CN106986276B - A kind of supporting leg method for automatically leveling with empty leg identification function - Google Patents
A kind of supporting leg method for automatically leveling with empty leg identification function Download PDFInfo
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- CN106986276B CN106986276B CN201710415940.0A CN201710415940A CN106986276B CN 106986276 B CN106986276 B CN 106986276B CN 201710415940 A CN201710415940 A CN 201710415940A CN 106986276 B CN106986276 B CN 106986276B
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000005259 measurement Methods 0.000 claims abstract description 11
- 239000002352 surface water Substances 0.000 claims description 10
- 239000003381 stabilizer Substances 0.000 claims description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
- 238000013461 design Methods 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims description 3
- 238000004064 recycling Methods 0.000 claims description 2
- 230000004888 barrier function Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 claims 1
- 230000001174 ascending effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 239000011800 void material Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/72—Counterweights or supports for balancing lifting couples
- B66C23/78—Supports, e.g. outriggers, for mobile cranes
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of supporting leg method for automatically leveling with empty leg identification function.Above-mentioned leveling method includes the following steps: that a pressure-detecting device, the pressure born for measuring each supporting leg is arranged on each supporting leg disk respectively there are three and in the automatic horizontal control system of upper supporting leg in tool；Start automatic horizontal control system, stretch out each supporting leg, supporting leg disk pressure-detecting device is started to work, system judges whether it meets preset pressure value P according to detected value, if so, supporting leg is in stress, there is no empty legs, stop after stretching out preset length L again, supporting leg is in presetting level state at this time, can proceed with automatic leveling；When all supporting legs are in presetting level state, automatic horizontal control system is according to electrolevel measurement result, and telescopic outrigger, realizes the leveling of whole system one by one.Empty leg (individual supporting legs are hanging) phenomenon is generated after preventing leveling as a result, guarantees safety work.This method structure is simple, and reliable operation is practical.
Description
Technical field
The present invention relates to supporting leg leveling technology field, in particular to a kind of supporting leg automatic leveling with empty leg identification function
Method.
Background technique
Heavy duty work equipment needs frequent transfer tasks place, and needs to keep horizontal when operation, thus, operating equipment
It is mounted on removable vehicle mostly, guarantees that equipment is in horizontality by a set of leveling system, use need to meet equipment
It asks.Such as autocrane, Operation Van of ascending a height, the concrete mixer product for civilian use, the military use products such as radar antenna truck are to need
The operating equipment to be leveled.
The operating equipments such as autocrane, Operation Van of ascending a height, concrete mixer, radar antenna truck have construction efficiency
Height, it is adaptable the advantages that, be widely used in the fields such as building, water conservancy, electric power, road, mine, harbour and national defence.In recent years
Come, with the quickening of engineering construction speed, engineer application is also further extensive, more next to the technological improvement of operating equipment levelling device
More it is valued by people.
The equipment such as autocrane, Operation Van of ascending a height, concrete mixer, radar antenna truck are fitted with supporting leg, supporting leg
There is enough safety and stabilities for guaranteeing equipment at work.In addition, supporting leg can also not increase plant machinery
In the case where width, biggish bearing span is provided for complete machine, is set to be improved under the premise of not reducing mechanical mobility
Standby resistance to capsizing.
Supporting leg is generally disposed at mobile operating equipment bottom, symmetrically arranges, general number is four.Further to mention
Safety when high equipment operation, partial movement equipment supporting leg number increase to five or six or more supporting legs, that is, exist
Now there are four the 5th supporting legs of lower section installation on the basis of supporting leg in mobile operating equipment front headstock, in mobile operating equipment
The 6th supporting leg is installed in portion and the centre of gyration, prevailing quality distributing position install auxiliary leg.When operation, supporting leg stretching, extension is each
Supporting leg gradually rises perpendicular to whole equipment, and mobile operating equipment is detached from ground, and whole equipment is supported by supporting leg completely.Pass through
Adjustment landing leg stretching amount is to guarantee that the process that mobile operating equipment is in horizontality is normally referred to as supporting leg leveling.For ground
Horizontal situation, supporting leg automatic leveling are relatively simple.But for the ground of out-of-flatness, supporting leg automatic leveling process is relatively complicated,
The non-stress of individual supporting legs (empty leg occur) after supporting leg leveling frequent occurrence, seriously affects the safe handling of equipment.
The method that empty leg is identified in existing supporting leg leveling system goes to check after main leveling supporting legs are adjusted empty again mostly
The handling situations of leg, this passive investigation mode not only will affect working efficiency, it is also possible to because maloperation destroys homophony and puts down
Original working condition of supporting leg.Importantly, a large amount of there are four with the automatic horizontal control system of upper supporting leg, needing to spend for tool
Time deleveling void leg.
Summary of the invention
In consideration of it, the present invention proposes a kind of supporting leg method for automatically leveling with empty leg identification function.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
The present invention provides a kind of supporting leg method for automatically leveling with empty leg identification function, for leveling Work machine,
The following steps are included:
S1, pressure sensor or position sensor or limit switch or travel switch are installed on each leveling supporting legs disk；
The pressure sensor measurement leveling supporting legs are to the pressure for supporting ground, by supporting leg to the size of contact area of ground, indirectly
Calculate the born pressure of the supporting leg；
S2, leveling supporting legs pressure preset pressure value P is determined；The leveling supporting legs pressure preset P is not more than equipment supporting leg
Maximum working pressure force value；When equipment completely it is liftoff supported by leveling supporting legs when pressure sensor theory detection pressure be P0, in conjunction with
P0, device structure form, distribution of weight, rigidity, the specific design parameter of intensity, it is comprehensive to determine preset pressure value P；
S3, empty leg is identified；Judge whether it meets preset pressure value P according to supporting leg disk pressure value, if so, supporting leg is in
Stress, there is no empty legs；If it is not, supporting leg need to be adjusted until eliminating empty leg；
S4, control leveling supporting legs, stretch out preset length L；The preset length L, need to be greater than leveling supporting legs after carrying because
Height change maximum value caused by deformation and gap；
S5, benchmark leveling supporting legs are determined；The controller of stabilizer automatic leveling system is set according to electrolevel measurement leveling
The drift angle of standby horizontal plane and surface water plane, and then branch is leveled on the basis of the leveling supporting legs above level device level inclination
Leg；
S6, equipment automatic leveling；Controller measures level device datum plane and surface water plane according to electrolevel
Drift angle, two farthest leveling supporting legs of command range benchmark leveling supporting legs are flexible, until the drift angle is zero；
S7, inspection, other leveling supporting legs are adjusted, is at stress；Controller checks leveling supporting legs and electronic water
Level state guarantees that electrolevel is in horizontality, all equal stress of leveling supporting legs, until equipment completes all supporting leg tune
Flat work.
Further, whether the pressure sensor has born the gravity of equipment for detecting leveling supporting legs；It can letter
Turn to position sensor, limit switch, travel switch, by detect contact surface pressure value, indirect judgement supporting leg whether stress；
Pressure sensor can be set on leg body or supporting leg disk on；Position sensor can be set on leg body, or branch
On leg disk；Limit switch can be set on leg body or supporting leg disk on.
Further, the supporting leg disk pressure value is the pressure sensor measurement gained being mounted on leveling supporting legs.
Further, the leveling supporting legs quantity of the leveling Work machine can be three or three or more；When leveling branch
When leg quantity is three, three are main leveling supporting legs, select one of them for leveling benchmark supporting leg, and another two is to adjust branch
Leg；When leveling supporting legs quantity is greater than three, three are selected as main leveling supporting legs, selects one of them for leveling benchmark supporting leg,
Another two is to adjust supporting leg；Remaining is auxiliary leveling supporting legs；Wherein, main leveling supporting legs are main stress supporting leg in leveling,
The as main stress point of equipment support, plays a crucial role to leveling；Assisting leveling supporting legs is Auxiliary support in leveling, is being set
After standby leveling, adjusts height and be allowed to load but do not influence equipment level.
Further, the electrolevel is installed on the leveling benchmark face of the leveling Work machine,
Further, the controller is connected with the electrolevel.
Further, the stabilizer automatic leveling system, for leveling Work machine characterized by comprising electronic water
Sensor, leveling supporting legs and controller；In addition, the stabilizer automatic leveling system, is one-touch automatic leveling, while retaining hand
Dynamic model formula, to remain to leveling operation or recycling under controller failure state.
Further, the electronic horizon sensor, which is characterized in that for measuring leveling Work machine horizontality,
And by measurement feedback to controller.
Further, the leveling supporting legs, which is characterized in that can be hydraulic leveling supporting leg or electric leveling supporting leg, adjust
Flat supporting leg is made of two parts of leg body and supporting leg disk；It can make to level at Work machine by adjusting oneself height
In horizontality.
Further, the controller, which is characterized in that for controlling the leveling supporting legs height of level device, make equipment
The angle value of datum plane and surface water plane is zero；Including the first control module and the second control module.
Further, first control module, which is characterized in that for receiving the leveling supporting legs pressure preset P
Afterwards, the leveling supporting legs are controlled and increase L again.
Further, second control module, which is characterized in that for determining benchmark leveling supporting legs, control other
The leveling supporting legs of leg stretch out, until drift angle folded by equipment datum plane and surface water plane is zero.
Further, stabilizer automatic leveling system provided by the invention can control benchmark leveling supporting legs by controller and stretch
Contracting is allowed to carry operating pressure, then controls other leveling supporting legs and is leveled with benchmark leveling supporting legs datum level.The present invention mentions
The stabilizer automatic leveling system of confession have it is adaptable, structure is simple, reliable operation, can ensure under different conditions each
The equal stress of supporting leg avoids leveling repeatedly because of " empty leg " problem；Meanwhile the leveling method can be suitable for tool there are four and four
With the automatic horizontal control system of upper supporting leg, be conducive to improve leveling efficiency, it is ensured that safety work.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Leveling method leg body is installed pressure and is passed in the supporting leg method for automatically leveling that Fig. 1 provides for the embodiment of the present invention one
The structural schematic diagram of sensor；
Fig. 2 is that installation site passes on leveling method supporting leg disk in supporting leg method for automatically leveling provided by Embodiment 2 of the present invention
The structural schematic diagram of sensor；
Fig. 3 is the structural block diagram for the supporting leg leveling system that the embodiment of the present invention one provides.
Description of symbols:
110 leveling supporting legs main body, 111 leveling supporting legs install interface
112 supporting leg disk, 11 leveling supporting legs 1
12 leveling supporting legs, 2 13 leveling supporting legs 3
14 leveling supporting legs, 4 1N leveling supporting legs N
20 pressure sensor, 201 pressure sensor 1
202 pressure sensor, 2 203 pressure sensor 3
204 pressure sensor, 4 20N pressure sensor N
211 position sensor, 3 controller
31 first control module, 32 second control module
4 electrolevels
Specific embodiment
The present invention is further illustrated below with reference to embodiment, is not intended to limit the present invention.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.With reference to the accompanying drawing, each preferred embodiment of the invention is described further:
The embodiment of the present invention one provides a kind of supporting leg method for automatically leveling with empty leg identification function, for leveling operation
Equipment, especially suitable for engineering machinery, comprising the following steps:
S1, pressure sensor or position sensor or limit switch or travel switch are installed on each leveling supporting legs disk；
The pressure sensor measurement leveling supporting legs are to the pressure for supporting ground, by supporting leg to the size of contact area of ground, indirectly
Calculate the born pressure of the supporting leg；
S2, leveling supporting legs pressure preset pressure value P is determined；The leveling supporting legs pressure preset P is not more than equipment supporting leg
Maximum working pressure force value；When equipment completely it is liftoff supported by leveling supporting legs when pressure sensor theory detection pressure be P0, in conjunction with
P0 value, device structure form, distribution of weight, rigidity, the specific design parameter of intensity, it is comprehensive to determine preset pressure value P；
S3, empty leg is identified；Judge whether it meets preset pressure value P according to supporting leg disk pressure value, if so, supporting leg is in
Stress, there is no empty legs；If it is not, supporting leg need to be adjusted until eliminating empty leg；
S4, control leveling supporting legs, stretch out preset length L；The preset length L, need to be greater than leveling supporting legs after carrying because
Height change maximum value caused by deformation and gap；
S5, benchmark leveling supporting legs are determined；The controller of stabilizer automatic leveling system is set according to electrolevel measurement leveling
The drift angle of standby horizontal plane and surface water plane, and then branch is leveled on the basis of the leveling supporting legs above level device level inclination
Leg；
S6, equipment automatic leveling；Controller measures level device datum plane and surface water plane according to electrolevel
Drift angle, two farthest leveling supporting legs of command range benchmark leveling supporting legs are flexible, until the drift angle is zero；
S7, inspection, other leveling supporting legs are adjusted, is at stress；Controller checks leveling supporting legs and electronic water
Level state guarantees that electrolevel is in horizontality, all equal stress of leveling supporting legs, until equipment completes all supporting leg tune
Flat work.
Pressure sensor is arranged in the supporting leg method for automatically leveling that the present embodiment one provides on leveling supporting legs first, according to shifting
Dynamic level device overall quality and gravity centre distribution calculate every leveling supporting legs theory and bear weight；When equipment is completely liftoff by adjusting
Pressure sensor theory detection pressure is P0 when flat supporting leg supports, and is set in conjunction with structure type, the rigidity of P0 value, mobile level device
Parameter setting is counted, it is comprehensive to determine leveling supporting legs pressure preset pressure value P.
After all leveling supporting legs all meet preset pressure value P, all leveling supporting legs increase predetermined length L away from
From the error introduced for compensating the gap between level device component, the deformation after carrying and place out-of-flatness avoids
" empty leg " phenomenon is generated after leading to leveling because of above-mentioned reason；Parts clearance is likely to be present between 112 supporting leg disks and ground, 110
Between leveling supporting legs main body and 112 supporting leg disks, between 110 leveling supporting legs main bodys and equipment body；When structure bears load, if
It is standby to necessarily lead to deformation；Level device expansion place can not have abswolute level ground, and there are an irregularity degreees.Therefore,
In conclusion predetermined length L should be under regulation use environment, the minimum extension elongation value of " empty leg " is not generated.
When the first control module of controller 31 detects that (i.e. it is all satisfied pre- 20 feedback signal of leveling supporting legs pressure sensor
If pressure value P) after, all leveling supporting legs stretch out predetermined length L again.Then the second control module of controller 32 receives electronic horizon
The measurement of instrument 4 is fed back, and determines that a supporting leg is benchmark leveling supporting legs in all leveling supporting legs.Keep benchmark leveling supporting legs height
It is constant, the height of another 2 main leveling supporting legs is adjusted, level device datum water level and ground level angle zero are made.Then, it adjusts
Remaining auxiliary leveling supporting legs is saved, the measured value of pressure sensor 20 is met the requirements, leveling work terminates.
The present embodiment two using position sensor alternate embodiment one pressure sensor, with 112 supporting leg disks and ground
Relative position determines whether the leveling supporting legs bear preset pressure value indirectly.Since measurement parameter changes, thus predetermined length L
It needs to be adjusted optimization according to the actual situation.
Two Position Sensor of embodiment is relative to pressure sensor in embodiment one, the simple, reliability with more structure
High, good environmental adaptability, it is cheap the advantages that, but sensitivity is not so good as pressure sensor, may result in predetermined extension elongation L
It can be bigger than normal.Different level devices can select appropriate sensor according to self-demand, realize the identification and leveling of empty leg.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of supporting leg method for automatically leveling with empty leg identification function, for leveling Work machine, which is characterized in that including
Following steps:
S1, pressure sensor or position sensor or limit switch or travel switch are installed on each leveling supporting legs disk；It is described
Pressure sensor measures leveling supporting legs and is calculated indirectly by supporting leg to the size of contact area of ground the pressure on support ground
The born pressure of the supporting leg out；
S2, leveling supporting legs pressure preset pressure value P is determined；The leveling supporting legs pressure preset P is maximum no more than equipment supporting leg
Working pressure；When equipment completely it is liftoff supported by leveling supporting legs when pressure sensor theory detection pressure be P0, in conjunction with P0 value,
The specific design parameter of device structure form, distribution of weight, rigidity, intensity, it is comprehensive to determine preset pressure value P；
S3, empty leg is identified；Judge whether it meets preset pressure value P according to supporting leg disk pressure value, if so, supporting leg is in stress
State, there is no empty legs；If it is not, supporting leg need to be adjusted until eliminating empty leg；
S4, control leveling supporting legs, stretch out preset length L；The preset length L need to be greater than leveling supporting legs after carrying because of deformation
With height change maximum value caused by gap；
S5, benchmark leveling supporting legs are determined；The controller of stabilizer automatic leveling system measures level device water according to electrolevel
The drift angle of plane and surface water plane, and then using the leveling supporting legs above level device level inclination as benchmark leveling supporting legs；
S6, equipment automatic leveling；Controller measures the inclined of level device datum plane and surface water plane according to electrolevel
Angle, two farthest leveling supporting legs of command range benchmark leveling supporting legs are flexible, until the drift angle is zero；
S7, inspection, other leveling supporting legs are adjusted, is at stress；Controller checks leveling supporting legs and electrolevel
State guarantees that electrolevel is in horizontality, all equal stress of leveling supporting legs, until equipment completes all supporting legs and levels work
Make.
2. the supporting leg method for automatically leveling with empty leg identification function according to claim 1, which is characterized in that its step
Whether pressure sensor described in S1 has born the gravity of equipment for detecting leveling supporting legs；Or use position sensing
Device, limit switch, travel switch, by detect contact surface pressure value, indirect judgement supporting leg whether stress；Pressure sensor is set
Set on leg body or supporting leg disk on；Position sensor is arranged on leg body or on supporting leg disk；Limit switch setting
On leg body or on supporting leg disk.
3. the supporting leg method for automatically leveling with empty leg identification function according to claim 1, which is characterized in that its step
The pressure value of supporting leg disk described in S3 is the pressure sensor measurement gained being mounted on leveling supporting legs.
4. the supporting leg method for automatically leveling with empty leg identification function according to claim 1, which is characterized in that leveling is made
The leveling supporting legs quantity of industry machinery is three or three or more；When leveling supporting legs quantity is three, three are the flat branch of homophony
Leg selects one of them for leveling benchmark supporting leg, and another two is to adjust supporting leg；When leveling supporting legs quantity is greater than three, selection
Three are main leveling supporting legs, select one of them for leveling benchmark supporting leg, and another two is to adjust supporting leg；Remaining is auxiliary leveling
Supporting leg；Wherein, main leveling supporting legs are main stress supporting leg in leveling, as the main stress point of equipment support, to leveling
Key effect；Assisting leveling supporting legs is Auxiliary support in leveling, after equipment leveling, adjusts height and is allowed to load but does not influence
Equipment level.
5. the supporting leg method for automatically leveling with empty leg identification function according to claim 1, which is characterized in that its step
Electrolevel described in S5 is installed on the leveling benchmark face of the leveling Work machine.
6. the supporting leg method for automatically leveling with empty leg identification function according to claim 1, which is characterized in that the control
Device processed is connected with the electrolevel.
7. the supporting leg method for automatically leveling with empty leg identification function according to claim 1, which is characterized in that its step
Stabilizer automatic leveling system described in S5, for leveling Work machine, comprising: electronic horizon sensor, leveling supporting legs and control
Device processed；In addition, the stabilizer automatic leveling system, is one-touch automatic leveling, while retaining manual mode, so as in controller event
Leveling operation or recycling are remained under barrier state.
8. the supporting leg method for automatically leveling with empty leg identification function according to claim 7, which is characterized in that electronic water
Sensor levels Work machine horizontality for measuring, and by measurement feedback to controller.
9. the supporting leg method for automatically leveling with empty leg identification function according to claim 7, which is characterized in that leveling branch
Leg is hydraulic leveling supporting leg or electric leveling supporting leg, and leveling supporting legs are made of two parts of leg body and supporting leg disk；It can
By adjusting oneself height, leveling Work machine is made to be in horizontality.
10. the supporting leg method for automatically leveling with empty leg identification function according to claim 7, which is characterized in that control
Device is used to control the leveling supporting legs height of level device, makes the angle value zero of equipment datum plane Yu surface water plane；Including
First control module and the second control module；First control module, for receiving the leveling supporting legs pressure preset P
Afterwards, the leveling supporting legs are controlled and increase L again；Second control module controls other for determining benchmark leveling supporting legs
The leveling supporting legs of leg stretch out, until drift angle folded by equipment datum plane and surface water plane is zero.
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| US11793106B2 (en) | 2020-01-07 | 2023-10-24 | Cnh Industrial America Llc | Agricultural application implement with a liftable bin |
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| CN107235457B (en) * | 2017-08-08 | 2022-10-25 | 湖南星邦智能装备股份有限公司 | Leakage detection device and method for hydraulic system of aerial work vehicle and supporting leg oil cylinder |
| CN108298444B (en) * | 2017-12-12 | 2019-08-13 | 湖南百特随车起重机有限公司 | A kind of crane intelligent anti-rollover system and crane |
| CN108361335B (en) * | 2017-12-18 | 2019-10-11 | 武汉滨湖电子有限责任公司 | A kind of control device of supporting leg |
| CN112859934A (en) * | 2021-01-18 | 2021-05-28 | 中物智建(武汉)科技有限公司 | Bearing base leveling control method and control system |
| CN113482983B (en) * | 2021-06-30 | 2023-06-16 | 三一汽车制造有限公司 | Control method and system for oil pressure balance of supporting leg oil cylinder and working machine |
| CN115571092A (en) * | 2022-10-19 | 2023-01-06 | 贵州航天天马机电科技有限公司 | Virtual leg detection mechanism and manufacturing method thereof |
| CN116182038A (en) * | 2023-02-28 | 2023-05-30 | 中国人民解放军93210部队 | Automatic leveling device and leveling method thereof |
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| DE3626621C1 (en) * | 1986-08-06 | 1987-12-17 | Messerschmitt Boelkow Blohm | Arrangement for the emergency operation of supporting systems |
| DE4231441B4 (en) * | 1992-09-19 | 2005-11-03 | Iveco Magirus Ag | Method for securing a crane or aerial rescue vehicle from tipping and anti-tilt device for carrying out the method |
| CN101963489A (en) * | 2010-10-14 | 2011-02-02 | 深圳市凯卓立液压设备有限公司 | Method for detecting touchdown of lifting legs of mobile platform |
| CN102174794B (en) * | 2011-03-07 | 2012-08-15 | 江苏科技大学 | Automatic leveling system and method for six-point support bridging platform |
| CN103587508B (en) * | 2013-10-23 | 2016-08-17 | 三一汽车起重机械有限公司 | Supporting leg leveling method and supporting leg leveling system |
| CN103950433A (en) * | 2014-03-25 | 2014-07-30 | 北京航天发射技术研究所 | Leveling control system and leveling control method of vehicle-mounted platform |
| CN104571145B (en) * | 2014-12-18 | 2017-10-03 | 中国航天科工集团第四研究院指挥自动化技术研发与应用中心 | The leveling method and device of support platform |
| CN105438138A (en) * | 2015-12-10 | 2016-03-30 | 四川航空工业川西机器有限责任公司 | Long-span double-platform automatic leveling control system |
| CN106089862B (en) * | 2016-06-23 | 2017-11-21 | 江西洪都国际机电有限责任公司 | A kind of Double tabletop four-point supporting fast leveling system and its leveling method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US11793106B2 (en) | 2020-01-07 | 2023-10-24 | Cnh Industrial America Llc | Agricultural application implement with a liftable bin |
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Effective date of registration: 20240409 Address after: Building D, Building A, Building 3, No. 2 Weiqi Road, Microelectronics Industrial Zone, Binhai New Area Economic and Technological Development Zone, Tianjin, 300000 Patentee after: Tianjin Langyu robot Co.,Ltd. Country or region after: China Address before: Room 401, College Office of Mechanical Engineering, Hunan University of Technology, No. 88, Mount Taishan Road, Tianyuan District, Zhuzhou City, Hunan Province, 412007 Patentee before: HUNAN University OF TECHNOLOGY Country or region before: China |