-chair in the described vertical lift device, described horizontal feed equipment comprises belt conveyor and driver train, described system control device comprises dedicated remote control, remote controller receiving terminal, frequency-changing elevator controller, vertical gate machine controller and load transfer device controller (PLC) and warning device, it is characterized in that:
Described system control device also comprises change over controller (PLC), and this change over controller is a small PLC, is used to realize the intelligent linkage of described vertical lift device and described horizontal feed equipment;
Described horizontal feed equipment comprises a delivered inside equipment and many outside load transfer devices, described delivered inside facility location is in the car of vertical lift device, described outside load transfer device is installed on each floor, when vertical lift device was parked in floor position, the outside load transfer device of delivered inside equipment and this floor was in the place's parallel docking of Room door.
2. goods full automaticity vertical transit system according to claim 1, it is characterized in that: described change over controller (PLC) comprises authority address signal input end (X1～X7), purpose floor signal input end (X11～X17), responsive feedback signal input part (X21～X27) and purpose floor control signal output ends (Y1～Y7), wherein, (X1～X7) be connected with the remote controller receiving terminal is used to receive remote controller authority address signal to limit the floor rights of using of dedicated remote control to authority address signal input end; (X11～X17) be connected with the remote controller receiving terminal is used to receive the purpose floor signal to purpose floor signal input end; (X21～X27) be connected with load transfer device controller (PLC) is used to receive the responsive feedback signal to the responsive feedback signal input part; (Y1～Y7) be connected with the frequency-changing elevator controller is used to export purpose floor control signal to purpose floor control signal output ends.
3. goods full automaticity vertical transit system according to claim 1, it is characterized in that: described change over controller (PLC) also comprises detection signal input end (XO) and power control signal mouth (YO), wherein, described detection signal input end (XO) links to each other with panel block in the described sedan-chair, be used to receive panel block detection signal in the sedan-chair, described power control signal mouth (YO) is connected with remote controller receiving terminal and load transfer device controller (PLC), is used for the out-put supply control signal so that the source switch of control remote controller receiving terminal and load transfer device controller (PLC).
4. goods full automaticity vertical transit system according to claim 1, it is characterized in that: described vertical lift device is the translation door system or is the vertical gate system, the Room door of vertical gate system is vertical folding, and the bottom of Room door and the upper surface of horizontal feed equipment are on the same horizontal surface when vertical Room door is closed.
5. one kind is applicable to the described goods of claim 1 control method of full automaticity vertical transit system, it is characterized in that this control method may further comprise the steps:
When (1) goods is in the as ready district, the beeper sends calling signal and purpose floor signal with dedicated remote control to the remote controller receiving terminal of system, the remote controller receiving terminal sends frequency-changing elevator controller and change over controller (PLC) respectively to after receiving, the frequency-changing elevator controller is handled calling signal and is sent the startup energizing signal to load transfer device controller (PLC) simultaneously, and change over controller (PLC) processing intent floor signal sends the entry condition signal to load transfer device controller (PLC) simultaneously;
(2) described frequency-changing elevator controller carries out responding calling signal after the logic determines to calling signal, the control vertical lift device moves to exhales terraced floor to open the door, and the vertical gate machine controller sends acknowledgment signal to load transfer device controller (PLC) and sends feedback signal to the frequency-changing elevator controller simultaneously;
(3) after described load transfer device controller (PLC) receives and starts energizing signal, entry condition signal and acknowledgment signal, controlling outside load transfer device conveys goods on inner load transfer device, load transfer device controller (PLC) sends the responsive feedback signal to change over controller (PLC) simultaneously, change over controller (PLC) sends purpose floor control signal to the frequency-changing elevator controller, load transfer device controller (PLC) sends the work feedback signal to the frequency-changing elevator controller, and Room door keeps normally open;
(4) the goods horizontal feed is behind delivered inside equipment, described load transfer device controller (PLC) sends the work feedback signal again to the frequency-changing elevator controller, Room door is closed, and the frequency-changing elevator controller moves to the purpose floor according to the purpose floor control signal control vertical lift device that change over controller (PLC) sends;
(5) after described vertical lift device arrives the purpose floor, the frequency-changing elevator controller sends enabling signal to the vertical gate machine controller, Room door is opened, the vertical gate machine controller sends acknowledgment signal to load transfer device controller (PLC), whether described load transfer device controller (PLC) determined level load transfer device is idle, current just at conveying articles as horizontal feed equipment, then load transfer device controller (PLC) is reported to the police, and Room door keeps often opening; As the horizontal feed device free, then load transfer device controller (PLC) controlling level load transfer device break bulk, execution cycle sex work.
6. according to the control method of the described goods of claim 5 with the full automaticity vertical transit system, it is characterized in that: in the step (2) and the step (4) of described control method, when the detection signal input end (X0) of change over controller (PLC) has in the sedan-chair input of panel block detection signal, power control signal mouth (Y0) the out-put supply control signal of change over controller (PLC), cut off the power supply of dedicated remote control and load transfer device controller (PLC), described vertical lift device breaks away from described goods full automaticity transport systems independent operating, no longer respond any signal that load transfer device controller (PLC) and dedicated remote control send, guarantee that the transportation of people in the operational process is preferential.
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| CN108750839A (en) * | 2018-04-04 | 2018-11-06 | 大连金洋机电设备安装工程有限公司 | A kind of vertical transport control system and method |
| CN110040588A (en) * | 2019-03-05 | 2019-07-23 | 福建省力机械有限公司 | A kind of control method and system of Cargo Lift |
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| CN108750839A (en) * | 2018-04-04 | 2018-11-06 | 大连金洋机电设备安装工程有限公司 | A kind of vertical transport control system and method |
| CN108750839B (en) * | 2018-04-04 | 2020-10-16 | 大连金洋机电设备安装工程有限公司 | Vertical conveying control system and method |
| CN110040588A (en) * | 2019-03-05 | 2019-07-23 | 福建省力机械有限公司 | A kind of control method and system of Cargo Lift |
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| CN101983910B (en) | 2012-08-29 |
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