CN208135814U - Carry the jacking control system of AGV equipment in a kind of harbour - Google Patents
Carry the jacking control system of AGV equipment in a kind of harbour Download PDFInfo
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- CN208135814U CN208135814U CN201820636597.2U CN201820636597U CN208135814U CN 208135814 U CN208135814 U CN 208135814U CN 201820636597 U CN201820636597 U CN 201820636597U CN 208135814 U CN208135814 U CN 208135814U
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- jacking
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Abstract
The utility model discloses the jacking control systems that AGV equipment is carried at a kind of harbour, including car body, car body is equipped with swing mechanism and cart walking mechanism, further includes jacking swing mechanism, high pressure inlet wire control cabinet, auxiliary control cabinet, lithium battery pack and hydraulic station on car body；The jacking swing mechanism is set between swing mechanism and cart walking mechanism；The high pressure inlet wire control cabinet includes high voltage supply control circuit；The auxiliary control cabinet includes PLC, connecting terminal and input/output signal harness and low-voltage direct control component in control cabinet；The lithium battery pack by can floating connection plug, power cable be connected to the high pressure inlet wire and control cabinet；The hydraulic station includes hydraulic power unit and hydraulic control unit.The utility model can be realized the real-time synchronization detection to oil cylinder position each during jacking and can carry out the separately adjustable synchronously control to realize lifting body to each oil cylinder respectively.
Description
Technical field
The utility model relates to harbour haulage equipments, and the jacking control of AGV equipment is carried more specifically to a kind of harbour
System processed.
Background technique
With the development of world commerce, the promotion of Container Shipping business efficiency, even shipping business depression in recent years
Gas, but van container carrier load case amount is still in and is constantly refreshed, and the promotion bring of shipping efficiency is to packaging
The urgent need that case port efficiency is promoted.In the case where common manpower operating efficiency is unable to satisfy the background of demand gradually, port is automated
Mouth has welcome vigorous growth period, and AGV assumes responsibility for connection harbour gantry crane as the capital equipment of automation harbour plane transportation
With the task of automatic yard Container Transport, with the development of technology, harbour carrying AGV experienced to be divided by dynamical system
Diesel powered type, bavin electricity mixed power type, pure motor meeting charge type and pure electricity change electric type；Direct-type is divided by interactive mode
Interactive, band lifting platform formula interactive with from jacking type interactive, wherein from jacking type interactive compared to earlier generations type
With jacking stability, high, complete machine can realize row and pivot stud from advantages such as heavy and lights, and using electrical differential independent steering
Etc. functions, provide bigger freedom degree for the path planning of space limited space, represent the one of transporting container AGV technology
Kind developing direction.
Utility model content
In view of the above defects of the prior art, AGV is carried the purpose of the utility model is to provide a kind of harbour to set
Standby jacking control system can be realized to the real-time synchronization of oil cylinder position each during jacking detection and can be respectively to every
A oil cylinder carries out the separately adjustable synchronously control to realize lifting body.
To achieve the above object, the utility model adopts the following technical solution：
The jacking control system of AGV equipment is carried at a kind of harbour, including：Car body, car body are equipped with opposite with four tires
The swing mechanism and cart walking mechanism answered, swing mechanism, including：It turns to reduction gearbox and turns to servo motor, further include：It is set to
Jacking swing mechanism, high pressure inlet wire control cabinet, auxiliary control cabinet, lithium battery pack and hydraulic station on car body；
The jacking swing mechanism is set between swing mechanism and cart walking mechanism, including：Front left jacks turn-around machine, preceding
Right structure jacking swing mechanism, rear left jacking swing mechanism and rear right jacking swing mechanism, it is corresponding with four tires respectively；
The high pressure inlet wire controls cabinet, including：High voltage supply control circuit；
The auxiliary control cabinet, including：Set on control cabinet in PLC, connecting terminal and input/output signal harness and
Low-voltage direct controls component；
The lithium battery pack by can floating connection plug, power cable be connected to the high pressure inlet wire and control cabinet；
The hydraulic station, including：Hydraulic power unit and hydraulic control unit；
The hydraulic power unit, including：Variable frequency drives, hydraulic electric motor, hydraulic pump, front control valve block and rear portion control
Valve block processed, variable frequency drives drive hydraulic pump by output shaft by output three-phase alternating current electric drive hydraulic electric motor, hydraulic electric motor,
It is persistently suppressed from the hydraulic oil container on hydraulic pump into pipeline, and front is connected to by fluid pressure line and controls valve block and rear portion control
Valve block processed；
The hydraulic control unit, including：Control valve group and external control module, external control module pass through CAN bus
Form is communicated with PLC, feeds back to PLC, and the control signal control sent according to PLC to monitor various signals on hydraulic station
The movement of pressurization, pressure maintaining, lift-up pressure adjustment, brake pressure adjustment of the control valve group processed to execute jacking control system.
It the described front left jacking turn-around machine, front right structure jacking swing mechanism, rear left jacking swing mechanism and rear right jacks back
Rotation mechanism includes：Rotary teeth wheel disc, jacking supporting mechanism, C-arm connecting shaft, jacking cylinder and jacking cylinder valve block, revolution
Toothed disc is set to the upper end of jacking supporting mechanism, and jacking supporting mechanism is by rotary teeth wheel disc and turns to reduction gearbox and turns to servo
Motor connection, jacking cylinder are connected on jacking supporting mechanism by connecting shaft, jack lower end and the C-arm connecting shaft of supporting mechanism
Upper end connection, the lower end of C-arm connecting shaft is connected with vehicle bridge mechanism, cylinder displacement sensor, jacking oil is equipped in jacking cylinder
Cylinder, including：Oil cylinder has bar side and oil cylinder rodless side.
The vehicle bridge mechanism, including：Left and right wheels mechanical differential gear box, arrestment mechanism, wheel speed encoder and deceleration mechanism, subtract
Fast mechanism is connect with cart walking mechanism, and wheel speed encoder is connect by wheel rim with tire, and C-arm connecting shaft and vehicle bridge mechanism connect
Yielding rubber spring is additionally provided between connecing.
The jacking cylinder valve block, including oil cylinder have bar side pressure sensor and oil cylinder rodless side pressure sensor, oil
Cylinder has bar side pressure sensor to be set to oil cylinder and has in bar side, and oil cylinder rodless side pressure sensor is set on oil cylinder rodless side.
The control valve group, including：System principal pressure solenoid valve, front and rear part pressure solenoid valve, on four road jacking cylinders
Control proportional pressure valve, four road jacking cylinders decline control proportional pressure valve are risen, four road jacking cylinders rise control ratio pressure
The oil circuit connection of valve lower end is to oil cylinder rodless side, the oil circuit connection of four road jacking cylinders decline control proportional pressure valve lower end to oil
Cylinder has bar side.
The high voltage supply control circuit, including：Current supply circuit, power on buffer loop, charge circuit, power-off circuit and
Low pressure auxiliary power supply circuit.
The low-voltage direct controls component, including：Relay, control switch, fuse and with to outside connect
The quick air plug of route.
The lithium battery pack, including：Several lithium battery mould groups connect in series and parallel, and real by battery management system BMS
The charge and discharge of battery core, state of temperature in Shi Guanli and each mould group of monitoring, then communicated by CAN bus form with PLC.
The auxiliary control cabinet is equipped with Industrial air conditioner.
Further include：Water cooling station, to provide cooling by water for jacking control system.
The control system, including：Speed and the feedback closed loop of position two, speed ring are inner ring, and position ring is outer ring.
In the above technical solution, a kind of jacking that AGV equipment is carried at harbour provided by the utility model controls system
System also has following beneficial effect：
1) the utility model has same by position-speed double circle controling mode compared to single position control mode
Step property is more preferable, controls the higher effect of precision, and carries out motion planning by virtual main shaft mode, and each cylinder movement follows,
More improve jacking net synchronization capability；
2) the utility model has used oil cylinder to have bar side and the design of rodless side bilateral proportional valve control, can not only control top
Peaceful uphill process, additionally it is possible to decline process control motion synchronicity, and unstable in heavy load and system pressure
In the case of can quickly be adjusted by way of reversely pressurizeing；
3) the utility model multistage fault verification and protection mechanism, by cylinder action speed and position signal and entirely
The real-time monitoring of power and hydraulic system can trigger different grades of failure and execute protection act, lifting system general safety
Grade.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the state diagram that the utility model jacking rises to extreme higher position；
Fig. 3 is the state diagram that the utility model jacking drops to extreme lower position；
Fig. 4 is the control block diagram of Tthe utility model system；
Fig. 5 is the control flow chart of Tthe utility model system.
Specific embodiment
The technical solution of the utility model is further illustrated with reference to the accompanying drawings and examples.
Incorporated by reference to shown in Fig. 1 to Fig. 3, a kind of jacking that AGV equipment is carried at harbour provided by the utility model controls system
System, including：Car body 1, car body 1 are equipped with swing mechanism corresponding with four tires 2 and cart walking mechanism 22, turn-around machine
Structure, including：It turns to reduction gearbox 3 and turns to servo motor, above-mentioned is prior art part, is not just being repeated herein.With existing skill
Unlike art, further include：Jacking swing mechanism, high pressure inlet wire control cabinet 4, auxiliary control cabinet 5, lithium on car body 1
Battery pack 6 and hydraulic station 7.
Preferably, the jacking swing mechanism is set between swing mechanism and cart walking mechanism 22, including：Front left jacking
Turn-around machine 8, front right structure jacking swing mechanism 9, rear left jacking swing mechanism 10 and rear right jacking swing mechanism 11, respectively with car body
Four tires 2 on 1 are corresponding.Jacking swing mechanism is connect by swiveling gear with reduction gearbox 3 is turned to, and it is another to turn to reduction gearbox 3
One end connection turns to servo motor, controls the rotation of entire jacking swing mechanism.
Preferably, the high pressure inlet wire controls cabinet 4, including：High voltage supply control circuit, high voltage supply control circuit,
Including：Current supply circuit powers on buffer loop, charge circuit, power-off circuit and low pressure auxiliary power supply circuit.
Preferably, the auxiliary control cabinet 5, including：PLC, connecting terminal and input and output letter in control cabinet
Number harness and it is integrated with low-voltage direct control component all on car body 1.Low-voltage direct controls component, including：Relay
Device, control switch, fuse and with quick air plug of route etc. for being connected to outside.
Preferably, the lithium battery pack 6 by can floating connection plug, power cable be connected to the high pressure inlet wire and control
Cabinet 4 provides specified 640V direct current supply by DC master row in cabinet and contactor control for entire jacking control system, and leads to
Crossing the DC-DC commutator transformer installed in cabinet to be changed into 24Vdc mass is entire jacking control system power supply.Lithium battery pack, packet
It includes：Several lithium battery mould groups connect in series and parallel, and pass through battery core in battery management system BMS real-time management and each mould group of monitoring
Charge and discharge, state of temperature, then communicated by CAN bus form with PLC.
Preferably, the hydraulic station 7, including：Hydraulic power unit and hydraulic control unit；
Preferably, the hydraulic power unit, including：Variable frequency drives, hydraulic electric motor, hydraulic pump, front control valve block
17 and rear control valves block 18, variable frequency drives pass through output by output three-phase alternating current electric drive hydraulic electric motor, hydraulic electric motor
Axis drives hydraulic pump, is persistently suppressed from the hydraulic oil container on hydraulic pump into pipeline, and is connected to front control by fluid pressure line
Valve block 17 processed and rear control valves block 18.Front control valve block 17 and rear control valves block 18 in be mounted on control rise and under
The proportional pressure valve of drop, being connected to jacking cylinder 15 by the fluid pressure line of proportional pressure valve lower part has in bar side and rodless side,
Cylinder displacement sensor is equipped in jacking cylinder, cylinder displacement sensor uses magnetic scale inductive di lacement tra ducer, passes through
15 position signal of jacking cylinder is fed back to control system by 4-20 milliamperes of current signal.Front controls valve block 17 and rear portion control
Valve block 18 have the function of identical structure and, it is main to realize that vehicle front and rear part hydraulic mechanism carries out distributed AC servo system, independent control
The movement of each jacking cylinder 15 in front and rear part.
Preferably, the hydraulic control unit, including：Control valve group and external control module, external control module pass through
CAN bus form is communicated with PLC, feeds back to PLC, and the control sent according to PLC to monitor various signals on hydraulic station
To execute, the pressurization, pressure maintaining, lift-up pressure of jacking control system adjust signal control control valve group processed, brake pressure adjusts
Movement.Control valve group, including：System principal pressure solenoid valve, front and rear part pressure solenoid valve, four road jacking cylinders rise control ratio
Pressure valve, four road jacking cylinders decline control proportional pressure valve, four road jacking cylinders rise the oil of control proportional pressure valve lower end
Road is connected to oil cylinder rodless side, and oil circuit connection to the oil cylinder of four road jacking cylinders decline control proportional pressure valve lower end has bar side.
Preferably, the front left jacking turn-around machine 8, front right structure jacking swing mechanism 9, rear left jack 10 and of swing mechanism
Right jacking swing mechanism 11 includes afterwards：Rotary teeth wheel disc 12, jacking supporting mechanism 13, C-arm connecting shaft 14, jacking cylinder 15
With jacking cylinder valve block 16, rotary teeth wheel disc 12 is set to the upper end of jacking supporting mechanism 13, and jacking supporting mechanism 13 passes through revolution
Toothed disc 12 with turn to reduction gearbox 3 and turn to servo motor connect, and rotary teeth wheel disc 12 and steering reduction gearbox 3 between further through
Gear connection, jacking cylinder 15 by connecting shaft 19,20 be connected in jacking supporting mechanism 13 on, jack supporting mechanism 13 lower end with
The upper end of C-arm connecting shaft 14 connects, and the lower end of C-arm connecting shaft 14 is connected with vehicle bridge mechanism 21, jacking cylinder 15, including：Oil
Cylinder has bar side and oil cylinder rodless side.
Preferably, the vehicle bridge mechanism 21, including：Left and right wheels mechanical differential gear box, arrestment mechanism, wheel speed encoder and subtract
Fast mechanism, deceleration mechanism are connect with cart walking mechanism 22 by gear, and wheel speed encoder is connect by wheel rim with tire 2, c-type
It is additionally provided with yielding rubber spring 23 between arm connecting shaft 14 and the connection of vehicle bridge mechanism 21, when dropping to minimum for jacking, vehicle bridge
The shock absorbing effect of mechanism 21 and jacking supporting mechanism 13.
Preferably, the jacking cylinder valve block 16, including oil cylinder have bar side pressure sensor and oil cylinder rodless lateral pressure
Sensor, oil cylinder have bar side pressure sensor to be set to oil cylinder and have in bar side, and oil cylinder rodless side pressure sensor is set to oil cylinder rodless
On side.
Preferably, the auxiliary control cabinet 5 is equipped with Industrial air conditioner, Industrial air conditioner is equipped with four, lithium battery
7 inside of packet provides 220V Alternating Current Power Supply by commutator transformer for four Industrial air conditioners, to provide stabilization inside lithium battery pack 7
Suitable temperature environment.
Preferably, further including：Water cooling station 24, to provide cooling by water for entire jacking control system.
As shown in figure 4, the control system, including：Speed and the feedback closed loop of position two, speed ring is inner ring, can
To guarantee the response quickly of system of entire jacking control system, position ring is outer ring, it is ensured that the standard of entire jacking control system
True property.
As shown in figure 5, the jacking control method of AGV equipment jack-up system is carried at the utility model harbour, including：At the beginning of system
Corresponding each jacking cylinder kinematic parameter setting value, control process are parsed by control program after beginningization and customer parameter input
Control signal enabling ratio control process is issued to control valve group, the system pressure in hydraulic control unit passes through front and rear part system
The adjusting of pressure is delivered to front and back valve block, and the proportional valve control by installing in the valve block of front and back jacks speed, jacking control journey
Sequence is determined simultaneously with guarded by location program, when jacking cylinder position reaches setting value or cylinder magnetic scale feedback displacement signal and void
Quasi- main shaft is planned can trigger different grades of failure and executes protection act when offset deviation is excessive.
When work, when this AGV equipment drives assigned work region into and stops, Upper system sends jacking climb command, AGV
Controller PLC in equipment executes jacking instruction after detection vehicle electrical systems, hydraulic system and lifting platform fault-free,
It opens brake and sends zero-speed instruction to movable motor driver, jacking cylinder is moved by the PLC program edited in advance
Displacement and speed carry out planning be used as virtual main shaft, PLC by comparative example valve send PWM control current signal control ratio
Valve events, and then the movement velocity of jacking cylinder is controlled, meanwhile, jacking cylinder displacement signal is passed through electricity in real time by oil cylinder magnetic scale
The mode of stream feeds back to PLC, and PLC is anti-by the movement velocity for carrying out difference gauge calculating jacking cylinder to jacking cylinder displacement signal
Feedback value forms speed control closed loop, when the jacking cylinder displacement signal of magnetic scale feedback is determined as stroke latter end, virtual main shaft fortune
Dynamic planning speed will also decrease to improve latter end control precision.
When the jacking position of jacking cylinder reaches setting value, PLC controller will send signal control proportioning valve and close,
Jacking movement stops.
The synchronism of system meeting real-time judge jacking movement during jacking, when oil cylinder magnetic scale feedback displacement signal and void
When quasi- main shaft plans that offset deviation is excessive, system will quote different grades of failure for deviation size and execute protection and move
Make.
When needing to jack decline, control oil cylinder other side proportioning valve carries out same action process.
In conclusion the utility model is realized to the synchronous real-time detection analysis of the speed of the lifting body course of work and position
And multiple cylinder jackings are independently controlled.
Those of ordinary skill in the art it should be appreciated that more than embodiment be intended merely to illustrate that this is practical new
Type, and be not used as the restriction to the utility model, as long as in the spirit of the utility model, to the above
Variation, the modification of embodiment will all be fallen in the Claims scope of the utility model.
Claims (11)
1. the jacking control system of AGV equipment is carried at a kind of harbour, including：Car body, car body are equipped with corresponding with four tires
Swing mechanism and cart walking mechanism, swing mechanism, including：It turns to reduction gearbox and turns to servo motor, which is characterized in that also
Including：Jacking swing mechanism, high pressure inlet wire control cabinet, auxiliary control cabinet, lithium battery pack and hydraulic station on car body；
The jacking swing mechanism is set between swing mechanism and cart walking mechanism, including：Front left jacks turn-around machine, front right structure
Swing mechanism, rear left jacking swing mechanism and rear right jacking swing mechanism are jacked, it is corresponding with four tires respectively；
The high pressure inlet wire controls cabinet, including：High voltage supply control circuit；
The auxiliary control cabinet, including：PLC, connecting terminal and input/output signal harness and low pressure in control cabinet
DC control component；
The lithium battery pack by can floating connection plug, power cable be connected to the high pressure inlet wire and control cabinet；
The hydraulic station, including：Hydraulic power unit and hydraulic control unit；
The hydraulic power unit, including：Variable frequency drives, hydraulic electric motor, hydraulic pump, front control valve block and rear control valves
Block, variable frequency drives are by output three-phase alternating current electric drive hydraulic electric motor, and hydraulic electric motor drives hydraulic pump by output shaft, by liquid
Hydraulic oil container on press pump is persistently suppressed into pipeline, and is connected to front by fluid pressure line and is controlled valve block and rear control valves
Block；
The hydraulic control unit, including：Control valve group and external control module, external control module pass through CAN bus form
It is communicated with PLC, feeds back to PLC to monitor various signals on hydraulic station, and the control signal sent according to PLC controls control
The movement of pressurization, pressure maintaining, lift-up pressure adjustment, brake pressure adjustment of the valve group processed to execute jacking control system.
2. the jacking control system that AGV equipment is carried at a kind of harbour as described in claim 1, it is characterised in that：Before described
Left jacking turn-around machine, front right structure jacking swing mechanism, rear left jacking swing mechanism and rear right jacking swing mechanism include：Revolution
Toothed disc, jacking supporting mechanism, C-arm connecting shaft, jacking cylinder and jacking cylinder valve block, rotary teeth wheel disc are set to jacking support
The upper end of mechanism, jacking supporting mechanism are connect by rotary teeth wheel disc with steering reduction gearbox and steering servo motor, jacking cylinder
It is connected on jacking supporting mechanism by connecting shaft, the lower end for jacking supporting mechanism is connect with the upper end of C-arm connecting shaft, C-arm
The lower end of connecting shaft is connected with vehicle bridge mechanism, is equipped with cylinder displacement sensor in jacking cylinder, jacking cylinder, including：Oil cylinder has bar
Side and oil cylinder rodless side.
3. the jacking control system that AGV equipment is carried at a kind of harbour as claimed in claim 2, it is characterised in that：The vehicle
Bridge mechanism, including：Left and right wheels mechanical differential gear box, arrestment mechanism, wheel speed encoder and deceleration mechanism, deceleration mechanism and large vehicle walking
Mechanism connection, wheel speed encoder are connect by wheel rim with tire, are additionally provided with damping between C-arm connecting shaft and the connection of vehicle bridge mechanism
Rubber spring.
4. the jacking control system that AGV equipment is carried at a kind of harbour as claimed in claim 2, it is characterised in that：The top
Oil-lifting jar valve block, including oil cylinder have bar side pressure sensor and oil cylinder rodless side pressure sensor, and oil cylinder has bar side pressure sensing
Device, which is set to oil cylinder, to be had in bar side, and oil cylinder rodless side pressure sensor is set on oil cylinder rodless side.
5. the jacking control system that AGV equipment is carried at a kind of harbour as claimed in claim 4, it is characterised in that：The control
Valve group processed, including：System principal pressure solenoid valve, front and rear part pressure solenoid valve, four road jacking cylinders rise control proportional pressure valve,
Four road jacking cylinders decline control proportional pressure valve, four road jacking cylinders rise the oil circuit connection of control proportional pressure valve lower end extremely
Oil circuit connection to the oil cylinder of oil cylinder rodless side, four road jacking cylinders decline control proportional pressure valve lower end has bar side.
6. the jacking control system that AGV equipment is carried at a kind of harbour as described in claim 1, it is characterised in that：The height
Power-supplying circuit is pressed, including：Current supply circuit powers on buffer loop, charge circuit, power-off circuit and low pressure auxiliary power supply time
Road.
7. the jacking control system that AGV equipment is carried at a kind of harbour as described in claim 1, it is characterised in that：Described is low
Straightening flow control component, including：Relay, control switch, fuse and with to outside connect the quick air plug of route.
8. the jacking control system that AGV equipment is carried at a kind of harbour as described in claim 1, it is characterised in that：The lithium
Battery pack, including：Several lithium battery mould groups connect in series and parallel, and each by battery management system BMS real-time management and monitoring
The charge and discharge of battery core, state of temperature in mould group, then communicated by CAN bus form with PLC.
9. the jacking control system that AGV equipment is carried at a kind of harbour as described in claim 1, it is characterised in that：Described is auxiliary
Control cabinet is helped to be equipped with Industrial air conditioner.
10. the jacking control system that AGV equipment is carried at a kind of harbour as described in claim 1, it is characterised in that：Further include：
Water cooling station, to provide cooling by water for jacking control system.
11. the jacking control system that AGV equipment is carried at a kind of harbour as described in claim 1, it is characterised in that：The control
System processed, including：Speed and the feedback closed loop of position two, speed ring are inner ring, and position ring is outer ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820636597.2U CN208135814U (en) | 2018-04-28 | 2018-04-28 | Carry the jacking control system of AGV equipment in a kind of harbour |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820636597.2U CN208135814U (en) | 2018-04-28 | 2018-04-28 | Carry the jacking control system of AGV equipment in a kind of harbour |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208135814U true CN208135814U (en) | 2018-11-23 |
Family
ID=64310243
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820636597.2U Active CN208135814U (en) | 2018-04-28 | 2018-04-28 | Carry the jacking control system of AGV equipment in a kind of harbour |
Country Status (1)
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| CN (1) | CN208135814U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108423606A (en) * | 2018-04-28 | 2018-08-21 | 上海振华重工(集团)股份有限公司 | Carry the jacking control system and its control method of AGV equipment in a kind of harbour |
-
2018
- 2018-04-28 CN CN201820636597.2U patent/CN208135814U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108423606A (en) * | 2018-04-28 | 2018-08-21 | 上海振华重工(集团)股份有限公司 | Carry the jacking control system and its control method of AGV equipment in a kind of harbour |
| CN108423606B (en) * | 2018-04-28 | 2024-03-22 | 上海振华重工(集团)股份有限公司 | Jacking control system and method of port carrying AGV equipment |
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