TWM572885U - Automatic elevator - Google Patents
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- TWM572885U TWM572885U TW107213708U TW107213708U TWM572885U TW M572885 U TWM572885 U TW M572885U TW 107213708 U TW107213708 U TW 107213708U TW 107213708 U TW107213708 U TW 107213708U TW M572885 U TWM572885 U TW M572885U
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Abstract
Description
本創作是有關於一種自動升降梯。This creation is about an automatic lift.
臺灣面臨老齡化、少子化、勞動人口減少的問題，可預見未來各行業將都將處於勞動人力不足的情形，當然，研究及檢驗單位也不例外。於各研究及檢驗單位中，除必要的核心研究及檢驗人員以外，通常還需要額外的輔助人員協助試樣、檢體等的運送，造成工作計畫的延遲及工作負擔的加重。有鑒於此，現有技術提供了一種檢體運送機器人，其可自主將檢體運送並放置於預定檢體預定放置位置上，從而減輕研究及檢驗人員因人力不足所衍生的工作壓力。Taiwan faces the problems of aging, declining birthrate, and reduced labor. It is foreseeable that all industries will be in a shortage of labor and manpower in the future. Of course, research and inspection units are no exception. In addition to the necessary core research and inspection personnel, in addition to the necessary core research and inspection personnel, additional support personnel are required to assist in the transportation of samples, specimens, etc., resulting in delays in work planning and an increase in work burden. In view of this, the prior art provides a sample transport robot that can independently transport and place a specimen on a predetermined placement position of a predetermined specimen, thereby alleviating the work pressure derived by the researcher and the inspector due to insufficient manpower.
然而，現有技術的檢體運送機器人僅限於單一樓層內的檢體運送，倘若要進行跨樓層的檢體運送，則需要另外以人力的方式將檢體拿到另一樓層並交由配置於另一樓層的檢體運送機器人進行運送，著實不便。However, the prior art sample transport robot is limited to the sample transport in a single floor. If the sample transport is to be carried out across the floor, it is necessary to manually take the sample to another floor and assign it to another floor. The transport of the sample transport robot on one floor is inconvenient.
本「先前技術」段落只是用來幫助瞭解本創作內容，因此在「先前技術」中所揭露的內容可能包含一些沒有構成所屬技術領域中具有通常知識者所知道的習知技術。此外，在「先前技術」中所揭露的內容並不代表該內容或者本創作一個或多個實施例所要解決的問題，也不代表在本創作申請前已被所屬技術領域中具有通常知識者所知曉或認知。This "Prior Art" paragraph is only intended to aid in understanding the content of this creation, and thus the content disclosed in "Previous Technology" may contain some conventional techniques that are not known to those of ordinary skill in the art. In addition, the content disclosed in the "Prior Art" does not represent the problem to be solved by the content or one or more embodiments of the present invention, nor does it mean that it has been known to those skilled in the art prior to the present application. Know or recognize.
本創作提供一種自動升降梯，可省去跨樓層運送檢體所需的人力及時間成本。This creation provides an automatic lift that eliminates the labor and time costs required to transport specimens across floors.
本創作所提供的自動升降梯包括升降廂體、升降控制組件以及自動操作組件。升降廂體具有廂門。升降控制組件適於控制升降廂體於升降通道中的移動及控制廂門的開關，升降控制組件包括操作面板，操作面板具有樓層按鈕。自動操作組件鄰接於升降廂體且包括機械手臂、手臂驅動器及無線訊號接收器，機械手臂配置於樓層按鈕旁，手臂驅動器電連接於機械手臂，無線訊號接收器電連接於手臂驅動器。無線訊號接收器接收關連於樓層按鈕的目標樓層無線訊號，手臂驅動器令機械手臂按壓樓層按鈕，以使升降廂體移動至對應目標樓層訊號的目標樓層。The automatic lift provided by this creation includes a lift car body, a lift control assembly, and an automatic operation component. The lift car has a door. The lift control assembly is adapted to control movement of the lift car in the hoistway and switch of the control door, the lift control assembly includes an operation panel, and the operation panel has a floor button. The automatic operation component is adjacent to the lifting body and includes a mechanical arm, an arm driver and a wireless signal receiver. The robot arm is disposed beside the floor button, the arm driver is electrically connected to the robot arm, and the wireless signal receiver is electrically connected to the arm driver. The wireless signal receiver receives the target floor wireless signal associated with the floor button, and the arm driver causes the robotic arm to press the floor button to move the elevator car to the target floor corresponding to the target floor signal.
在本創作的實施例中，上述的自動操作組件更包括無線網路分享器，無線網路分享器配置於升降廂體上，且無線網路分享器傳輸關連於樓層按鈕的目標樓層無線訊號至無線訊號接收器。In an embodiment of the present invention, the automatic operation component further includes a wireless network sharer, the wireless network sharer is disposed on the lift car, and the wireless network share device transmits the target floor wireless signal related to the floor button to Wireless signal receiver.
在本創作的實施例中，上述的升降廂體更包括廂壁，廂壁與廂門環繞形成內空間，無線訊號接收器裝設於廂壁上，且無線網路分享器配置於廂壁上且位於內空間中。In the embodiment of the present invention, the lifting car body further includes a car wall, and the car wall and the door surround form an inner space, the wireless signal receiver is mounted on the wall of the car, and the wireless network sharer is disposed on the wall of the car. And located in the inner space.
在本創作的實施例中，上述的操作面板更配置於廂壁上，樓層按鈕朝向內空間，機械手臂裝設於廂壁上。In the embodiment of the present invention, the operation panel is disposed on the wall of the compartment, the floor button is oriented toward the inner space, and the mechanical arm is mounted on the wall of the compartment.
在本創作的實施例中，上述的自動升降梯更包括安裝組件，安裝組件配置於機械手臂與廂壁之間且包括導引板及基板，導引板裝設於廂壁上且導引板與廂壁之間形成安裝槽，基板安裝於安裝槽中，且機械手臂安裝於基板上。In the embodiment of the present invention, the automatic elevator further includes a mounting assembly disposed between the mechanical arm and the wall of the compartment and including a guiding plate and a substrate, the guiding plate being mounted on the wall of the compartment and the guiding plate A mounting groove is formed between the wall and the wall, the substrate is mounted in the mounting groove, and the robot arm is mounted on the substrate.
在本創作的實施例中，上述的升降控制組件更包括升降驅動器，升降驅動器電連接於操作面板。In an embodiment of the present invention, the lift control assembly further includes a lift drive, and the lift drive is electrically connected to the operation panel.
本創作的自動升降梯中，無線訊號接收器可接收檢體運送機器人所發出的目標樓層無線訊號，手臂驅動器可依據無線訊號接收器接收到的目標樓層無線訊號令機械手臂按壓關連於目標樓層無線訊號的樓層按鈕，升降控制組件可依據被按壓的樓層按鈕令升降廂體於升降通道中移動至對應於目標樓層訊號的目標樓層，從而將檢體運送機器人送至目標樓層。如此一來，單一檢體運送機器人可經由本創作的自動升降梯直接將檢體運送至不同的樓層。據此，本創作的自動升降梯可省去檢體運送機器人跨樓層運送檢體所需的人力及時間成本。In the automatic elevator of the present invention, the wireless signal receiver can receive the target floor wireless signal sent by the sample transport robot, and the arm driver can press the target arm wireless signal according to the target floor wireless signal received by the wireless signal receiver to connect the target arm to the target floor wirelessly. The floor button of the signal, the lifting control component can move the lifting car body to the target floor corresponding to the target floor signal according to the pressed floor button, thereby sending the sample transport robot to the target floor. In this way, the single specimen transport robot can directly transport the specimen to different floors via the created automatic lift. Accordingly, the automatic elevator of the present invention can save the labor and time cost required for the transport robot to transport the specimen across the floor.
為讓本創作的上述和其他目的、特徵和優點能更明顯易懂，下文特舉實施例，並配合所附圖式，作詳細說明如下。The above and other objects, features and advantages of the present invention will become more apparent and understood.
圖1為本創作一實施例的自動升降梯的示意圖。圖2為本創作一實施例的自動升降梯的另一示意圖。圖3為圖1中沿A-A割線的斷面圖。圖4為本創作一實施例的自動升降梯的方塊圖。請參考圖1至4，本實施例的自動升降梯100包括升降廂體110、升降控制組件120及自動操作組件130，升降廂體110具有廂門111。升降控制組件120適於控制升降廂體110於升降通道T中的移動（包括上升、下降及停止）以及廂門111的開啟及閉合，升降控制組件120包括操作面板121，操作面板121具有樓層按鈕122，樓層按鈕122的數量可依需求設置且可為一個或多個。自動操作組件130鄰接於升降廂體110且包括機械手臂131、手臂驅動器132及無線訊號接收器133，機械手臂131與樓層按鈕122相鄰；也就是說，機械手臂131配置於樓層按鈕122旁；手臂驅動器132與機械手臂131電連接，無線訊號接收器133電連接手臂驅動器132。無線訊號接收器133適於接收關連於樓層按鈕122的目標樓層無線訊號，手臂驅動器132令機械手臂131按壓樓層按鈕122，以使升降廂體110移動至對應目標樓層訊號的目標樓層。此外，在本實施例中，升降控制組件120控制升降廂體110於升降通道T中的移動的方式如曳引、氣動或油壓與控制廂門111的開關的方式，以及配合使用的細部機構例如升降馬達、升降纜繩、油壓設備、廂門鉸鍊、鉸鍊驅動馬達等為本創作所屬技術領域中具有通常知識者的通常知識且並非本創作的重點，故於此不多加贅述。升降控制組件120更可包括升降驅動器123，升降驅動器123電連接於操作面板121，按壓操作面板121的樓層按鈕122，升降驅動器123可驅動例如升降馬達、升降纜繩、油壓設備等以控制升降廂體110於升降通道T中的移動，升降驅動器123例如為升降驅動電路。另外，上述的手臂驅動器132可例如為馬達驅動器，用以控制機械手臂131的馬達以按壓樓層按鈕122，進一步而言，手臂驅動器132可例如為馬達驅動電路。FIG. 1 is a schematic view of an automatic elevator according to an embodiment of the present invention. 2 is another schematic view of an automatic elevator according to an embodiment of the present invention. Figure 3 is a cross-sectional view taken along line A-A of Figure 1. 4 is a block diagram of an automatic elevator according to an embodiment of the present invention. Referring to FIGS. 1 to 4, the automatic elevator 100 of the present embodiment includes an elevator car 110, a lifting control assembly 120, and an automatic operation assembly 130. The elevator car 110 has a door 111. The lift control assembly 120 is adapted to control movement (including ascending, descending, and stopping) of the lift body 110 in the hoistway T and opening and closing of the door 111, the lift control assembly 120 includes an operation panel 121, and the operation panel 121 has a floor button 122. The number of floor buttons 122 can be set as desired and can be one or more. The automatic operation component 130 is adjacent to the lifting body 110 and includes a mechanical arm 131, an arm driver 132 and a wireless signal receiver 133. The robot arm 131 is adjacent to the floor button 122; that is, the mechanical arm 131 is disposed beside the floor button 122; The arm driver 132 is electrically coupled to the robot arm 131, and the wireless signal receiver 133 is electrically coupled to the arm driver 132. The wireless signal receiver 133 is adapted to receive a target floor wireless signal associated with the floor button 122, and the arm driver 132 causes the robot arm 131 to press the floor button 122 to move the elevator car 110 to the target floor corresponding to the target floor signal. In addition, in the present embodiment, the lifting control assembly 120 controls the manner in which the lifting car body 110 moves in the hoistway T, such as the way of hoisting, pneumatic or hydraulic pressure, and the switch of the control door 111, and the detailed mechanism used in combination. For example, the hoisting motor, the hoisting cable, the hydraulic device, the door hinge, the hinge drive motor, and the like are the general knowledge of those having ordinary knowledge in the technical field of the present invention and are not the focus of the present invention, and therefore will not be further described herein. The lifting control unit 120 further includes an elevation drive 123 electrically connected to the operation panel 121, pressing the floor button 122 of the operation panel 121, and the elevation drive 123 can drive, for example, an elevator motor, a lifting cable, a hydraulic device, etc. to control the elevator car. The movement of the body 110 in the hoistway T, for example, is a lifting drive circuit. Additionally, the arm driver 132 described above can be, for example, a motor driver for controlling the motor of the robot arm 131 to press the floor button 122. Further, the arm driver 132 can be, for example, a motor drive circuit.
上述的升降廂體110更可包括廂壁112，廂壁112與廂門111環繞形成內空間113，操作面板121配置於廂壁112上，樓層按鈕122朝向內空間113，機械手臂131裝設於廂壁112上。此外，無線訊號接收器133可裝設於廂壁112上。另外，上述的自動操作組件130更可包括無線網路分享器134，無線網路分享器134配置於升降廂體110上；舉例而言，無線網路分享器134可配置於廂壁112上且位於內空間113中；該無線網路分享器134可傳輸關連於樓層按鈕122的目標樓層無線訊號至無線訊號接收器133。The elevator car 110 may further include a compartment wall 112. The compartment wall 112 and the compartment door 111 surround the inner space 113. The operation panel 121 is disposed on the compartment wall 112. The floor button 122 faces the inner space 113, and the mechanical arm 131 is mounted on the casing 131. On the wall 112. In addition, the wireless signal receiver 133 can be mounted on the wall 112. In addition, the automatic operation component 130 may further include a wireless network sharer 134 disposed on the elevator car 110; for example, the wireless network sharer 134 may be disposed on the wall 112 and Located in the inner space 113; the wireless network sharer 134 can transmit the target floor wireless signal associated with the floor button 122 to the wireless signal receiver 133.
上述的自動升降梯100更可包括安裝組件140，安裝組件140配置於機械手臂131與廂壁112之間且包括導引板141及基板142，導引板141裝設於廂壁112上且導引板141與廂壁112之間形成安裝槽143，基板142安裝於安裝槽143中，且機械手臂131安裝於基板142上，但不以此為限；機械手臂131也可經由其他形式的安裝組件140安裝於廂壁112上，或者直接以黏著劑黏附於廂壁112上。The automatic lifting platform 100 further includes a mounting assembly 140 disposed between the mechanical arm 131 and the compartment wall 112 and including a guiding plate 141 and a base plate 142. The guiding plate 141 is mounted on the wall 112 and guided. A mounting groove 143 is formed between the lead plate 141 and the wall 112. The substrate 142 is mounted in the mounting groove 143, and the mechanical arm 131 is mounted on the substrate 142, but not limited thereto; the mechanical arm 131 can also be installed through other forms. The assembly 140 is mounted to the wall 112 or adhered directly to the wall 112 with an adhesive.
本實施例的自動升降梯100可搭配檢體運送機器人使用，檢體運送機器人適於自主運送檢體至預定目標位置；檢體運送機器人可例如為臺灣第107212197號新型專利申請案的檢體運送機器人，但不以此為限。於本實施方式中，為方便說明本實施例的自動升降梯100所能達成的技術效果，以下配合臺灣第107212197號新型專利申請案的檢體運送機器人進行說明。上述的檢體運送機器人可包括無線訊號發射器，檢體運送機器人的中央控制器可依據機器人位置資料控制檢體運送機器人的驅動馬達，使檢體運送機器人由起始樓層經由自動升降梯100移動至位於目標樓層的檢體預定放置位置。當到達自動升降梯100處時，檢體運送機器人的中央控制器以無線訊號發射器發出目標樓層無線訊號，目標樓層無線訊號可經由無線網路分享器134傳輸至無線訊號接收器133，無線訊號接收器133接收目標樓層無線訊號後，手臂驅動器132依據目標樓層無線訊號令機械手臂131按壓關連於目標樓層無線訊號的樓層按鈕122；然後，升降控制組件120的升降驅動器123依據被按壓的樓層按鈕122使升降廂體110移動至對應目標樓層訊號的目標樓層而將檢體運送機器人送至目標樓層，以使檢體運送機器人將檢體運送至位於目標樓層的檢體預定放置位置。如圖1中所示，目標樓層可例如為2樓。檢體運送機器人進入升降廂體110後，檢體運送機器人的中央控制器以無線訊號發射器發出關連於2樓的目標樓層無線訊號，無線訊號接收器133接收目標樓層無線訊號後，手臂驅動器132依據目標樓層無線訊號令機械手臂131按壓標示有2樓的樓層按鈕122，升降控制組件120的升降驅動器123使廂體移動至2樓以將檢體運送機器人送至2樓。The automatic lifting platform 100 of the present embodiment can be used in conjunction with a sample transport robot, and the sample transport robot is adapted to autonomously transport the sample to a predetermined target position; the sample transport robot can be, for example, a sample transport of the new patent application No. 107212197 of Taiwan. Robot, but not limited to this. In the present embodiment, in order to facilitate the description of the technical effects that can be achieved by the automatic elevator 100 of the present embodiment, the sample transport robot of the new patent application No. 107212197 is described below. The sample transport robot may include a wireless signal transmitter, and the central controller of the sample transport robot may control the drive motor of the sample transport robot according to the robot position data, so that the sample transport robot moves from the start floor via the automatic lift 100 The intended placement of the specimen to the target floor. When the automatic lift 100 is reached, the central controller of the sample transport robot sends a target floor wireless signal by the wireless signal transmitter, and the target floor wireless signal can be transmitted to the wireless signal receiver 133 via the wireless network sharer 134, the wireless signal After the receiver 133 receives the target floor wireless signal, the arm driver 132 causes the robot arm 131 to press the floor button 122 related to the target floor wireless signal according to the target floor wireless signal; then, the lifting driver 123 of the lifting control component 120 is pressed according to the pressed floor button. 122 moves the lift car 110 to the target floor corresponding to the target floor signal and sends the sample transport robot to the target floor, so that the sample transport robot transports the sample to the predetermined placement position of the sample located at the target floor. As shown in FIG. 1, the target floor may be, for example, the second floor. After the specimen transport robot enters the lift body 110, the central controller of the sample transport robot sends a target floor wireless signal connected to the second floor by the wireless signal transmitter, and the wireless signal receiver 133 receives the target floor wireless signal, and the arm driver 132 According to the target floor wireless signal, the robot arm 131 presses the floor button 122 marked with the second floor, and the elevation drive 123 of the elevation control unit 120 moves the car to the second floor to send the sample transport robot to the second floor.
在本實施例的自動升降梯100中，無線訊號接收器133與檢體運送機器人的無線訊號發射器之間的目標樓層無線訊號傳輸可以是以無限保真（Wireless Fidelity，Wi-Fi）技術完成，但不以此為限。在其他實施例中，無線訊號接收器133與檢體運送機器人的無線訊號發射器之間的目標樓層無線訊號也可以例如藍牙技術（Bluetooth）或紅外線技術等無線傳輸技術完成。In the automatic elevator 100 of the embodiment, the target floor wireless signal transmission between the wireless signal receiver 133 and the wireless signal transmitter of the sample transport robot can be completed by Wireless Fidelity (Wi-Fi) technology. , but not limited to this. In other embodiments, the target floor wireless signal between the wireless signal receiver 133 and the wireless signal transmitter of the sample transport robot can also be accomplished by wireless transmission techniques such as Bluetooth or infrared technology.
此外，在本實施例的自動升降梯100中，無線訊號接收器133是裝設於廂壁112上，檢體運送機器人於進入升降廂體110後，對無線訊號接收器133發出目標樓層無線訊號，但不以此為限。在其他實施例中，無線訊號接收器133的數量可為多個，每一無線訊號接收器可以裝設於每一樓層鄰接升降通道T的牆壁上，亦即，無線訊號接收器133未設置於升降廂體110內，檢體運送機器人於進入升降廂體110之前，對無線訊號接收器133發出目標樓層無線訊號，以使機械手臂131按壓樓層按鈕122。In addition, in the automatic elevator 100 of the present embodiment, the wireless signal receiver 133 is mounted on the wall 112, and the sample transport robot sends a target floor wireless signal to the wireless signal receiver 133 after entering the elevator car 110. , but not limited to this. In other embodiments, the number of the wireless signal receivers 133 may be multiple, and each of the wireless signal receivers may be installed on the wall adjacent to the hoistway T on each floor, that is, the wireless signal receiver 133 is not disposed on the wall. In the lift car 110, the sample transport robot sends a target floor wireless signal to the wireless signal receiver 133 before the elevator car 110 enters the lift car 110, so that the robot arm 131 presses the floor button 122.
綜上所述，本創作實施例的自動升降梯，鄰接於升降廂體的自動操作組件的無線訊號接收器可接收檢體運送機器人所發出的目標樓層無線訊號，手臂驅動器依據無線訊號接收器接收到的目標樓層無線訊號，令機械手臂按壓關連於目標樓層無線訊號的樓層按鈕，使得升降廂體於升降通道中移動至對應於目標樓層訊號的目標樓層，而將檢體運送機器人送至目標樓層，讓單一檢體運送機器人直接將檢體運送至不同的樓層，省去跨樓層運送檢體所需的人力及時間成本。In summary, in the automatic elevator of the present embodiment, the wireless signal receiver adjacent to the automatic operation component of the lift car body can receive the target floor wireless signal sent by the sample transport robot, and the arm driver receives the wireless signal receiver according to the wireless signal receiver. The target floor wireless signal, causing the robot arm to press the floor button related to the wireless signal of the target floor, so that the lifting car body moves to the target floor corresponding to the target floor signal in the hoistway, and the sample transport robot is sent to the target floor. Allows a single specimen transport robot to directly transport specimens to different floors, eliminating the labor and time costs required to transport specimens across floors.
雖然本創作已以實施例揭露如上，然其並非用以限定本創作，本創作所屬技術領域中具有通常知識者，在不脫離本創作之精神和範圍內，當可作些許之更動與潤飾，因此本創作之保護範圍當視後附之申請專利範圍所界定者為準。此外，本說明書或申請專利範圍中提及的「第一」、「第二」等用語僅用以命名元件（element）的名稱或區別不同實施例或範圍，而並非用來限制元件數量上的上限或下限。Although the present invention has been disclosed in the above embodiments, it is not intended to limit the present invention. Those skilled in the art to which the present invention pertains may have some modifications and refinements without departing from the spirit and scope of the present invention. Therefore, the scope of protection of this creation is subject to the definition of the scope of the patent application attached. In addition, the terms "first" and "second" as used in the specification or the scope of the patent application are used only to name the elements or to distinguish different embodiments or ranges, and are not intended to limit the number of elements. Upper or lower limit.
100‧‧‧自動升降梯100‧‧‧Automatic lifts
110‧‧‧升降廂體 110‧‧‧ Lifting car
111‧‧‧廂門 111‧‧‧
112‧‧‧廂壁 112‧‧‧Car wall
113‧‧‧內空間 113‧‧‧ inner space
120‧‧‧升降控制組件 120‧‧‧ Lift control unit
121‧‧‧操作面板 121‧‧‧Operator panel
122‧‧‧樓層按鈕 122‧‧‧floor button
123‧‧‧升降驅動器 123‧‧‧ Lifting drive
130‧‧‧自動操作組件 130‧‧‧Automatic components
131‧‧‧機械手臂 131‧‧‧ Robotic arm
132‧‧‧手臂驅動器 132‧‧‧arm drive
133‧‧‧無線訊號接收器 133‧‧‧Wireless signal receiver
134‧‧‧無線網路分享器 134‧‧‧Wireless Network Sharer
140‧‧‧安裝組件 140‧‧‧Installation components
141‧‧‧導引板 141‧‧‧Guideboard
142‧‧‧基板 142‧‧‧Substrate
143‧‧‧安裝槽 143‧‧‧Installation slot
T‧‧‧升降通道 T‧‧‧ hoistway
圖1為本創作一實施例的自動升降梯的示意圖； 圖2為本創作一實施例的自動升降梯的另一示意圖； 圖3為圖1中沿A-A割線的斷面圖；以及 圖4為本創作一實施例的自動升降梯的方塊圖。1 is a schematic view of an automatic lift according to an embodiment of the present invention; FIG. 2 is another schematic view of an automatic lift according to an embodiment of the present invention; FIG. 3 is a cross-sectional view taken along line AA of FIG. 1; A block diagram of an automatic lift of an embodiment of the present invention.
Claims (8)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW107213708U TWM572885U (en) | 2018-10-09 | 2018-10-09 | Automatic elevator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW107213708U TWM572885U (en) | 2018-10-09 | 2018-10-09 | Automatic elevator |
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| Publication Number | Publication Date |
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| TWM572885U true TWM572885U (en) | 2019-01-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| Country | Link |
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| TW (1) | TWM572885U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110902515A (en) * | 2019-12-17 | 2020-03-24 | 浙江欣奕华智能科技有限公司 | Elevator control equipment and method of intelligent mobile robot |
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2018
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110902515A (en) * | 2019-12-17 | 2020-03-24 | 浙江欣奕华智能科技有限公司 | Elevator control equipment and method of intelligent mobile robot |
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