CN204310792U - The control system of liftable floor - Google Patents
The control system of liftable floor Download PDFInfo
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- CN204310792U CN204310792U CN201420716053.9U CN201420716053U CN204310792U CN 204310792 U CN204310792 U CN 204310792U CN 201420716053 U CN201420716053 U CN 201420716053U CN 204310792 U CN204310792 U CN 204310792U
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Abstract
This application discloses a kind of control system of liftable floor, be actuating unit by controlling multichannel motor, with rotating speed, electric current, the observed readings such as inclination angle are the real time kinematics control system of feedback, closed-loop feedback is adopted to control and cross-coupled Strategy For Synchronization Control, there is higher particularity, stability and real-time, and on the basis of displacement ring and electric current loop double-loop control, adds additional the Special safety ring that one deck detects based on level inclination, the further redundancy of consolidation system, safety and robustness, adopt this autonomous cruise speed system to have and use flexibly, safety is high, run the advantages such as noise is low.
Description
Technical field
The utility model relates to liftable floor technical field, particularly relates to a kind of control system of liftable floor.
Background technology
In recent years, many LOFT apartments have been emerged in large numbers in domestic big and medium-sized cities, are generally a Room one and defend (or a Room, Room one one is defended), little floor space, relatively low total price has just been catered to youngster and has been had and buy house hope and not full wallet by oneself, rather well received.Due to the reason such as policy and cost, the floor height in apartment is limited between 3.6m to 4.5m mostly, and for improving the Occupation coefficient of this limited areal, user is divided into fixing two-layer up and down as required, is separated out parlor, bedroom, kitchen, sanitary accomodation etc.Due to the restriction of total floor height, the worry of the segmentation of upper and lower two-layer floor height often Cheng Liao design engineer and user, and in fact due to demand fulfillment basic function attribute, floor height selects the scope of adjustment quite little, the floor height of every layer is all much lower compared with ordinary residence, to the sense of depression that people is strong.
In view of this, industry proposes the scheme utilizing liftable floor and control system to separate up and down this apartment.Daily life according to people is accustomed to, and general daytime, zone of action mainly concentrated on parlor (being generally positioned at lower floor), and learn, just enter bedroom rest (being generally positioned at upper strata) in bed, therefore both spatially exist the feature of time-sharing multiplex.Utilize liftable floor and control system, use during bedroom, upper strata and interlayer floor is lowered, use during lower floor parlor and just floor is gone up, improve the alerting ability of living space.
But, current existing liftable floor control system is generally adopt hydraulic efficiency pressure system or pneumatic system to control floor lifting, these two kinds of technology of Hydraulics and pneumatics all need hydraulic power unit or air pressure pumping plant, its common major defect be volume large, use inconvenience, run noise also large, installation and maintenance require height, safety factor is low, therefore they are only suitable for, for the place such as factory, market, being not suitable for being used in domestic environment.
Utility model content
In view of this, main purpose of the present utility model is to provide a kind of control system of liftable floor, can improve alerting ability and the safety of liftable floor control system, reduces noise and installation and maintenance cost.
The technical solution of the utility model is achieved in that
A control system for liftable floor, comprising:
Controller, for receiving control command, sends corresponding control signal according to control command to corresponding device;
Be arranged on the actuating device on each fluctuating orbit of liftable floor, each actuating device comprises motor and actuator thereof, described actuator is electrically connected with described controller, for receiving the control signal of controller, sending drive singal to described motor and being elevated with liftable floor described in tactile generator drive;
Be arranged on lifting position-limit switch that is on liftable floor fluctuating orbit and that be electrically connected with described controller and descending spacing switch, for detecting the lifting position of liftable floor; Described lifting position-limit switch is specifically for when detecting that liftable floor rises to this lifting position-limit switch place, control for brake instruction is sent to controller, described controller sends speed-slackening signal to actuating device after receiving control for brake instruction, out of service to trigger motor; Described descending spacing switch is specifically for when detecting that liftable underfloor drops to this descending spacing switch place, control for brake instruction is sent to controller, described controller sends speed-slackening signal to actuating device after receiving control for brake instruction, out of service to trigger motor;
Corresponding with each fluctuating orbit of liftable floor and displacement detector that is that be electrically connected with described controller, for detecting the shift value of the floor on this fluctuating orbit, sends to described controller by shift value;
Displacement ring apparatus for correcting, its built-in comparator, for receiving the shift value of each displacement detector and input comparator, for the shift value of each displacement detector, when described comparator judges that the difference of this shift value and other shift value is greater than appointed threshold value, this displacement ring apparatus for correcting sends the control signal reducing output voltage, to trigger the output voltage that this actuating device reduces corresponding motor to the actuating device of this shift value respective carter.
In an advantageous embodiment, described displacement ring apparatus for correcting is further used for: for the shift value of each displacement detector, when described comparator judges that the difference of this shift value and other shift value is greater than maximum threshold, this displacement ring apparatus for correcting sends speed-slackening signal to described all actuating devices, out of service with the motor triggering all actuating devices.
In an advantageous embodiment, this system comprises further:
Be arranged on rising limit switch that is on liftable floor fluctuating orbit and that be electrically connected with described controller and falling-threshold switch, for detecting the lifting position of liftable floor; Described rising limit switch is specifically arranged on the assigned address above described lifting position-limit switch, for when detecting that liftable floor rises to this rising limit switch place, power-off control command is sent to controller, described controller sends ct-off signal, to cut off the power supply of all actuating devices to all actuating devices after receiving power-off control command; Described falling-threshold switch is specifically arranged on the assigned address below described descending spacing switch, for when detecting that liftable underfloor drops to this falling-threshold switch place, power-off control command is sent to controller, described controller sends ct-off signal, to cut off the power supply of all actuating devices to all actuating devices after receiving power-off control command.
In an advantageous embodiment, this system comprises further:
Being arranged on current sampler that is in described each actuating device and that be electrically connected with described controller, for detecting the current of electric of this actuating device, current value being sent to described controller;
Electric current loop apparatus for correcting, be arranged on described controller inner, its built-in comparator, this electric current loop apparatus for correcting receives the current value of each current sampler and inputs described comparator, for the current value of each current sampler, when described comparator judges that this current value is greater than the maxim in other current value and is less than or equal to maximum load electric current, this electric current loop apparatus for correcting sends the control signal reducing output voltage, to trigger the output voltage that this actuating device reduces corresponding motor to the actuating device that this current value is corresponding; When described comparator judges that this current value is greater than maximum load electric current, this electric current loop apparatus for correcting sends speed-slackening signal to described all actuating devices, out of service with the motor triggering all actuating devices.
In an advantageous embodiment, this system comprises further:
Being arranged on the center of described liftable floor and the double-shaft tilt angle sensor be electrically connected with controller, for detecting the described inclination angle of liftable floor in horizontal surface X-axis, Y direction, inclination angle being sent to controller;
Inclination angle ring apparatus for correcting, be arranged on described controller inner, its built-in comparator, inclination angle in the described X-axis that receives described double-shaft tilt angle sensor and Y-axis is also input to described comparator, when the inclination angle that described comparator judges in described X-axis or Y-axis is greater than the maximum positive and negative number of degrees, speed-slackening signal is sent to described all actuating devices, out of service with the motor triggering all actuating devices, otherwise continue follow-up multilevel iudge: judge that inclination angle in described X-axis is as forward at described comparator, and when being greater than the appointment number of degrees, then send to the actuating device that this X-axis forward is corresponding the control signal reducing output voltage, described comparator judge inclination angle in described X-axis as negative sense and be greater than specify the number of degrees time, then send to the actuating device that this X-axis negative sense is corresponding the control signal reducing output voltage, described comparator judge inclination angle in described Y-axis as forward and be greater than specify the number of degrees time, then send to the actuating device that this Y-axis forward is corresponding the control signal reducing output voltage, described comparator judge inclination angle in described Y-axis as negative sense and be greater than specify the number of degrees time, then send to the actuating device that this Y-axis negative sense is corresponding the control signal reducing output voltage.
In an advantageous embodiment, this system comprises further:
Rising picking sensor, be arranged on the assigned address above described liftable floor, and with described liftable floor on-fixed, the light curtain of whole liftable floor area is covered for level injection, when detecting that light curtain is blocked, send control for brake instruction to controller, described controller sends speed-slackening signal to actuating device after receiving control for brake instruction, out of service to trigger motor;
Decline picking sensor, be arranged on the assigned address below described liftable floor, and fix with described liftable floor, the light curtain of whole liftable floor area is covered for level injection, when detecting that light curtain is blocked, send control for brake instruction to controller, described controller sends speed-slackening signal to actuating device after receiving control for brake instruction, out of service to trigger motor.
In an advantageous embodiment, described displacement detector is code-disc detector, is arranged on the motor of the actuating device of corresponding fluctuating orbit, indirectly determines the shift value of the floor on this fluctuating orbit by detecting motor speed; Or described displacement detector is direct displacement detector, be arranged on corresponding fluctuating orbit, the shift value of the floor on this fluctuating orbit of direct-detection.
In an advantageous embodiment, this system comprises further: the dispersion alarm indicator identical with described actuating device quantity, be separately positioned on position corresponding to each actuating device, be electrically connected with described controller, the operation information of described actuating device feeds back to described controller, described controller judges the operation information of feedback, sends alerting signal, receive the dispersion alarm indicator trigger alarm of alerting signal when operation exception to the dispersion alarm indicator of corresponding actuating device.
In an advantageous embodiment, the quantity of the fluctuating orbit of described liftable floor is at least four.
In an advantageous embodiment, this system comprises further: Digiplex and wireless remote control receiver module, described Digiplex is provided with the control button of liftable floor, exports corresponding control command to wireless remote control receiver module according to the trigger action of control button; Described wireless remote control receiver module is electrically connected with described controller, for sending the control command received to described controller; Or this system comprises further: internet link block, be electrically connected with described controller, for accessing Internet, accept the control command from internet, send the control command received to described controller.
Compared with the hydraulic pressure of prior art or the liftable floor control system of pneumatic actuation, the utility model adopts electrified control system, due to motor than Hydraulic Pump or air lift pump more light small and exquisite, therefore installation and maintenance is easy to operate, reduce installation and maintenance cost, and noise is less, be applicable to domestic environment; The utility model is also provided with lifting position-limit switch and descending spacing switch simultaneously, when liftable floor arrives the limit switch of described lifting position-limit switch or decline, the driving device motor that meeting forced brake is corresponding, makes floor stop continuing lifting, ensure that the safety of user.Simultaneously, owing to being provided with displacement detector at the correspondence position of each actuating device, and the plateau of floor can be judged by the relative position of the shift value judging the actuating device that a strong point is corresponding, thus the mode in time by reducing motor output voltage adjusts the velocity of displacement of actuating device, reaches the object that liftable floor is steadily elevated.
Entire body, the utility model provides that a kind of easy to use and flexible, installation and maintenance are quick, safe and reliable to operation, the liftable floor control system of low noise, both can be applicable to the place such as factory, market, and can be applicable to house again.
Accompanying drawing explanation
Fig. 1 a is the composition schematic diagram of a kind of embodiment of liftable floor control system described in the utility model;
Fig. 1 b is the composition schematic diagram of another embodiment of liftable floor control system described in the utility model;
Fig. 1 c is the composition schematic diagram of another embodiment of liftable floor control system described in the utility model;
Fig. 1 d is the composition schematic diagram of another embodiment of liftable floor control system described in the utility model;
Fig. 2 is a kind of electric composition frame chart specifically of liftable floor control system described in the utility model;
Fig. 3 is the displacement detecting controlled reset flow process figure that the displacement ring apparatus for correcting of liftable floor control system described in the utility model performs;
Fig. 4 is that the load that the electric current loop apparatus for correcting of liftable floor control system described in the utility model performs detects controlled reset flow process figure;
Fig. 5 is the floor inclination angle detection controlled reset flow process figure that the inclination angle ring apparatus for correcting of liftable floor control system described in the utility model performs;
Fig. 6 is liftable floor control system floor up/down static balancing control flow chart described in the utility model.
Detailed description of the invention
Below in conjunction with drawings and the specific embodiments, the utility model is further described in more detail.
Actuating device quantity in liftable floor control system described in the utility model is identical with the quantity of the fluctuating orbit of liftable floor, in general embodiment, the quantity of described fluctuating orbit is at least 4, corresponding form bracing point forms a quadrangle, and the quantity of therefore corresponding actuating device is also at least 4.In embodiment below, with liftable floor, there are 4 fluctuating orbits, and to have 4 corresponding actuating devices be that example is described.
Fig. 1 a is the one composition schematic diagram of liftable floor control system described in the utility model, as shown in Figure 1a, described liftable floor control system mainly comprises controller 101, be arranged on the actuating device 121 ~ 124 on each fluctuating orbit of liftable floor 100, be arranged on liftable floor 100 fluctuating orbit, and the lifting position-limit switch 103 be electrically connected with described controller and descending spacing switch 104, corresponding with each fluctuating orbit of liftable floor 100, and the displacement detector 105 be electrically connected with described controller, and be arranged on the displacement ring apparatus for correcting 106 of controller 101 inside.
In the utility model, the described electrical connection with controller 101, can be wired electrical connection, also can be dedicated radio link.Therefore in FIG, key structural feature of the present utility model in clearly stating for simplicity, the electric connection line mentioned in some explanatory note does not draw.Implement in scene in reality, if adopt wired electrical connection, described lifting position-limit switch 103, descending spacing switch 104 and displacement detector 105 such as also can connect up along track thus realize being electrically connected with described controller 101.
Fig. 2 is a kind of electric composition frame chart specifically of liftable floor control system described in the utility model.Below in conjunction with Fig. 1 a and Fig. 2, concrete introduction is done to each component part.
Described controller 101, for receiving control command, sends corresponding control signal according to control command to corresponding device.In a kind of embody rule scene, described controller 101 can adopt TI C2000F28035 DSP microcontroller, and this treater is good in multi-motor control system and is applied.
As shown in Figure 2, more specifically, for described controller 101, described control command is sent by corresponding command output device part, such as the utility model can arrange control box panel, control box panel is provided with rising knob, the knob that declines, forbids knob, scram button etc., these buttons are electrically connected with described controller 101, can send climb command, decline instruction, inhibit command and stop command respectively to controller 101.
Described control command also can be sent by described lifting position-limit switch, descending spacing switch, rising limit switch, falling-threshold switch, rising picking sensor, decline picking sensor, and concrete trigger timing please refer to the description in follow-up specific embodiment.
In further embodiment of the present utility model, except described control box panel, Digiplex and wireless remote control receiver module can also be comprised.As shown in Figure 2, described Digiplex can adopt 433MHz Digiplex, corresponding wireless remote control receiver module is 433MHz wireless receiving module, described Digiplex is provided with the control button of liftable floor, exports corresponding control command to wireless remote control receiver module according to the trigger action of control button; Described wireless remote control receiver module is electrically connected with described controller 101, for sending the control command received to described controller 101.
And/or this control system can also comprise: internet link block, be electrically connected with described controller 101, for accessing Internet, accept the control command from internet, send the control command received to described controller 101.WIFI radio access module can be comprised in this internet link block, can wireless access internet.Like this, even if user stays out, also control command can be sent by internet to the liftable floor in family long-range.
The described actuating device be arranged on each fluctuating orbit of liftable floor, such as comprise 4 actuating devices in the present embodiment, be arranged on corresponding fluctuating orbit respectively, each actuating device comprises motor and actuator thereof, as shown in Figure 2, described actuator is electrically connected with described controller 101, for receiving the control signal of controller 101, sending drive singal be elevated with liftable floor described in tactile generator drive to described motor.
In a kind of specific embodiment, described motor is DC machine, and liftable floor can be driven to be elevated along described fluctuating orbit, and concrete lifting structure can adopt existing structure, repeats no more herein.
Actuator corresponding to described motor is in a kind of embody rule example, and can be that motor drives H bridge, this motor drives H-bridge circuit can realize the object of electric machine speed regulation in the mode of pulse duration modulation (PWM).
Describedly be arranged on lifting position-limit switch 103 that is on liftable floor fluctuating orbit and that be electrically connected with described controller 101 and descending spacing switch 104, such as a lifting position-limit switch 103 and descending spacing switch 104 are set on each fluctuating orbit, for detecting the lifting position of liftable floor in the present embodiment; Described lifting position-limit switch 103 is specifically for when detecting that liftable floor rises to this lifting position-limit switch place, control for brake instruction is sent to controller 101, described controller 101 sends speed-slackening signal to actuating device after receiving control for brake instruction, out of service to trigger motor; Described descending spacing switch 104 is specifically for when detecting that liftable underfloor drops to this descending spacing switch place, control for brake instruction is sent to controller 101, described controller 101 sends speed-slackening signal to actuating device after receiving control for brake instruction, out of service to trigger motor.Described rising and descending spacing switch, can set when liftable floor control system is installed, later in floor lifting process, floor accurately can stop at height corresponding to described limit switch, floor will be caused too high or too low because of manual operation deviation, improve safety.
The specific implementation of described lifting position-limit switch and descending spacing switch can have multiple, can be such as conventional contact switch, when liftable floor is elevated to this switch position, press because switch contacts with floor, cause switch connection, thus send control for brake instruction to controller 101.
Described corresponding with each fluctuating orbit of liftable floor and the displacement detector 105 be electrically connected with described controller 101, for detecting the shift value of the floor on this fluctuating orbit, sends to described controller 101 by shift value.Herein, for each displacement detector, described fluctuating orbit is exactly the fluctuating orbit of the corresponding installation site of this displacement detector.
In a kind of embody rule example, described displacement detector can be direct displacement detector, is arranged on corresponding fluctuating orbit, the shift value of the floor on this fluctuating orbit of direct-detection.Such as can use draw wire encoder, grating scale, magnetic railings ruler etc., shown in this Fig. 1, the concrete grating scale that adopts detects, and has very high precision and antijamming capability.
Or, in another kind of embody rule example, described displacement detector also can for carrying out the code-disc detector of indirect detection, such as specifically can adopt the rotary encoder of motor, being arranged on the motor of the actuating device of corresponding fluctuating orbit, indirectly determining the shift value of the floor on this fluctuating orbit by detecting motor speed.
Described displacement ring apparatus for correcting 106, be arranged on described controller 101 inner, its built-in comparator, for receiving the shift value of each displacement detector and input comparator, for the shift value of each displacement detector, when described comparator judges that the difference of this shift value and other shift value is greater than appointed threshold value, this displacement ring apparatus for correcting sends the control signal reducing output voltage, to trigger the output voltage that this actuating device reduces corresponding motor to the actuating device of this shift value respective carter.
In a further embodiment, described displacement ring apparatus for correcting can be further used for: for the shift value of each displacement detector, when described comparator judges that the difference of this shift value and other shift value is greater than maximum threshold, this displacement ring apparatus for correcting sends speed-slackening signal to described all actuating devices, out of service with the motor triggering all actuating devices.
As for the concrete realizing circuit of described apparatus for correcting inside, those skilled in the art can select the comparator of respective model according to content disclosed in specification sheets and common practise, and carries out corresponding optimum configurations to comparator and realize, and repeats no more herein.
Described displacement detector and displacement ring apparatus for correcting coordinate, and can realize the closed-loop feedback controlling mechanism of displacement ring, and described displacement ring, as control inner ring loop, achieves the horizontal stability of lifting floor lifting.
Fig. 1 b is the composition schematic diagram of another embodiment of liftable floor control system described in the utility model.See Fig. 1 b, in this embodiment, except the component part described in Fig. 1 a, can further include: be arranged on rising limit switch 107 that is on liftable floor 100 fluctuating orbit and that be electrically connected with described controller 101 and falling-threshold switch 108, for detecting the lifting position of liftable floor 100; Described rising limit switch is specifically arranged on the assigned address above described lifting position-limit switch, for when detecting that liftable floor 100 rises to this rising limit switch place, power-off control command is sent to controller 101, described controller 101 sends ct-off signal, to cut off the power supply of all actuating devices to all actuating devices 121 ~ 124 after receiving power-off control command; Described falling-threshold switch is specifically arranged on the assigned address below described descending spacing switch, for when detecting that liftable floor 100 drops to this falling-threshold switch place, power-off control command is sent to controller 101, described controller 101 sends ct-off signal, to cut off the power supply of all actuating devices to all actuating devices after receiving power-off control command.
Embodiment described in Fig. 1 b is on the basis of Fig. 1 a; add rising, falling-threshold switch; the distance of this limit switch and described rising, descending spacing switch can arrange very near; when liftable floor 100 rises or declines position (i.e. the position of described rising, descending spacing switch) that exceed regulation; or during program fleet; the motor power-supply wire of trigger protection cut-out immediately makes it out of service; and send alerting signal in corresponding trouble point, now must can reset to electric control state by changable after high-low limit switch.Can ensure further like this to cause transfiniting the rising of position and down maneuver due to abnormal failure or procedural problem, if rise or decline always, can produce blast phase destruction to the article in room and people, therefore this rising and falling-threshold switch can improve the safety of liftable floor further.
Above-mentioned displacement detector and displacement ring apparatus for correcting coordinate, and achieve the closed-loop feedback controlling mechanism of displacement ring, and described displacement ring, as control inner ring loop, achieves the horizontal stability of lifting floor lifting.In the further preferred embodiment of utility model of the present invention, on the basis that described displacement ring controls inner ring loop, then safety control ring, i.e. an electric current loop can be increased.As shown in Fig. 2 and Fig. 1 c, in this embodiment, this control system comprises further: being arranged on current sampler that is in described each actuating device and that be electrically connected with described controller 101, for detecting the current of electric of this actuating device, current value being sent to described controller 101.Also comprise electric current loop apparatus for correcting 109 in this embodiment, be arranged on described controller 101 inner, its built-in comparator; This electric current loop apparatus for correcting is for receiving the current value of each current sampler and carrying out multilevel iudge and input described comparator: for the current value of each current sampler, if when described comparator judges that this current value is greater than the maxim in other current value and is less than or equal to maximum load electric current, this electric current loop apparatus for correcting then sends the control signal reducing output voltage, to trigger the output voltage that this actuating device reduces corresponding motor to the actuating device that this current value is corresponding; If when described comparator judges that this current value is greater than maximum load electric current, this electric current loop apparatus for correcting sends speed-slackening signal to described all actuating devices, out of service with the motor triggering all actuating devices.
Pass through such scheme, can achieve displacement ring closed loop feedback control and electric current loop closed loop feedback control this double-loop control mode, if floor four strong point adjustable heights slightly deviation will be corrected immediately, the stationarity making floor be elevated further is improved.
As for the concrete realizing circuit of described apparatus for correcting inside, those skilled in the art can select the comparator of respective model according to content disclosed in specification sheets and common practise, and carries out corresponding optimum configurations to comparator and realize, and repeats no more herein.
In order to the further redundancy of consolidation system, safety and robustness, on the basis of above-mentioned double-loop control mode, the safety link detected based on level inclination can also be increased.It is the composition schematic diagram of another embodiment of liftable floor control system described in the utility model as Fig. 1 d, in this embodiment, comprise further: be arranged on the center of described liftable floor 100 and the double-shaft tilt angle sensor 110 be electrically connected with controller 101, for detecting the described inclination angle of liftable floor 100 in horizontal surface X-axis, Y direction, inclination angle is sent to controller 101, also comprise inclination angle ring apparatus for correcting 111, be arranged on described controller 101 inner, its built-in comparator, inclination angle in the described X-axis that receives described double-shaft tilt angle sensor and Y-axis also inputs described comparator, when the inclination angle that described comparator judges in described X-axis or Y-axis is greater than the maximum positive and negative number of degrees, speed-slackening signal is sent to described all actuating devices 121 ~ 124, out of service with the motor triggering all actuating devices, otherwise continue follow-up multilevel iudge: judge that inclination angle in described X-axis is as forward at described comparator, and when being greater than the appointment number of degrees, the actuating device (in like this figure be No. 1 actuating device 121) corresponding to this X-axis forward sends the control signal reducing output voltage, described comparator judge inclination angle in described X-axis as negative sense and be greater than specify the number of degrees time, the actuating device (in like this figure be No. 3 actuating devices 123) corresponding to this X-axis negative sense sends the control signal reducing output voltage, described comparator judge inclination angle in described Y-axis as forward and be greater than specify the number of degrees time, the actuating device (in like this figure be No. 2 actuating devices 122) corresponding to this Y-axis forward sends the control signal reducing output voltage, judge that inclination angle in Y-axis is greater than the appointment number of degrees as negative sense at described comparator, the actuating device (in like this figure be No. 4 actuating devices 124) corresponding to this Y-axis negative sense send the control signal reducing output voltage.By increasing the Special safety ring that this cyclic group detects in level inclination, can be further the redundancy of consolidation system, safety and robustness, when floor has faint inclination, can detect immediately thus make rapidly floor recovery level.
As for the concrete realizing circuit of described apparatus for correcting inside, those skilled in the art can select the comparator of respective model according to content disclosed in specification sheets and common practise, and carries out corresponding optimum configurations to comparator and realize, and repeats no more herein.
In further a kind of embodiment, in order to strengthen safety further, described control system of the present utility model can further include:
Rising picking sensor, be arranged on the assigned address above described liftable floor, and with described liftable floor on-fixed, the light curtain of whole liftable floor area is covered for level injection, when detecting that light curtain is blocked, send control for brake instruction to controller, described controller sends speed-slackening signal to actuating device after receiving control for brake instruction, out of service to trigger motor.Concrete; this rising picking sensor can paperback above floor on guardrail; in floor uphill process; human body or other obstacles is had to exceed guardrail position above floor; just triggering secure protection immediately makes floor stop rising; simultaneity factor can send fault alarm, and obstacle removes warning and automatically terminates, and floor continues to rise.
Decline picking sensor, be arranged on the assigned address below described liftable floor, and fix with described liftable floor, the light curtain of whole liftable floor area is covered for level injection, when detecting that light curtain is blocked, send control for brake instruction to controller, described controller sends speed-slackening signal to actuating device after receiving control for brake instruction, out of service to trigger motor.Concrete; this decline picking sensor can paperback in floor place beneath (as 10cm below floor); light beam covers whole floor area; in floor decline process; have human body or other obstacles to enter into protective position below floor, just triggering secure protection immediately makes floor stop declining, and simultaneity factor can send fault alarm; obstacle removes warning and automatically terminates, and floor continues to decline.
Control system described in the utility model also comprises alarm indicator further, specifically can comprise concentrated alarm indicating device and dispersion alarm indicator.As shown in Figure 2; described concentrated alarm indicating device is contained on control box panel; be electrically connected with controller; comprise fault indicator, run indicator, ready indicator; institute's controller is according to the running state of system; to this concentrated alarm indicating device feedback coherent signal; if when after liftable floor rise/fall to assigned position; then ready indicator display; run if floor normally rises or declines, run indicator shows, if floor operation exception or control system are extremely, fault indicator shows.The quantity of described dispersion alarm indicator is identical with described actuating device quantity, be separately positioned on position corresponding to each actuating device, be electrically connected with described controller, the operation information of described actuating device feeds back to described controller, described controller judges the operation information of feedback, send alerting signal when operation exception to the dispersion alarm indicator of corresponding actuating device, receive the dispersion alarm indicator trigger alarm of alerting signal.
Described Fig. 2 is the electrical connection diagram of a kind of specific embodiment combining each composition device in above-described embodiment.Below in conjunction with Fig. 2, further illustrate a kind of instantiation and the electric connecting relation of each device in floor control system described in the utility model, certain the utility model is also not limited to the device of following model, those skilled in the art, according to scheme disclosed in the utility model, can carry out corresponding flexible and replacement.
Liftable floor control system as shown in Figure 2, comprises controller (i.e. central process unit), system power supply part, concentrated alarm indicating device, 4 dispersion alarm indicators, double-shaft tilt angle sensor, four actuating devices, rising picking sensor, decline picking sensor, four lifting position-limit switches, four rising limit switches, four descending spacing switches, four falling-threshold switches, rising knob, the knobs that decline, forbids knob, scram button, 433MHz wireless receiving module, 433MHz Digiplex, WIFI internet link block.
Described controller adopts TI C2000F28035 DSP microcontroller, and this treater is good in multi-motor control system and is applied.
Described system power supply part comprises uninterrupted power supply (UPS) (UPS), motor drive power supply, system works power supply four part of system input power, in support power supply.Described system input power can adopt China standard A C220V 50HZ mains-supplied, and system cloud gray model maximum power is less than 800W, and general home wall socket can meet operating needs; Described UPS back-up source is the choosing dress parts as liftable floor system, for emergency power supply during mains failure, when city's power failure UPS back-up source can be elevated 10 times/5 days (both are as the criterion first to arrive) for floor; Described motor drive power supply, because drive motor selects the direct current of 310 volts, the power supply that therefore motor drives only needs by civil power through overcommutation and filtering, and save the voltage transformer in legacy system, reduction volume, reduces costs, simple and convenient; Described system works power supply drops to interchange 12V by alternating current 220V by step-down transformer, obtains the DC source of one group of about 15V, then obtain one group of 3.3V direct supply as DSP control system working power through voltage stabilizing after rectifying and wave-filtering.Said system power supply, design is simplified very much, ensures the reliability of system.
Described concentrated alarm indicating device comprises fault-indicating lamp, run indicator, ready light, is installed on controller panel; Described fault-indicating lamp effect is that fault-indicating lamp lights warning when control system has fault; Described run indicator effect when the normal rise/fall of liftable floor is run, run indicator flash for prompting; Described ready light effect is that prompting lighted by ready light when after liftable floor rise/fall to assigned position;
Described 4 dispersion alarm indicators comprise four fault indicators; Described four fault indicators are arranged on the strong point of floor, for prompt system running state and failure message by dispersion;
Described double-shaft tilt angle sensor is arranged on floor center, being connected, for detecting the angle of inclination in the X-axis of floor, Y direction, informing that central process unit does suitable adjustment to each driver output with controller electricity, the fast quick-recovery level of use floor; Described X-axis refers to, described Y-axis is vertical with X-axis, refers to
Described four actuating devices comprise four to be had brushless motor and four to overlap driving circuit arranged side by side to form; Described have brushless motor as the propulsion source of lifting floor, brushless motor is had to be 310V/200W, photoelectricity machine exports 1800 revs/min, Driving Torque 1000mN.M, the drop-gear box being 225:1 through reduction ratio exports 8 revs/min, output torque 225N.M, the load that about can promote 500kg is at the uniform velocity risen with 0.0038 meter per second speed.Described driving circuit mainly contains motor and drives H bridge, code-disc detector and current sampler three part composition.Described motor driving H bridge is exactly the actuator of this actuating device, and its design demand fulfillment drives 310V/200W to have the related request of brushless motor, and the object realizing electric machine speed regulation in the mode of pulse duration modulation (PWM), control flexibly.Described code-disc detector adopts photoelectric coded disk, and electric machine rotation one encloses output 64 impulse singlas, and mainly for detection of the stroke of electric machine rotation, namely indirect detection obtains the shift value of the floor on this fluctuating orbit.Described current sampler is by the sampling resistor of drive axle to power cathode series connection high precision little resistance, is that voltage signal is sent into processor A D test side again and detected after second-order low-pass filter amplifying circuit by current conversion.Certain described current sampler also can adopt the current sampling circuit of alternate manner to implement, and repeats no more herein.Current sampler is mainly used in monitoring motor running condition and current consumer situation of change, exports, each motor of different loads can be run with identical speed, reach the object controlled flexibly motor with the PWM adjusting actuator in real time; If go beyond the limit of when electric load, system is out of service and send alerting signal in corresponding trouble point.
Described rising picking sensor paperback is above floor on guardrail; light beam covers whole floor area; in floor uphill process; human body or other obstacles is had to exceed guardrail position above floor; just the floor of triggering secure protection immediately stops rising; simultaneity factor can send fault alarm, and obstacle removes warning and automatically terminates, and floor continues to rise.
Described decline picking sensor paperback 10 centimeters of right position below floor; light beam covers whole floor area; in floor decline process; human body or other obstacles is had to enter into below floor position within 10 centimeters; just the floor of triggering secure protection immediately stops declining; simultaneity factor can send fault alarm, and obstacle removes warning and automatically terminates, and floor continues to decline.
Described four rise/fall limit switches are installed on inside the upper and lower two ends of track; For arranging the stop position of liftable floor rise/fall, when pressing raise button or decline button, liftable floor will rise or decline, when the rising of liftable floor or when dropping to assigned position, described rise/fall limit switch exports a signal that puts in place (i.e. speed-slackening signal) to controller, the motor that controller controls respective drive device is out of service, thus floor stops rising or declining.
Described four rise/fall limit switches are installed on outside the upper and lower two ends of track; When the rising of liftable floor or decline exceed position (i.e. the position of described rise/fall limit switch) of regulation, (or during program fleet) is as a fender guard.When after the action of rise/fall limit switch, system can send fault alarm, and simultaneously owing to having cut off power supply, the motor of actuating device stops any action.Now must can reset to electric control state from high-low limit switch by changable.
After described rising knob is pressed, liftable floor just rises to the upper limit position of setting, i.e. the position of described lifting position-limit switch.
After described decline knob is pressed, liftable floor just drops to the lower position of setting, i.e. the position of described descending spacing switch.
After described scram button is pressed, liftable floor just stops action, now only has triggering rising or dropping signal again just can cancel stopping action, makes floor rise or drop to described upper limit position or lower position.
Describedly forbid that knob forbids that button is Self-locking button switch, press rear self-locking, controller forbids that the motor of actuating device rises or step-down operation, can only manual mode lift liftable floor; Click and forbid that button ejects, liftable floor recovers Electronic control.
Described 433MHz wireless receiving module can be installed in controller, also can be arranged on controller outer and be electrically connected with controller, grasps instruction for sending to system in the mode of wireless remote control; Described 433MHz Digiplex there are rising knob, decline knob, scram button; Send instructions to 433MHz wireless receiving module in the mode of wireless remote control.
Described internet link block, namely described TCP/IP module (having wireless WIFI function) is installed in controller, or also can be arranged on that controller is circumscribed to be electrically connected with controller, for receiving the long-range remote control commands sent such as mobile phone, panel computer, computing machine, control liftable floor control system.
Fig. 3 is the displacement detecting controlled reset flow process figure that the displacement ring apparatus for correcting of liftable floor control system described in the utility model performs.See Fig. 3, system is using displacement ring as control inner ring loop, value of feedback needed for displacement ring controls is the level height of current floor, therefore the utility model arranges an independently displacement detector at the correspondence position of actuating device corresponding to each fluctuating orbit, for detecting the shift value of the floor on this fluctuating orbit, shift value is sent to the displacement ring apparatus for correcting of described controller.In the example of this Fig. 3, described displacement detector is the dish code detectors be arranged in actuating device, represents the shift value of floor for the stroke by detecting motor.The control system of such standard just has the height value of four distributions in quadrangle, the principle of a plane is determined according to 3, system just has an amount of redundancy, in motion control process, arbitrary actuating device (if Fig. 3 is with No. 1 actuating device 121) can be selected for motion (speed or displacement) benchmark, other three displacement measurement in real time compare with a reference value and correct, and ensure synchronous, realize that floor speed is even, Synchronous lifting.Be illustrated in figure 3 and carry out correcting the flow process controlled to No. 1 actuating device 121, in this rectification control flow, with the stroke of No. 1 actuating device 121 (representing the floor shift value of No. 1 actuating device 121 place track), for benchmark, described 4 wheel driven represents four actuating devices; After pressing rise/fall action button, first described four actuating devices can carry out code value clearing, dispose by original record shift value, and then four actuating devices carry out soft start, and soft start terminates the running of rear 4 wheel driven full voltage; Then the stroke value (namely representing shift value) that described displacement ring apparatus for correcting will feed back according to each displacement detector compares judgement, specifically comprises the following steps 301 ~ 302:
Whether the stroke of step 301, No. 1 driving (driving is herein the abbreviation of actuating device) is greater than minimum stroke 3cm (i.e. maximum threshold) in other three actuating devices, if it is send and exceed unbalance limiting alarm, send the speed-slackening signal that 4 wheel driven is all out of service simultaneously; Otherwise continue next step to judge.
Whether step 302, No. 1 stroke driven are greater than minimum stroke 1cm (i.e. appointed threshold value) in other three drivings, if it is the voltage grading of No. 1 driver output, namely reduce the actuating speed of this No. 1 driving to floor, after the time delay in 8ms cycle, re-start above-mentioned multilevel iudge process; Otherwise No. 1 drives or full voltage output, and it is constant to the actuating speed of floor, re-starts above-mentioned multilevel iudge process after the time delay in 8ms cycle.
The described Displacement Feedback control flow to 2,3, No. 4 actuating devices 124 is identical with above-mentioned multilevel iudge process, namely also performs above-mentioned steps 301 and 302, only compares as benchmark using himself stroke, and be every 8ms be repeat in the cycle.
Fig. 4 is that the load that the electric current loop apparatus for correcting of liftable floor control system described in the utility model performs detects controlled reset flow process figure.See Fig. 4, control system adopts electric current loop as control outer shroud, both can protect as the overcurrent (carrying) of Direct Variable as system, again can as the detection means of load, and real-time ensuring load is in controlled range.Equally, native system independent detection often overlaps the load current of actuating device, therefore can detect the load in each corner of floor, also can totally estimate floor overall load.When floor starts by detecting load, in operational process, carrying out load compensation, ensureing floor smooth running.Can early warning in time when occurring that load is abnormal, until stop protecting.
Concrete, as shown in Figure 4, after carrying out rise/fall operation, described four actuating devices carry out rise/fall driving, then the current value that described electric current loop apparatus for correcting will feed back according to each current sampler compares judgement, specifically comprises the following steps 401 ~ 402:
Whether step 401, No. 1 electric current driven are greater than 500KG load current value (i.e. maximum load electric current), if it is send and exceed unbalance limiting alarm, send the speed-slackening signal that 4 wheel driven is all out of service simultaneously; Otherwise continue next step to judge.
Whether the electric current of step 402, No. 1 driving is greater than the maximum current N in other three drivings, if it is the voltage scale of No. 1 driver output is successively decreased M, namely reduce the actuating speed of this No. 1 driving to floor, after the time delay in 8ms cycle, re-start above-mentioned multilevel iudge process; Otherwise No. 1 drives or full voltage output, and it is constant to the actuating speed of floor, re-starts above-mentioned multilevel iudge process after the time delay in 8ms cycle.
The described Current Feedback Control flow process to 2,3, No. 4 actuating devices 124 is identical with above-mentioned multilevel iudge process, namely also performs above-mentioned steps 401 and 402, only compares as benchmark using himself electric current, and be every 8ms be repeat in the cycle.
Fig. 5 is the floor inclination angle detection controlled reset flow process figure that the inclination angle ring apparatus for correcting of liftable floor control system described in the utility model performs.One deck that native system additionally increases is based on the safety control loop of inclination angle detection, in operational process, with the inclination angle early warning threshold values slightly reduced, preferentially realize the steady lifting of system, when floor runs to preset displacement, by utilizing the obliquity sensor value fine setting floor of feedback, further leveling floor, improves the comfort level of user.
Concrete, see Fig. 1 d and Fig. 5, after carrying out rise/fall operation, described four actuating devices carry out rise/fall driving, and control 8ms cycle time delay, namely every 8ms starts the multilevel iudge of a double-shaft tilt angle sensor detection and correspondence, specifically comprises:
Whether step 501, X-axis inclination angle or Y-axis inclination angle are greater than positive and negative 0.5 degree, if it is send and exceed unbalance limiting alarm, send the speed-slackening signal that 4 wheel driven is all out of service simultaneously; Otherwise continue next step to judge.
Step 502,
For X-axis inclination angle, if X-axis inclination angle is for just and be greater than positive 0.2 degree, then No. 1 driver output voltage scale is being successively decreased M, jumps to step 503 afterwards; If X-axis inclination angle is just and is less than or equal to positive 0.2 degree, then No. 1 driver output voltage is constant, and namely still full voltage exports, and jumps to step 503; If X-axis inclination angle is for negative and be greater than negative 0.2 degree, then the output voltages of No. 3 drivings successively decrease M in proportion, jump to step 503 afterwards; If X-axis inclination angle is for bearing and being less than or equal to negative 0.2 degree, then No. 3 output voltages driven are constant, or full voltage exports, and jump to step 503.
For Y-axis inclination angle, if Y-axis inclination angle is for just and be greater than positive 0.2 degree, then No. 2 driver output voltage scale are being successively decreased M, jump to step 503 afterwards; If Y-axis inclination angle is just and is less than or equal to positive 0.2 degree, then No. 2 driver output voltages are constant, and namely still full voltage exports, and jumps to step 503; If Y-axis inclination angle is for negative and be greater than negative 0.2 degree, then the output voltages of No. 4 drivings successively decrease M in proportion, jump to step 503 afterwards; If Y-axis inclination angle is for bearing and being less than or equal to negative 0.2 degree, then No. 4 output voltages driven are constant, or full voltage exports, and jump to step 503.
Step 503, after 8ms cycle time delay, restart obliquity sensor and detect, and return step 501 and re-start multilevel iudge.
Fig. 6 is liftable floor control system floor up/down static balancing control flow chart described in the utility model, be transferred to same level height by whole for four the lifting position-limit switches be arranged on floor four tracks, four descending spacing switches are also whole is transferred to same level height.Its detailed process comprises: after pressing rise/fall action button, and described four actuating devices can carry out soft start simultaneously, and soft start terminates the running of rear 4 wheel driven full voltage; Then above-mentioned Fig. 3, driven equilibrium control process described in 4,5 is carried out, and while this process, judge whether each actuating device arrives corresponding rise/fall limit point further respectively, if arrived, the motor of this actuating device is out of service, otherwise proceed described driven equilibrium control process and judge whether each actuating device arrives corresponding rise/fall limit point further, until the motor of four actuating devices is all out of service, floor up/down reaches static balancing.
The utility model is actuating unit by controlling multichannel motor, with the real time kinematics control system of the observed readings such as rotating speed, electric current, inclination angle for feedback, closed-loop feedback is adopted to control and cross-coupled Strategy For Synchronization Control, there is higher particularity, stability and real-time, and on the basis of displacement ring and electric current loop double-loop control, adds additional the Special safety ring that one deck detects based on level inclination, the further redundancy of consolidation system, safety and robustness, adopts that this autonomous cruise speed system uses flexibly, safety is high, run the advantages such as noise is low.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all within spirit of the present utility model and principle, any amendment made, equivalent replacements, improvement etc., all should be included within scope that the utility model protects.
Claims (10)
1. a control system for liftable floor, is characterized in that, comprising:
Controller, for receiving control command, sends corresponding control signal according to control command to corresponding device;
Be arranged on the actuating device on each fluctuating orbit of liftable floor, each actuating device comprises motor and actuator thereof, described actuator is electrically connected with described controller, for receiving the control signal of controller, sending drive singal to described motor and being elevated with liftable floor described in tactile generator drive;
Be arranged on lifting position-limit switch that is on liftable floor fluctuating orbit and that be electrically connected with described controller and descending spacing switch, for detecting the lifting position of liftable floor; Described lifting position-limit switch is specifically for when detecting that liftable floor rises to this lifting position-limit switch place, control for brake instruction is sent to controller, described controller sends speed-slackening signal to actuating device after receiving control for brake instruction, out of service to trigger motor; Described descending spacing switch is specifically for when detecting that liftable underfloor drops to this descending spacing switch place, control for brake instruction is sent to controller, described controller sends speed-slackening signal to actuating device after receiving control for brake instruction, out of service to trigger motor;
Corresponding with each fluctuating orbit of liftable floor and displacement detector that is that be electrically connected with described controller, for detecting the shift value of the floor on this fluctuating orbit, sends to described controller by shift value;
Displacement ring apparatus for correcting, its built-in comparator, for receiving the shift value of each displacement detector and input comparator, for the shift value of each displacement detector, when described comparator judges that the difference of this shift value and other shift value is greater than appointed threshold value, this displacement ring apparatus for correcting sends the control signal reducing output voltage, to trigger the output voltage that this actuating device reduces corresponding motor to the actuating device of this shift value respective carter.
2. system according to claim 1, it is characterized in that, described displacement ring apparatus for correcting is further used for: for the shift value of each displacement detector, when described comparator judges that the difference of this shift value and other shift value is greater than maximum threshold, this displacement ring apparatus for correcting sends speed-slackening signal to described all actuating devices, out of service with the motor triggering all actuating devices.
3. system according to claim 1, is characterized in that, this system comprises further:
Be arranged on rising limit switch that is on liftable floor fluctuating orbit and that be electrically connected with described controller and falling-threshold switch, for detecting the lifting position of liftable floor; Described rising limit switch is specifically arranged on the assigned address above described lifting position-limit switch, for when detecting that liftable floor rises to this rising limit switch place, power-off control command is sent to controller, described controller sends ct-off signal, to cut off the power supply of all actuating devices to all actuating devices after receiving power-off control command; Described falling-threshold switch is specifically arranged on the assigned address below described descending spacing switch, for when detecting that liftable underfloor drops to this falling-threshold switch place, power-off control command is sent to controller, described controller sends ct-off signal, to cut off the power supply of all actuating devices to all actuating devices after receiving power-off control command.
4. system according to claim 1, is characterized in that, this system comprises further:
Being arranged on current sampler that is in described each actuating device and that be electrically connected with described controller, for detecting the current of electric of this actuating device, current value being sent to described controller;
Electric current loop apparatus for correcting, be arranged on described controller inner, its built-in comparator, this electric current loop apparatus for correcting receives the current value of each current sampler and inputs described comparator, for the current value of each current sampler, when described comparator judges that this current value is greater than the maxim in other current value and is less than or equal to maximum load electric current, this electric current loop apparatus for correcting sends the control signal reducing output voltage, to trigger the output voltage that this actuating device reduces corresponding motor to the actuating device that this current value is corresponding; When described comparator judges that this current value is greater than maximum load electric current, this electric current loop apparatus for correcting sends speed-slackening signal to described all actuating devices, out of service with the motor triggering all actuating devices.
5. system according to claim 1, is characterized in that, this system comprises further:
Being arranged on the center of described liftable floor and the double-shaft tilt angle sensor be electrically connected with controller, for detecting the described inclination angle of liftable floor in horizontal surface X-axis, Y direction, inclination angle being sent to controller;
Inclination angle ring apparatus for correcting, be arranged on described controller inner, its built-in comparator, inclination angle in the described X-axis that receives described double-shaft tilt angle sensor and Y-axis is also input to described comparator, when the inclination angle that described comparator judges in described X-axis or Y-axis is greater than the maximum positive and negative number of degrees, speed-slackening signal is sent to described all actuating devices, out of service with the motor triggering all actuating devices, otherwise continue follow-up multilevel iudge: judge that inclination angle in described X-axis is as forward at described comparator, and when being greater than the appointment number of degrees, then send to the actuating device that this X-axis forward is corresponding the control signal reducing output voltage, described comparator judge inclination angle in described X-axis as negative sense and be greater than specify the number of degrees time, then send to the actuating device that this X-axis negative sense is corresponding the control signal reducing output voltage, described comparator judge inclination angle in described Y-axis as forward and be greater than specify the number of degrees time, then send to the actuating device that this Y-axis forward is corresponding the control signal reducing output voltage, described comparator judge inclination angle in described Y-axis as negative sense and be greater than specify the number of degrees time, then send to the actuating device that this Y-axis negative sense is corresponding the control signal reducing output voltage.
6. system according to claim 1, is characterized in that, this system comprises further:
Rising picking sensor, be arranged on the assigned address above described liftable floor, and with described liftable floor on-fixed, the light curtain of whole liftable floor area is covered for level injection, when detecting that light curtain is blocked, send control for brake instruction to controller, described controller sends speed-slackening signal to actuating device after receiving control for brake instruction, out of service to trigger motor;
Decline picking sensor, be arranged on the assigned address below described liftable floor, and fix with described liftable floor, the light curtain of whole liftable floor area is covered for level injection, when detecting that light curtain is blocked, send control for brake instruction to controller, described controller sends speed-slackening signal to actuating device after receiving control for brake instruction, out of service to trigger motor.
7. system according to claim 1, is characterized in that,
Described displacement detector is code-disc detector, is arranged on the motor of the actuating device of corresponding fluctuating orbit, indirectly determines the shift value of the floor on this fluctuating orbit by detecting motor speed;
Or described displacement detector is direct displacement detector, be arranged on corresponding fluctuating orbit, the shift value of the floor on this fluctuating orbit of direct-detection.
8. system according to claim 1, it is characterized in that, this system comprises further: the dispersion alarm indicator identical with described actuating device quantity, be separately positioned on position corresponding to each actuating device, be electrically connected with described controller, the operation information of described actuating device feeds back to described controller, described controller judges the operation information of feedback, send alerting signal when operation exception to the dispersion alarm indicator of corresponding actuating device, receive the dispersion alarm indicator trigger alarm of alerting signal.
9. the system according to any one of claim 1 to 8, is characterized in that, the quantity of the fluctuating orbit of described liftable floor is at least four.
10. system according to claim 1, is characterized in that,
This system comprises further: Digiplex and wireless remote control receiver module, described Digiplex is provided with the control button of liftable floor, exports corresponding control command to wireless remote control receiver module according to the trigger action of control button; Described wireless remote control receiver module is electrically connected with described controller, for sending the control command received to described controller;
Or this system comprises further: internet link block, be electrically connected with described controller, for accessing Internet, accept the control command from internet, send the control command received to described controller.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420716053.9U CN204310792U (en) | 2014-11-25 | 2014-11-25 | The control system of liftable floor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420716053.9U CN204310792U (en) | 2014-11-25 | 2014-11-25 | The control system of liftable floor |
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| CN204310792U true CN204310792U (en) | 2015-05-06 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104477825A (en) * | 2014-11-25 | 2015-04-01 | 北京凯必盛自动门技术有限公司 | Lifting floor control system |
| CN110745442A (en) * | 2019-11-07 | 2020-02-04 | 上海速锐信息技术有限公司 | Synchronous vertical lifting system for stereoscopic warehouse |
| CN113155506A (en) * | 2021-05-11 | 2021-07-23 | 成都天仁民防科技有限公司 | Detection method for lifting non-stationarity of flood-proof wind booth |
-
2014
- 2014-11-25 CN CN201420716053.9U patent/CN204310792U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104477825A (en) * | 2014-11-25 | 2015-04-01 | 北京凯必盛自动门技术有限公司 | Lifting floor control system |
| CN110745442A (en) * | 2019-11-07 | 2020-02-04 | 上海速锐信息技术有限公司 | Synchronous vertical lifting system for stereoscopic warehouse |
| CN113155506A (en) * | 2021-05-11 | 2021-07-23 | 成都天仁民防科技有限公司 | Detection method for lifting non-stationarity of flood-proof wind booth |
| CN113155506B (en) * | 2021-05-11 | 2024-03-22 | 成都天仁民防科技有限公司 | Lifting non-stationarity detection method for anti-flooding wind pavilion |
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Effective date of registration: 20160223 Address after: 102200 No. 22 Reservoir Road, Beijing, Changping District Patentee after: Beijing KBB Automatic Doors Technology Co., Ltd. Patentee after: Shi Jianli Patentee after: BEIJING NEW KBB INTELLIGENT TECHNOLOGY CO., LTD. Address before: 102200 No. 22 Reservoir Road, Beijing, Changping District Patentee before: Beijing KBB Automatic Doors Technology Co., Ltd. |
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Granted publication date: 20150506 Effective date of abandoning: 20170606 |
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