CN104085804B - A kind of full Terrain Cranes and center of gravity control monitor unit thereof and method - Google Patents
A kind of full Terrain Cranes and center of gravity control monitor unit thereof and method Download PDFInfo
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Abstract
The open a kind of full Terrain Cranes center of gravity control monitor unit of the present invention, comprising: sensor, for obtaining the pressure information of described crane chassis suspension oil cylinder; Controller, according to described pressure information and suspension cylinder force relation, obtains the distributed intelligence of each axle axle load and complete vehicle weight information; And according to the distributed intelligence of described each axle axle load, obtain described hoisting crane actual center gravity coordinate in x and y direction, and further according to described complete vehicle weight information, obtain described hoisting crane actual center gravity coordinate in z-direction; Described controller also by comparing the theoretical position under the actual center gravity position of hoisting crane described in three-dimensional system of coordinate and corresponding operating mode, judges whether described hoisting crane actual center gravity offsets out safe range.This device can be monitored the center of gravity of full Terrain Cranes and control, thus improves its stability under the configuration of different operating mode and safety.The present invention also provides a kind of center of gravity method for supervising and applies the full Terrain Cranes of this center of gravity control monitor unit.
Description
Technical field
The present invention relates to technical field of engineering machinery, be specifically related to center of gravity control monitor unit and the method for full Terrain Cranes.The invention still further relates to the full Terrain Cranes being provided with described center of gravity control monitor unit.
Background technology
Full Terrain Cranes, also known as all terrain crane, is a kind of premium quality product having car hosit and rough-terrain crane feature concurrently.It can as car hosit fast transfer, long distance travel, the requirement of operation on narrow and small and rugged and rough or muddy place can be met again, there is fast, the many bridge driving of moving velocity, four-wheel steering, multiple steering mode, the ground Clearance is large, hill climbing ability is high, can, without functions such as supporting leg lift heavys, be a kind of extremely rising product.
At present, full Terrain Cranes is widely used in the Large-scale Hoisting construction such as beach, mountain region, when equipment transition, because the parts such as counterweight, supporting leg, arm, auxiliary of carrying are different, the ride quality of vehicle alters a great deal, and causes center of gravity very large in height (Z axis), left and right (Y-axis), front and back (X-axis) skew.
The center of gravity of full Terrain Cranes is different with common truck, the car load center of gravity that functional characteristic and the constructional feature of hoisting crane determine it is higher than other vehicles, under difference configuration, different ride quality, its center of gravity has safe range, only have when vehicle's center of gravity is in safe range, traveling is only safe.
Due to full Terrain Cranes be converted into another kind of operating mode by a kind of operating mode time, need dismounting or assembling parts many and time-consuming.So when vehicle transition operation, there is the situation that a large amount of regulation not in accordance with operating manual carries out operating, cause being in overload motoring condition during vehicle transition, even center of gravity seriously offsets.
When there is skew in full Terrain Cranes center of gravity; axle load uneven distribution situation is serious; a kind of unknowable state is in the damage of driving system, framing member, traveling gear; control to damage owing to there is no corresponding safety method to occur; add the complexity on road surface, place, be easy to cause tumbling of hoisting crane.
In sum, full Terrain Cranes in use, do not monitor and alarm its center of gravity by conventional art, more do not have relevant control measure, easily cause vehicle's center of gravity to offset and even the Peril Incidents such as overturning occur, cause great economic loss to user and manufacturer.
Therefore, how monitoring the center of gravity of full Terrain Cranes and control, to improve its stability under different operating mode configuration and safety, is those skilled in the art's technical issues that need to address.
Summary of the invention
For above-mentioned defect, the invention provides a kind of full Terrain Cranes center of gravity control monitor unit.This device can be monitored the center of gravity of full Terrain Cranes and control, thus improves its stability under the configuration of different operating mode and safety.
On this basis, the present invention also provides a kind of full Terrain Cranes center of gravity method for supervising and is provided with the full Terrain Cranes of described center of gravity control monitor unit.
The invention provides a kind of full Terrain Cranes center of gravity control monitor unit, comprising:
Sensor, for obtaining the pressure information of described crane chassis suspension oil cylinder;
Controller, according to described pressure information and suspension cylinder force relation, obtains the distributed intelligence of each axle axle load and complete vehicle weight information;
And according to the distributed intelligence of described each axle axle load, obtain described hoisting crane actual center gravity coordinate in x and y direction, and further according to described complete vehicle weight information, obtain described hoisting crane actual center gravity coordinate in z-direction;
Described controller is also by comparing the theoretical position under the actual center gravity position of hoisting crane described in three-dimensional system of coordinate and corresponding operating mode; judge whether described hoisting crane actual center gravity offsets out safe range; if the determination result is YES; then export control information and control safety guard execution safety precautions, output alarm information is reported to the police to warning device simultaneously.
Preferably, described safety guard comprises hydro pneumatic suspension;
Described controller, according to centre-of gravity shift direction, exports control information and controls described hydro pneumatic suspension and raised separately by left side, right side, front or rear or reduced and oppositely adjust, make described hoisting crane actual center gravity enter safe range.
Preferably, described safety guard comprises electric-hydraulic proportion steering swivel system;
Described controller, according to centre-of gravity shift direction, exports control information and controls described electric-hydraulic proportion steering swivel system by each axle steer angle to secure side to adjustment, make described hoisting crane actual center gravity enter safe range.
Preferably, described warning device comprises telltale;
Described controller exports the speed of a motor vehicle, total axle load, actual center gravity position, each axle axle load information and centre-of gravity shift direction information to described telltale simultaneously.
Full Terrain Cranes center of gravity method for supervising provided by the invention, comprises the following steps:
Obtain the pressure information of described crane chassis suspension oil cylinder;
According to described pressure information and suspension cylinder force relation, obtain the distributed intelligence of each axle axle load and complete vehicle weight information;
And according to the distributed intelligence of described each axle axle load, obtain described hoisting crane actual center gravity coordinate in x and y direction, and further according to described complete vehicle weight information, obtain described hoisting crane actual center gravity coordinate in z-direction;
By comparing the theoretical position under the actual center gravity position of hoisting crane described in three-dimensional system of coordinate and corresponding operating mode; judge whether described hoisting crane actual center gravity offsets out safe range; if the determination result is YES, then perform safety precautions, output alarm information is reported to the police simultaneously.
Further; perform safety precautions in the following manner: according to centre-of gravity shift direction; output control information control hydro pneumatic suspension is raised separately by left side, right side, front or rear or is reduced and oppositely adjusts, and makes described hoisting crane actual center gravity enter safe range.
Further, perform safety precautions in the following manner: according to centre-of gravity shift direction, each axle steer angle to secure side to adjustment, makes described hoisting crane actual center gravity enter safe range by output control information control electric-hydraulic proportion steering swivel system.
Further, perform safety precautions in the following manner: described hoisting crane actual center gravity offsets out safe range if judge, and when exceeding safety precautions correcting range, export control information and control hoisting crane parking.
Further, report to the police in the following manner: output alarm information, to telltale, exports the speed of a motor vehicle, total axle load, actual center gravity position, each axle axle load information and centre-of gravity shift direction information to described telltale simultaneously.
Full Terrain Cranes provided by the invention, comprises gantry body and control system, and described control system is provided with the full Terrain Cranes center of gravity control monitor unit described in above-mentioned any one.
Full Terrain Cranes center of gravity control monitor unit provided by the invention take Vehicle Controller as core, axle load data are obtained by sensor, calculate complete vehicle weight, controller is first according to the size distribution of each axle axle load, draw the coordinate of X, Y both direction of vehicle actual center gravity, again according to complete vehicle weight, calculate the coordinate of actual center gravity Z-direction.Then, by comparing actual position and the theoretical position of center of gravity in three-dimensional system of coordinate, judging whether center of gravity offsets, if there is skew, carrying out safety control, and reported to the police by telltale to vehicle, the timely maneuver vehicle of prompting operator enters safe condition.
The present invention is monitored the axle load of vehicle and center of gravity in real time by controller, and the distribution of the axle load of vehicle in driving process, centre-of gravity shift, alarm message etc. are fed back to operator.When operator finds that the serious skewness of vehicle each axle axle load or centre-of gravity shift go out design safety scope, controller sends safety protection control instruction, impels operator to allow vehicle return safe condition.The invention solves the abnormal tyre wearing and tearing that full Terrain Cranes causes because of axle load abnormal distribution, the driving system load that centre-of gravity shift causes is excessive and damage, framing member distortion, the problem such as vehicle abnormality shake, vehicle and parts service life thereof can be significantly improved, reduce maintenance expense.
Because above-mentioned center of gravity control monitor unit has above-mentioned technique effect, the center of gravity method for supervising based on same principle also has identical technique effect with the full Terrain Cranes comprising this center of gravity control monitor unit.
Accompanying drawing explanation
Fig. 1 is the control principle drawing of full Terrain Cranes center of gravity control monitor unit provided by the present invention;
Fig. 2 is the control flow chart of full Terrain Cranes center of gravity method for supervising provided by the present invention.
Detailed description of the invention
Core of the present invention is to provide a kind of full Terrain Cranes center of gravity control monitor unit, to monitor the center of gravity of full Terrain Cranes and to control, thus improves its stability under different operating mode configuration and safety.
Present embodiment is illustrated below in conjunction with Figure of description.
Without loss of generality, present embodiment describes in detail using the full Terrain Cranes having car hosit and rough-terrain crane feature concurrently as main body.
Please refer to Fig. 1, Fig. 1 is the control principle drawing of full Terrain Cranes center of gravity control monitor unit provided by the present invention.
As shown in the figure, in a kind of detailed description of the invention, full Terrain Cranes center of gravity control monitor unit provided by the invention, primarily of compositions such as sensor, controller, safety guard and warning devices.
Sensor is pressure sensor, is located at crane chassis suspension oil circuit, for detecting the pressure data of crane chassis suspension oil cylinder.
Controller is Vehicle Controller, such as PLC, and it can receive, send data, carries out download program, logic operation, and supports CAN communication.
Full Terrain Cranes has different theoretical axle loads and the position of theoretical center of gravity under different operating mode configuration (as shown in Table 1), and the center-of-gravity position of reality is determined by the size distribution of each axle axle load of reality and complete vehicle weight, when actual center gravity position and theoretical center-of-gravity position deviation larger time, then think that centre-of gravity shift goes out safe range.
Table one hoisting crane operating mode allocation list
It is core that full Terrain Cranes center of gravity is monitored in real time with Vehicle Controller; suspension oil cylinder working-pressure sensor signals etc. are as the input of controller; analyze suspension cylinder force situation; vehicle axle load distribution and lade weight of a vehicle is calculated through programmed algorithm; controller judges whether actual center gravity position offsets out the safe range of design gravity position, if offset out safe range, corresponding Preservation tactics taked by controller; and reported to the police by telltale, the timely maneuver vehicle of prompting operator enters safe condition.
Full Terrain Cranes center of gravity monitoring comprises center of gravity and monitors control program part and display alarm program two parts in real time, is described below respectively:
(1) center of gravity monitoring controls
As previously mentioned, full Terrain Cranes is under different operating mode during (namely under Different Weight) transition traveling, and its each axle axle load has corresponding design safety scope to center of gravity.When it travels in transition, if its deviation of gravity center goes out safe range, vehicle has the possibility of tumbling at any time, after Vehicle Controller detects this exception, take measure of control even to force to stop immediately, ensure the safety of vehicle, its control policy diagram of circuit as shown in Figure 2.
Sensor exports the suspension oil cylinder working-pressure data detected to controller, controller is according to the stress balance formula of pressure data and suspension oil cylinder, calculate the distributed intelligence of each axle axle load and complete vehicle weight information, the weight of namely every root axletree bearing and lade weight of a vehicle, and data are sent to telltale by vehicle body network show.
Controller is according to the distributed intelligence of each axle axle load, the coordinate of hoisting crane actual center gravity on X (front and back) and Y (left and right) direction can be calculated, and according to complete vehicle weight information, the coordinate of hoisting crane actual center gravity on Z (highly) direction can be calculated further.
Judge whether hoisting crane actual center gravity offsets out safe range and performed by controller, controller is by comparing the theoretical position under the actual center gravity position of hoisting crane in three-dimensional system of coordinate and corresponding operating mode, judge whether hoisting crane actual center gravity offsets out safe range, safe range is an interval centered by theoretical center-of-gravity position, actual center gravity is in this interval, then illustrate that hoisting crane actual center gravity is in safe range, otherwise, excessive or too smallly all illustrate that hoisting crane actual center gravity is not in safe range.
Controller is once judge that actual center gravity offsets out safe range, and just export control information and control safety guard execution safety precautions, output alarm information is reported to the police to warning device simultaneously.
Particularly; safety guard comprises hydro pneumatic suspension; controller is when performing safety precautions; according to centre-of gravity shift direction; output control information control hydro pneumatic suspension is raised separately by left side, right side, front or rear or is reduced and oppositely adjusts, and makes hoisting crane actual center gravity enter safe range.
Such as, if hoisting crane actual center gravity front side in the X direction offsets out safe range, then controller exports control information, and the rear controlling hydro pneumatic suspension reduces separately, oppositely adjusts, till hoisting crane actual center gravity enters safe range; If hydro pneumatic suspension rear has been down to minimum, or be down to minimum after, still offset out safe range in above-mentioned direction, then controller exports control information, the front controlling hydro pneumatic suspension raises separately, oppositely adjusts, till hoisting crane actual center gravity enters safe range.
If hoisting crane actual center gravity rear side in the X direction offsets out safe range, or left side in the Y direction or right side offset out safe range, and its adjustment mode is similar with it, just no longer repeats.
If hoisting crane actual center gravity offsets out safe range in z-direction, be that height of gravitational center is too high under normal circumstances, then the exportable control information of controller, controls hydro pneumatic suspension entirety and reduces, thus make actual center gravity be reduced to safe range.
If hoisting crane actual center gravity at any two or simultaneously offset out safe range in three directions of X, Y, Z, then can regulate successively according to the order of setting, finally make center of gravity all be reduced to safe range in all directions.
If hoisting crane actual center gravity still can not be made to enter safe range by the adjustment of hydro pneumatic suspension, then controller exports control information, controls hoisting crane and stops.
Safety guard can also comprise electric-hydraulic proportion steering swivel system; controller is when performing safety precautions; according to centre-of gravity shift direction; export control information and control electric-hydraulic proportion steering swivel system by each axle steer angle to secure side to adjustment; hoisting crane actual center gravity is made to enter safe range; the adjustment mode of its concrete adjustment mode and hydro pneumatic suspension is similar, specifically can with reference to above.
In addition, if operator finds hoisting crane actual center gravity, position offset is excessive, first can stop and alleviate configuration.The configuration of carrying due to vehicle up direction is more, and the center of gravity of vehicle is higher, therefore stops and alleviates the method that configuration is most safe and feasible.
(2) center of gravity monitoring display
Telltale selected by warning device, it is arranged on operator's compartment, be provided with peripheral operation, input equipment, there is the functions such as control command input, selection and information of vehicles display, it is the mutual medium of operator and information of vehicles, operator assigns partial control instruction by telltale to vehicle, and information of vehicles also can be fed back to operator in the mode of picture and text by same telltale.
The real-time monitoring vehicle center of gravity of Vehicle Controller, if actual center gravity exceeds the safe range of design, controller sends safety control instruction, and the information such as alarm message, the speed of a motor vehicle, total axle load, center-of-gravity position coordinate, each axle axle load is sent in telltale by vehicle body CAN network, telltale is reported to the police, and reminds operator to adjust vehicle-state in time or configures vehicle by operating manual.
The sensor, controller, telltale, hydro pneumatic suspension and electric-hydraulic proportion steering swivel system all can make full use of hoisting crane existing device, namely under the prerequisite not increasing hardware, can be realized by computer program instructions related hardware on the original hardware foundation of hoisting crane, the program code realizing controlling functions can compile in the controller.
The present invention is by the pressure sensor signal input on suspension oil cylinder, and via controller routine processes obtains the axle load distribution of car load, and the position of actual disposition determination vehicle actual center gravity in three-dimensional system of coordinate of foundation vehicle.
When vehicle axle load skewness, centre-of gravity shift; controller performs safety protection control; automatically hydro pneumatic suspension can be adjusted; vehicle axle load is made to balance to the full extent; can also automatically adjust electric-hydraulic proportion and turn to each axle steer angle; again reduce traveling wind dangerous; even stop; operator is impelled to take measures to change the situation of vehicle current dangerous; simultaneously; the direction of skew, axle load distribution situation are fed back to operator by telltale, indicate the direction of correct fault handling or situation of clearing to operator.
Except center of gravity control monitor unit, the present embodiment also provides a kind of under the different operating mode configuration of full Terrain Cranes on this basis, calculate vehicle's center of gravity actual position, and judge whether center of gravity exceeds safe range, if exceed, vehicle is carried out to the center of gravity method for supervising of safety control.
Please refer to Fig. 2, Fig. 2 is the control flow chart of full Terrain Cranes center of gravity method for supervising provided by the present invention.
As shown in the figure, in a kind of specific embodiment, center of gravity method for supervising provided by the invention, for full Terrain Cranes, it carries out according to following steps:
S1. the pressure information of crane chassis suspension oil cylinder is obtained;
S2. according to pressure information and suspension cylinder force relation, the distributed intelligence of each axle axle load and complete vehicle weight information is obtained;
S3. according to the distributed intelligence of each axle axle load, obtain hoisting crane actual center gravity coordinate in x and y direction, and further according to complete vehicle weight information, obtain hoisting crane actual center gravity coordinate in z-direction;
S4. by comparing the theoretical position under the actual center gravity position of hoisting crane in three-dimensional system of coordinate and corresponding operating mode; judge whether hoisting crane actual center gravity offsets out safe range; if the determination result is YES, then perform safety precautions, output alarm information is reported to the police simultaneously.
In step s 4 which; safety precautions can be performed in the following manner: according to centre-of gravity shift direction; output control information control hydro pneumatic suspension is raised separately by left side, right side, front or rear or is reduced and oppositely adjusts, and makes described hoisting crane actual center gravity enter safe range.
In step s 4 which, also can perform safety precautions in the following manner: according to centre-of gravity shift direction, each axle steer angle to secure side to adjustment, makes described hoisting crane actual center gravity enter safe range by output control information control electric-hydraulic proportion steering swivel system.
In step s 4 which, safety precautions can also be performed in the following manner: described hoisting crane actual center gravity offsets out safe range if judge, and when exceeding safety precautions correcting range, export control information and control hoisting crane parking.
In step s 4 which, report to the police in the following manner: output alarm information, to telltale, exports the speed of a motor vehicle, total axle load, actual center gravity position, each axle axle load information and centre-of gravity shift direction information to described telltale simultaneously.
Because center of gravity method for supervising provided by the present invention corresponds to center of gravity control monitor unit mentioned above, the specific implementation process of above each step can the associated description of reference unit, repeats no more here.
Certainly, above-described embodiment is only preferred version of the present invention, is specifically not limited thereto, and can make pointed adjustment according to actual needs on this basis, thus obtain different embodiments.Such as, for improving warning effect, Warning light or buzzer phone can be set up for warning device, or for improving Man machine interaction, telltale adopts touch display screen etc.Because mode in the cards is more, just casehistory no longer one by one here.
Except above-mentioned safety guard and method for security protection; the present invention also provides a kind of full Terrain Cranes; comprise gantry body and control system; described control system is provided with the full Terrain Cranes center of gravity control monitor unit described in above-mentioned any one; all the other structures please refer to prior art, repeat no more herein.
Above full Terrain Cranes provided by the present invention and center of gravity control monitor unit thereof and method are described in detail.Apply specific case herein to set forth principle of the present invention and embodiment, the explanation of above embodiment just understands core concept of the present invention for helping.It should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention, can also carry out some improvement and modification to the present invention, these improve and modify and also fall in the protection domain of the claims in the present invention.
Claims (10)
1. a full Terrain Cranes center of gravity control monitor unit, is characterized in that, comprising:
Sensor, for obtaining the pressure information of described crane chassis suspension oil cylinder;
Controller, according to described pressure information and suspension cylinder force relation, obtains the distributed intelligence of each axle axle load and complete vehicle weight information;
And according to the distributed intelligence of described each axle axle load, obtain described hoisting crane actual center gravity coordinate in x and y direction, and further according to described complete vehicle weight information, obtain described hoisting crane actual center gravity coordinate in z-direction, wherein X and Y-direction are positioned at horizontal direction;
Described controller is also by comparing the theoretical position under the actual center gravity position of hoisting crane described in three-dimensional system of coordinate and corresponding operating mode; judge whether described hoisting crane actual center gravity offsets out safe range; if the determination result is YES; then export control information and control safety guard execution safety precautions, output alarm information is reported to the police to warning device simultaneously.
2. full Terrain Cranes center of gravity control monitor unit according to claim 1, it is characterized in that, described safety guard comprises hydro pneumatic suspension;
Described controller, according to centre-of gravity shift direction, exports hydro pneumatic suspension described in control information control left side, right side, front or rear and oppositely adjusts by raising separately or reducing, make described hoisting crane actual center gravity enter safe range.
3. full Terrain Cranes center of gravity control monitor unit according to claim 1, it is characterized in that, described safety guard comprises electric-hydraulic proportion steering swivel system;
Described controller, according to centre-of gravity shift direction, exports control information and controls described electric-hydraulic proportion steering swivel system by each axle steer angle to secure side to adjustment, make described hoisting crane actual center gravity enter safe range.
4. the full Terrain Cranes center of gravity control monitor unit according to claim 1,2 or 3, it is characterized in that, described warning device comprises telltale;
Described controller exports the speed of a motor vehicle, total axle load, actual center gravity position, each axle axle load information and centre-of gravity shift direction information to described telltale simultaneously.
5. a full Terrain Cranes center of gravity method for supervising, comprises the following steps:
Obtain the pressure information of described crane chassis suspension oil cylinder;
According to described pressure information and suspension cylinder force relation, obtain the distributed intelligence of each axle axle load and complete vehicle weight information;
And according to the distributed intelligence of described each axle axle load, obtain described hoisting crane actual center gravity coordinate in x and y direction, and further according to described complete vehicle weight information, obtain described hoisting crane actual center gravity coordinate in z-direction, wherein X and Y-direction are positioned at horizontal direction;
By comparing the theoretical position under the actual center gravity position of hoisting crane described in three-dimensional system of coordinate and corresponding operating mode; judge whether described hoisting crane actual center gravity offsets out safe range; if the determination result is YES, then perform safety precautions, output alarm information is reported to the police simultaneously.
6. full Terrain Cranes center of gravity method for supervising according to claim 5, is characterized in that, perform safety precautions in the following manner:
According to centre-of gravity shift direction, export control information control left side, right side, front or rear hydro pneumatic suspension and oppositely adjust by raising separately or reducing, make described hoisting crane actual center gravity enter safe range.
7. full Terrain Cranes center of gravity method for supervising according to claim 5, is characterized in that, perform safety precautions in the following manner:
According to centre-of gravity shift direction, each axle steer angle to secure side to adjustment, makes described hoisting crane actual center gravity enter safe range by output control information control electric-hydraulic proportion steering swivel system.
8. full Terrain Cranes center of gravity method for supervising according to claim 5, is characterized in that, perform safety precautions in the following manner:
If judge, described hoisting crane actual center gravity offsets out safe range, and when exceeding safety precautions correcting range, exports control information and control hoisting crane parking.
9. the full Terrain Cranes center of gravity method for supervising according to claim 5,6,7 or 8, is characterized in that, report to the police in the following manner:
Output alarm information, to telltale, exports the speed of a motor vehicle, total axle load, actual center gravity position, each axle axle load information and centre-of gravity shift direction information to described telltale simultaneously.
10. a full Terrain Cranes, comprises gantry body and control system, and described control system is provided with the full Terrain Cranes center of gravity control monitor unit described in any one of the claims 1 to 4.
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| CN104370224A (en) * | 2014-10-27 | 2015-02-25 | 苏州阔地网络科技有限公司 | Alarm method and system |
| CN104833327B (en) * | 2014-12-19 | 2019-02-26 | 北汽福田汽车股份有限公司 | The instrument display methods of the height condition of air suspension of automobile |
| CN105564180B (en) * | 2015-12-10 | 2018-05-29 | 航天重型工程装备有限公司 | A kind of electric wheel mining vehicle control and electric wheel mining vehicle based on suspension monitoring |
| WO2018155685A1 (en) * | 2017-02-24 | 2018-08-30 | 株式会社タダノ | Work vehicle |
| DE102018119748B4 (en) * | 2017-08-16 | 2022-11-10 | Tadano Demag Gmbh | Method for controlling a hydropneumatic suspension of a mobile crane |
| CN113865840B (en) * | 2021-08-23 | 2022-11-18 | 中联重科股份有限公司 | Method for detecting axle load, controller and engineering machinery |
| CN113776732B (en) * | 2021-11-12 | 2022-02-22 | 山东天河科技股份有限公司 | Gravity center testing system for four-arm tunneling, anchoring and protecting all-in-one machine |
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| JPH11209096A (en) * | 1998-01-26 | 1999-08-03 | Aichi Corp | Working vehicle supporting device |
| CN101391599B (en) * | 2008-10-30 | 2010-08-25 | 三一重工股份有限公司 | Method for leveling leg and automatic leveling apparatus by using said method |
| CN101387542A (en) * | 2008-10-31 | 2009-03-18 | 中国三江航天工业集团公司特种车辆技术中心 | Deadweight detection device for whole vehicle and detecting method thereof based on oil gas or air spring |
| CN101830225B (en) * | 2010-05-13 | 2012-09-19 | 吉林大学 | Engineering vehicle active anti-rollover control system and method |
| CN102807160A (en) * | 2011-06-03 | 2012-12-05 | 徐州励精紧固件制造有限公司 | Crane detection device |
| CN103342303B (en) * | 2013-07-22 | 2016-02-24 | 徐州重型机械有限公司 | A kind of hoisting crane and anti-hypsokinesis control setup thereof and method |
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