CN106006473A - Electric controller for shear forklift - Google Patents

Electric controller for shear forklift Download PDF

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Publication number
CN106006473A
CN106006473A CN201610290185.3A CN201610290185A CN106006473A CN 106006473 A CN106006473 A CN 106006473A CN 201610290185 A CN201610290185 A CN 201610290185A CN 106006473 A CN106006473 A CN 106006473A
Authority
CN
China
Prior art keywords
controller
forklift
getting
control
bus
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201610290185.3A
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Chinese (zh)
Inventor
梁昊
秦华
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Weihai Huachuang Automation Equipment Co Ltd
Original Assignee
Weihai Huachuang Automation Equipment Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Weihai Huachuang Automation Equipment Co Ltd filed Critical Weihai Huachuang Automation Equipment Co Ltd
Priority to CN201610290185.3A priority Critical patent/CN106006473A/en
Publication of CN106006473A publication Critical patent/CN106006473A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07504—Accessories, e.g. for towing, charging, locking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks

Abstract

The invention discloses an electric controller for a shear forklift. The electric controller comprises an upper forklift controller and a lower forklift controller. The upper forklift controller and the lower forklift controller are connected through a CAN bus. The upper forklift controller comprises an upper forklift control box and a controller body which are connected through a cable. The top of the upper forklift control box is provided with a first display screen and a first control handle. The front of the upper forklift control box is provided with a first sudden stop rotary knob. The lower forklift controller comprises a lower forklift control box and a controller body which are connected through a cable. The top of the lower forklift control box is provided with a second control handle. The front of the lower forklift control box is provided with a second display screen and a second sudden stop rotary knob. The electric controller for the shear forklift is directly driven by the controller bodies, high in speed and stable; an upper forklift body communicates with a lower forklift body through the CAN bus; upper forklift control lines and lower forklift control lines are reduced; aging is not prone to happening; and arrangement on the safety aspect is added, so that the effect that operation is safe and reliable is ensured.

Description

A kind of scissor car electric controller
[technical field]
The present invention relates to the technical field of controller, the particularly technical field of scissor car electric controller.
[background technology]
Scissor car does a kind of movably aerial work platform in position, on airport, factory, construction site, shipyard etc., with extensively Application.Diesel oil scissor car compared by driven shearing fork truck, has a low noise, pollution-free, use simple to operate, the advantage such as energy-conserving and environment-protective, Have and developed on a large scale very much.Early production is all by the on-off control actuating of relay, then controls valve event, is finally completed vehicle Forward/backward/rise/fall/left and right turn.
But there are some problems in existing whole Vehicular system, such as auxiliary reclay frequent movement, the most aging, connects Touch bad；Auxiliary reclay anti-seismic performance is bad, and water proofing property is bad, is easily damaged；Control line of additionally getting on or off the bus is a lot, minimum wants 10 is a plurality of, each control function will at least one control line, including rise/fall/forward/backward/left/right turn/at a high speed/ Vulgar/startup/stopping/speed regulation/power supplys etc., so cause control cable of getting on or off the bus very thick, rise at platform, declined Cheng Zhong, constantly bends, it is easy to aging.Meanwhile, when vehicle action stops, it will be apparent that inertial shake, cannot steadily stop Only.
The domestic controller not being specifically designed for driven shearing fork truck, general Programmable Logic Controller device (PLC) is for electronic Detection car has certain limitation.Degree of protection: universal programmable control degree of protection is usually IP44, does not has dustproof and waterproof Function.Development board degree of protection IP65, dustproof and waterproof.Meet the operating environment requirements of electronic detection car.Analog input: logical It is 0～10V with programmable controller analog quantity input.Need external analog quantity spread module, measure scope limited.Development board The input of integrated analog quantity is 0～32V.Adding measurement scope, appropriate angle sensor, weight sensor, battery voltage measurement is protected Protect.On-off signal: universal programmable control On-off signal is fixed.Development board On-off signal wide ranges (DC8V with Upper high level, once low level) controller power source: universal programmable control requires that supply voltage is fixed.Development board adapts to electricity Pressure wide ranges (DC8V～DC32V), driven shearing fork truck, use level to power, level is fully loaded with and when zero load/low electricity, Mains fluctuations are big.Output switch parameter: driven shearing fork truck output switch parameter mainly controls switch valve, action current is usually 1-2A universal programmable control, loading capability maximum 0.5A is typically worn in transistor output；Loading capability 3A is worn in relay output, but Switching speed is slow, general 20MS (limited coil movement time), it is impossible to frequent movement, gets an electric shock and has service life general 100000 Secondary.Development board-employing high-speed cmos pipe, switching speed fast US level, wear big more than the 3A of loading capability, meet demand.Analog output: The output of driven shearing forklift simulation amount controls proportioning valve, and action current is usually 0.1～1.5A.Universal programmable control theme does not has Having analog output, need external expansion module, analog output is 0～20MA, is difficult to meet demand.Development board-employing is high Speed CMOS tube, PWM exports, and control inductive load (proportioning valve) can export 0.1～3A.CAN: general programmable control The typically no CAN of device main body processed, needs external expansion module.Development board-integrated CAN.So general purpose controller is very Difficulty completes the control function of scissor car.
[summary of the invention]
The purpose of the present invention solves the problems of the prior art exactly, proposes a kind of scissor car electric controller, directly uses Controller drives, the most stable, employing CAN communication of getting on or off the bus, and reduces control line of getting on or off the bus, is difficult to aging, and adds Secure context is arranged, it is ensured that operate safe and reliable.
For achieving the above object, the present invention proposes a kind of scissor car electric controller, including upper vehicle controller with get off Controller, is connected by CAN between described upper vehicle controller and lower vehicle controller；Described upper vehicle controller includes connection Getting on the bus control chamber and controller, control chamber of getting on the bus is connected with controller by cable, and control chamber top of getting on the bus is provided with first Display screen and the first control crank, be provided with the first jerk knob before control chamber of getting on the bus；Lower vehicle controller includes the control of getting off connected Case processed and controller, control chamber of getting off is connected with controller by cable；Described control chamber top of getting off is provided with the second behaviour Vertical handle, is provided with second display screen and the second jerk knob before control chamber of getting off.
As preferably, described upper vehicle controller input connects data acquisition unit, and controller output end of getting off connects control Valve processed and motor.
As preferably, being provided with display lamp by described second display screen, be provided with regulation button below second display screen, regulation is pressed Button includes that everything switchs, and the second jerk knob is arranged on and off switch.
As preferably, bottom described controller, it is provided with adapter, in adapter, is provided with several adapter stitch.
As preferably, built-in 32 bit processor ARM framework and the analog-digital converters of described controller.
Beneficial effects of the present invention: the present invention eliminates auxiliary reclay, directly drives with controller, the most stable.On Getting off and use CAN communication, reduce control line of getting on or off the bus, last needs 5 control line power supplys, 1/CAN of 2/jerk Communication.
Secure context, scram button presses (normally closed disconnection) car load power supply disconnection, vehicle power interruption braking, it is ensured that dangerous Life can, unconditional stop vehicle action.Increase tilt detection, detect vehicle tilt, when preventing platform from raising, vehicle's center of gravity Skew, prevents vehicle from tumbling.Increase steering angle detection, automatically control the interior steering angle taken turns with foreign steamer, make Vehicular turn put down Surely, Life of Tyre is extended.Increase platform weight detection, if aerial work platform load-carrying exceedes the weight that platform can bear Amount, can danger close.Increase platform weight detection and be possible to prevent in this dangerous generation.The most forbidden function.When platform is raised to necessarily Highly (such as 5m), at this moment platform moves forward and backward and just has the biggest rocking.The most only allow low speed action.
Upper vehicle controller uses dual processor to do redundancy and processes, it is ensured that gather data reliable and stable.Actuating signal is reliable.
Inventive feature and advantage will combine accompanying drawing by embodiment and be described in detail.
[accompanying drawing explanation]
Fig. 1 is the control chamber schematic diagram of getting on the bus of the present invention a kind of scissor car electric controller；
Fig. 2 is the controller front view of the present invention a kind of scissor car electric controller；
Fig. 3 is the controller upward view of the present invention a kind of scissor car electric controller；
Fig. 4 is the control chamber schematic diagram of getting off of the present invention a kind of scissor car electric controller；
Fig. 5 is the control module block diagram of the present invention a kind of scissor car electric controller；
Fig. 6 is the control block wiring diagram of getting on the bus of the present invention a kind of scissor car electric controller；
Fig. 7 is the control block wiring diagram of getting off of the present invention a kind of scissor car electric controller；
Fig. 8 is the power pack circuit connection diagram of the present invention a kind of scissor car electric controller；
Fig. 9 is the main control chip circuit connection diagram of the present invention a kind of scissor car electric controller；
Figure 10 is the operation code instruction figure of the present invention a kind of scissor car electric controller；
Figure 11 is the analog quantity supply voltage handle position reading part parallel circuit of the present invention a kind of scissor car electric controller Connect figure；
Figure 12 is the switching value function reading part parallel circuit connection figure of the present invention a kind of scissor car electric controller；
Figure 13 is the RS232 serial communication partial circuit connection figure of the present invention a kind of scissor car electric controller；
Figure 14 is the CAN communication partial circuit connection figure of the present invention a kind of scissor car electric controller；
Figure 15 is the redundant system circuit connection diagram of the dual processor of the present invention a kind of scissor car electric controller；
Figure 16 is the MCU processor circuit connection figure of the present invention a kind of scissor car electric controller；
Figure 17 is the CAN communication circuit connection figure of the present invention a kind of scissor car electric controller；
Figure 18 is switching value and the PWM output circuit connection figure of the present invention a kind of scissor car electric controller；
Figure 19 is the power supply circuits connection diagram of the present invention a kind of scissor car electric controller.
In figure: 1-gets on the bus control chamber, 2-the first jerk knob, 3-the first control crank, 4-controller, 5-adapter, 51- Get off control chamber, 7-of adapter stitch, 6-regulates button, 8-display lamp, 9-second display screen, 10-the second control crank, 11- On and off switch, 12-the second jerk knob.
[detailed description of the invention]
Refering to Fig. 1～Figure 19, the present invention, including upper vehicle controller and lower vehicle controller, described upper vehicle controller and getting off Connected by CAN between controller；Described upper vehicle controller includes get on the bus control chamber 1 and the controller 4 connected, control of getting on the bus Case 1 processed is connected with controller 4 by cable, and control chamber 1 top of getting on the bus is provided with the first display screen and the first control crank 3, Get on the bus and be provided with the first jerk knob 2 before control chamber 1；Lower vehicle controller includes get off control chamber 6 and the controller 4 connected, and gets off Control chamber 6 is connected with controller 4 by cable；Described control chamber 6 top of getting off is provided with the second control crank 10, control of getting off Being provided with second display screen 9 and the second jerk knob 12 before case 6 processed, fault and running status etc. are shown by second display screen 9.
Described upper vehicle controller input connects data acquisition unit, and controller output end of getting off connects control valve and electricity Machine.Described second display screen 9 is other is provided with display lamp 8, is provided with regulation button 7 below second display screen 9, and regulation button 7 includes institute Having step switch, vehicle can got on the bus or drive-through operation everything, gives tacit consent to operation of getting on the bus.Set above second jerk knob 12 There is on and off switch 11.It is provided with adapter 5 bottom described controller 4, in adapter 5, is provided with several adapter stitch 51.Described Built-in 32 bit processor ARM framework and the analog-digital converters of controller 4.
In Fig. 6, Fig. 7, get on the bus and control wire size via controller acquisition process, then CAN issues lower vehicle controller.Ensure whole Individual security of system is reliable.
Safety: scram button is pressed (normally closed disconnection) car load power supply and disconnected, vehicle power interruption braking, it is ensured that dangerous generation energy Enough, unconditional stopping vehicle action.Upper vehicle controller uses dual processor to do redundancy and processes, it is ensured that gather data reliable and stable. Actuating signal is reliable.Increasing tilt detection, detect vehicle tilt, when preventing platform from raising, vehicle's center of gravity offsets, and prevents vehicle Tumble.Increase steering angle detection, automatically control the interior steering angle taken turns with foreign steamer, make Vehicular turn steady, extend tire and make Use the life-span.
Increase platform weight detection, if aerial work platform load-carrying exceedes the weight that platform can bear, can danger close. Increase platform weight detection and be possible to prevent in this dangerous generation.The most forbidden function.When platform is raised to certain altitude (such as 5m), At this moment platform moves forward and backward and just has the biggest rocking.The most only allow low speed action.
Adapter stitch defines
PIN NO. Controller function Pin NO. Controller function
1 Power supply is just 25 Analog input
2 Power supply is just 26 Analog input
3 Power supply is just 27 Analog input
4 Power supply is born 28 Analog input
5 Probe power is born 29 Analog input
6 The positive DC5V of probe power 30 Analog input
7 CAN LOW 31 Analog input
8 CAN HIGH 32 Analog input
9 Digital output (electric current control) 33 Digital quantity inputs
10 Digital output (electric current control) 34 Digital quantity inputs
11 Digital output (electric current control) 35 Digital quantity inputs
12 Digital output (electric current control) 36 Digital quantity inputs
13 Digital output (PWM) 37 Digital quantity inputs
14 Digital output (PWM) 38 Digital quantity inputs
15 Digital output (PWM) 39 Digital quantity inputs
16 Digital output (PWM) 40 Digital quantity inputs
17 Digital output 41 Digital quantity inputs
18 Digital output 42 Digital quantity inputs
19 Digital output 43 Digital quantity inputs
20 Digital output 44 Digital quantity inputs
21 Digital output 45 Communication power supply (DP_6)
22 Digital output 46 SWDIO (communication) (DP_7)
23 Analog output 47 SWCLK (communication) (DP_8)
24 Analog output 48 Communicatively (DP_9)
In Fig. 8, power pack, new technique advantage: use DC-DC efficient pressure regulation scheme, actual usefulness can reach 85%, wide Voltage input DC8V～DC32V, PWM pressure regulating energy-saving, system standby electric current only has below 20MA.The LM2596 pressure regulation used in figure Chip feature: adjustable output voltage scope 1.2V～37V ± 4%；Output linearity is good and loads scalable；Output electric current may be up to 3A；Input voltage may be up to 40V；Use the internal oscillation frequency of 150KHz, belong to second filial generation regulator, power consumption Little, efficiency is high；Low-power consumption standby pattern, the representative value of IQ is 80 μ A；TTL cut-off capacity；There is overtemperature protection and current-limiting protection Function.
Ordinary skill shortcoming: common directly blood pressure lowering, consumes the standby current typically having greatly more than 100MA.Scissor vehicle commander During expectation machine, performance is substantially.
In Fig. 9, chip part, the Cortex that ARM is 32TM-M3 industry kernel, the most stable.
The Cortex that kernel: ARM is 32TM-M3 CPU.The highest 72MHz operating frequency, 0 latent period at memorizer is visited Up to 1.25DMips/MHz (Dhrystone 2.1) when asking.
Monocycle multiplication and hardware division.
Memorizer: from the FLASH program memory of 256K to 512K byte.The up to SRAM of 64K byte.
Static memory controller with 4 sheet choosings.Support CF card, SRAM, PSRAM, NOR and nand memory, parallel LCD interface, compatible 8080/6800 pattern.
Clock, reset and power management.
Power and I/O pin for 2.0～3.6 volts.
Power-up/down reset (POR/PDR), programmable voltage monitor (PVD).
4～16MHz crystal oscillators.
The RC agitator of the embedded 8MHz through adjustment of dispatching from the factory.
The RC agitator of the 40kHz of interior band calibration.
32kHz RTC oscillator with calibration function.
Low-power consumption, sleeps, shuts down and standby mode, and VBAT is RTC and backing register is powered.
3 12 analog-digital converters, 1 μ s conversion time (up to 21 input channels).
Conversion range: 0 to 3.6V.
Three samplings and holding function.
Temperature sensor.
2 Channel 12-Bit D/A converters.
DMA:12 channel DMA controller.
The peripheral hardware supported: intervalometer, ADC, DAC, SDIO, I2S, SPI, I2C and USART.
Debugging mode, serial single line debugging (SWD) and jtag interface, the embedded tracking module of Cortex-M3 (ETM).
Up to 112 quick I/O ports.
The I/O mouth of 51/80/112 multi-function double-way, all I/O mouths can be videoed 16 external interrupt；Nearly all Port equal tolerable 5V signal.
Up to 11 intervalometers, up to 4 16 bit timing devices, each intervalometer has up to 4 for input capture/output Comparison/PWM or the passage of step-by-step counting and incremental encoder input.
2 16 bit strip dead zone function and emergency brakes, the senior control timer of PWM controlled for motor, 2 house dogs Intervalometer (independent and Window-type), system time intervalometer: 24 from subtracting type enumerator.
2 16 basic intervalometers are used for driving DAC.
Up to 13 communication interfaces, up to 2 I2C interfaces (supporting SMBus/PMBus), up to 5 USART interfaces (prop up Hold ISO7816, LIN, IrDA interface and modulation /demodulation to control), up to 3 SPI interface (18M bps), 2 reusables are I2S Interface.
CAN interface (2.0B is actively), USB 2.0 interface, SDIO interface at full speed.
CRC computing unit, the chip-unique code of 96.
Common single-chip microcomputer: speed and the stability of common 51 series to differ from a lot.
In Figure 10, operation code part, increase travel condition of vehicle and show, the speed of service, failure code.LED short in size pipe Display.
LED light emitting diode indicates, power supply instruction/communication instruction/indicating fault/at a high speed/low speed/platform rising/platform Decline/vehicle advance/vehicle rollback/
Ordinary skill shortcoming: control function choosing-item with toggle switch, does not has operating state to indicate.
In Figure 11, analog quantity supply voltage handle position reads part, supply voltage/5V handle voltage, and detection is anti- Feedback.Realizing the protection of power supply high-pressure and low-pressure, the detection of handle supply voltage ensures handle safe action, it is ensured that vehicle safety.
In Figure 12, switching value function reads part, integrated handle switching value, completes vehicle functions.
Using electric resistance partial pressure, capacitor filtering scheme detection On-off signal point and analog input, high resistance measurement is permissible The input voltage range of input point is brought up to (0～100V), and comparator/amplifier detects for input point, and voltage of transformation is believed Number.
In Figure 13, serial port communication chip, it is used for downloading, malfunction test monitoring etc..
In Figure 14, CAN transceiver, can (it is total that STM32F single-chip microcomputer is internally integrated CAN according to CAN controller Lane controller) control transceiver bus data.
In Figure 15, redundant system, action and receipt protection, it is ensured that gather data reliable and stable.Backup main operation controller Significant data, detection storage device service data (vehicle operation data when failure code/time of origin/and generation fault).
Failure code table
Work process of the present invention:
One scissor car electric controller of the present invention in the course of the work, is divided into vehicle controller and lower vehicle controller two Point, upper vehicle controller real-time data collection, by CAN, data are returned to lower vehicle controller, lower vehicle controller, control Valve/motor does corresponding actions.
The present invention eliminates auxiliary reclay, directly drives with controller, the most stable.Employing CAN of getting on or off the bus is led to News, reduce control line of getting on or off the bus, and last needs the 1/CAN communication of 2/jerk of 5 control line power supplys.During vehicle action, Add and start and stop slope, start and stop steady safety.
Above-described embodiment is the description of the invention, is not limitation of the invention, any to simple transformation of the present invention after Scheme belong to protection scope of the present invention.

Claims (5)

1. a scissor car electric controller, it is characterised in that: include vehicle controller and lower vehicle controller, described in get on the bus control Connected by CAN between device and lower vehicle controller；Described upper vehicle controller includes the control chamber of getting on the bus (1) connected and controls Device (4), control chamber of getting on the bus (1) is connected with controller (4) by cable, and control chamber of getting on the bus (1) top is provided with the first display Screen and the first control crank (3), control chamber of getting on the bus (1) is front is provided with the first jerk knob (2)；Under lower vehicle controller includes connecting Car control chamber (6) and controller (4), control chamber of getting off (6) is connected with controller (4) by cable；Described control of getting off Case (6) top is provided with the second control crank (10), and control chamber of getting off (6) is front is provided with second display screen (9) and the second jerk knob (12)。
2. a kind of scissor car electric controller as claimed in claim 1, it is characterised in that: described upper vehicle controller input is even Connecing data acquisition unit, controller output end of getting off connects control valve and motor.
3. a kind of scissor car electric controller as claimed in claim 1, it is characterised in that: described second display screen (9) is other to be set Having display lamp (8), second display screen (9) lower section to be provided with regulation button (7), regulation button (7) includes that everything switchs, second Jerk knob (12) is arranged on and off switch (11).
4. a kind of scissor car electric controller as claimed in claim 1, it is characterised in that: described controller (4) bottom is provided with Adapter (5), is provided with several adapter stitch (51) in adapter (5).
5. a kind of scissor car electric controller as claimed in claim 1, it is characterised in that: built-in 32 of described controller (4) Processor ARM framework and analog-digital converter.
CN201610290185.3A 2016-05-05 2016-05-05 Electric controller for shear forklift Pending CN106006473A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610290185.3A CN106006473A (en) 2016-05-05 2016-05-05 Electric controller for shear forklift

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610290185.3A CN106006473A (en) 2016-05-05 2016-05-05 Electric controller for shear forklift

Publications (1)

Publication Number Publication Date
CN106006473A true CN106006473A (en) 2016-10-12

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Application Number Title Priority Date Filing Date
CN201610290185.3A Pending CN106006473A (en) 2016-05-05 2016-05-05 Electric controller for shear forklift

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107188098A (en) * 2017-07-12 2017-09-22 徐工集团工程机械有限公司 Work high above the ground truck control device, method and high-altitude operation vehicle
CN110147054A (en) * 2019-04-22 2019-08-20 威海华创自动化设备有限公司 A kind of scissor vehicle electric controller

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Publication number Priority date Publication date Assignee Title
CN102887403A (en) * 2012-10-19 2013-01-23 南宁科拓自动化设备有限公司 Construction hoist integrated controller
CN103243916A (en) * 2013-05-03 2013-08-14 华菱星马汽车（集团）股份有限公司 Method and system for coordinated control of trucks
CN103356295A (en) * 2013-08-07 2013-10-23 吴开俊 Soft lens surgery auxiliary mechanical arm system and control method thereof
CN203948085U (en) * 2014-06-17 2014-11-19 上海海希工业通讯股份有限公司 Jumbolter
CN205634783U (en) * 2016-05-05 2016-10-12 威海华创自动化设备有限公司 Cut fork truck electric controller

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102887403A (en) * 2012-10-19 2013-01-23 南宁科拓自动化设备有限公司 Construction hoist integrated controller
CN103243916A (en) * 2013-05-03 2013-08-14 华菱星马汽车（集团）股份有限公司 Method and system for coordinated control of trucks
CN103356295A (en) * 2013-08-07 2013-10-23 吴开俊 Soft lens surgery auxiliary mechanical arm system and control method thereof
CN203948085U (en) * 2014-06-17 2014-11-19 上海海希工业通讯股份有限公司 Jumbolter
CN205634783U (en) * 2016-05-05 2016-10-12 威海华创自动化设备有限公司 Cut fork truck electric controller

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107188098A (en) * 2017-07-12 2017-09-22 徐工集团工程机械有限公司 Work high above the ground truck control device, method and high-altitude operation vehicle
CN107188098B (en) * 2017-07-12 2023-03-24 江苏徐工国重实验室科技有限公司 Control device and method for overhead working truck and overhead working truck
CN110147054A (en) * 2019-04-22 2019-08-20 威海华创自动化设备有限公司 A kind of scissor vehicle electric controller

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Application publication date: 20161012