CN107059979A - A kind of walking excavating machine with a variety of functions - Google Patents
A kind of walking excavating machine with a variety of functions Download PDFInfo
- Publication number
- CN107059979A CN107059979A CN201710236812.XA CN201710236812A CN107059979A CN 107059979 A CN107059979 A CN 107059979A CN 201710236812 A CN201710236812 A CN 201710236812A CN 107059979 A CN107059979 A CN 107059979A
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- control device
- steering gear
- hydraulic
- fluid
- wheel
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/0808—Improving mounting or assembling, e.g. frame elements, disposition of all the components on the superstructures
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2257—Vehicle levelling or suspension systems
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
A kind of walking excavating machine with a variety of functions, is related to excavator technical field, and interconnection suspension system includes hydraulic top, left-right balance control device, anterior-posterior balance control device, the first steering gear, the second steering gear, fluid pump and fluid source；Hydraulic top is arranged on the upside for the wheel for excavating rolling stock, two hydraulic tops are provided with the upside of each wheel, two of which hydraulic top in the different wheel with end is attached by the first pipeline, and remaining hydraulic top is connected by second pipe in the other end different wheel of remaining hydraulic top respectively with homonymy in the different wheel with end；Left-right balance control device is connected by pipeline with the connecting tube of both sides second positioned at vehicle respectively, and anterior-posterior balance control device is connected by pipeline with the first pipeline positioned at vehicle two ends respectively.The present invention will not jolt very much in uneven ground, be quick on the draw, stability comfortableness is good, and the function with anti-inclination, anti-rollover and anti-pitching, climbing ability is strong.
Description
Technical field：
The present invention relates to excavator technical field, and in particular to a kind of walking excavating machine with a variety of functions.
Background technology：
Walking full ground type excavator is extension and the supplement of crawler-mounted excavator function, and crawler-mounted excavator power is strong
Strength, wide using scope, occupation rate of market is high, is the excavator of most widely used model.But it is due to the limit of crawler-mounted excavator structure
System, it is impossible to or rugged bent precipitous muddy or tall and big barrier etc. the intricately safely and effectively operation of rate in type, can only lean on
Manual work.Walking excavating machine is will be often in complicated rough terrain fire field work, particularly on the climbing mound ridge and not
During the landform of level grade or step, its hydraulic suspension underaction limits the speed of excavator, generally require it is very slow
Be avoided that and jolt or undue tilt phenomenon, on uneven ground long-distance migration can not fast running, stop in height
Operation will also waste many times to adjust fuselage balance on low rough terrain, and this all greatly reduces the operating efficiency of excavator
And security performance.
The content of the invention：
The technical problems to be solved by the invention are to overcome existing technological deficiency good there is provided a kind of stability, can be with
Tilt adjustment around automatically controlling, it is not easy to topple, climbing ability is strong, can be with a variety of functions that have of fast running
Walking excavating machine.
The technical problems to be solved by the invention are realized using following technical scheme：
A kind of walking excavating machine with a variety of functions, it is characterised in that：Including interconnection suspension system and excavation rolling stock,
Described interconnection suspension system includes hydraulic top, left-right balance control device, anterior-posterior balance control device, the first steering gear, the
Two steering gears, fluid pump and fluid source；Described hydraulic top be arranged on excavate rolling stock wheel upside, each wheel it is upper
Side is provided with two hydraulic tops, and the two of which hydraulic top in the different wheel with end is attached by the first pipeline,
Remaining hydraulic top passes through in the other end different wheel of remaining hydraulic top respectively with homonymy in the different wheel with end
Second pipe is connected；Described left-right balance control device is connected by pipeline with positioned at the both sides second for excavating rolling stock respectively
Pipe is connected, and described anterior-posterior balance control device is connected by pipeline with positioned at the first pipeline for excavating rolling stock two ends respectively,
Described the second steering gear side connection left-right balance control device and other end connecting fluid pump and fluid source, described first
Steering gear side connects anterior-posterior balance control device and other end connecting fluid pump and fluid source.
Described anterior-posterior balance control device includes cylinder body, dividing plate, piston rod and piston, and described bulkhead seal, which is fixed, to be set
Put in the middle inside position of cylinder body, described piston rod slidably passes through dividing plate, piston includes two and is arranged on piston
The two ends of bar, are set respectively between the front end of described cylinder body and piston, between piston and dividing plate, between piston and cylinder body end
There is a connector, connector is respectively the first connector, the second connector, the 3rd connector and the 4th connection from front to back
Mouthful, the first described connector and the 4th connector be attached correspondingly with two the first pipelines respectively, and described the
Two connectors and the 3rd connector are attached with the first steering gear respectively.
Described left-right balance control device includes two hydraulic cylinders and fixed plate, and described fixed plate is fixedly installed on two
On the hydraulic stem of individual hydraulic cylinder, described hydraulic cylinder includes inlet and liquid outlet, the inlet of one of hydraulic cylinder and goes out
Liquid mouthful is connected with the second steering gear respectively, the inlet and liquid outlet of another hydraulic cylinder respectively with two second pipes one by one
It is corresponding to be attached.
The first described steering gear is identical with the structure of the second steering gear, including two fluid flow ports, a fluid refluxes mouthful
With a fluid input port, two fluid flow ports of the first described steering gear connect with the second connector and the 3rd connector respectively
Connect, two fluid flow ports of described the second steering gear are respectively with the inlet of a hydraulic cylinder of left-right balance control device and going out
Liquid mouthful connection, described fluid reflux mouthful is connected with fluid source, after described fluid input port is attached with fluid compression pump
It is connected again with fluid source.
Also include integral elevating control device and the 3rd steering gear, described integral elevating control device includes five hydraulic pressure
Cylinder and fixed plate, described fixed plate are fixedly installed on the hydraulic stem of five hydraulic cylinders, and described hydraulic cylinder includes inlet
And liquid outlet, the inlet and liquid outlet of one of hydraulic cylinder be connected with the 3rd steering gear respectively, four additional hydraulic cylinder
Liquid outlet is attached correspondingly with two the first pipelines and two second pipes respectively.
The 3rd described steering gear is identical with the liquid in-out mouth structure of the first steering gear and the second steering gear, the 3rd steering gear
Inlet and liquid outlet of two fluid flow ports respectively with a hydraulic cylinder of integral elevating control device be attached, it is described
Fluid reflux mouthful is connected with fluid source, and described fluid input port is connected with fluid source again after being attached with fluid compression pump.
Described the first steering gear, the second steering gear or the 3rd steering gear is substituted with solenoid directional control valve, described
First steering gear and the second steering gear are attached with gravity pendulum or sensor and power source respectively.
Described hydraulic top is substituted using air spring, and described air spring is bellows type air spring or membrane type
Air spring.
Described left-right balance control device, anterior-posterior balance control device and integral elevating control device is same using function phase
The hydraulic cylinder equipment with multiple exit substituted.
Described excavation rolling stock includes wheel support, wheel, vehicle frame, one-level hydraulic top and 2-level hydraulic top, described car
Wheel is arranged on wheel support, and described hydraulic top is arranged between wheel support and vehicle frame, and described one-level hydraulic top is arranged on car
Wheel and the sidepiece in the middle of wheel support, described 2-level hydraulic top is arranged on the sidepiece between wheel support and vehicle frame.
The present invention when the right wheels travel in the four-wheel of walking excavating machine aloft when, gravity pendulum or sensor sense
It should arrive, the hydraulic top fluid flow port for being connected the second steering gear with left side wheel by power is opened, and passes through left-right balance control
The high-pressure delivery fluid of the hydraulic top of device processed to the left so that the suspension that both sides hydraulic top is constituted, left side rise the right declines,
So that excavating rolling stock reaches balance movement.When the present invention when walking excavating machine four-wheel in left side wheels travel aloft
When, the mode of control is identical when being travelled aloft with right side wheels with principle.
Similarly, when the present invention when the front side in the four-wheel of walking excavating machine wheels travel aloft when, gravity pendulum or
Person's sensor sensing is arrived, and the hydraulic top fluid flow port for being connected the first steering gear with rear side wheel by power is opened, and is passed through
High-pressure delivery fluid from anterior-posterior balance control device to the hydraulic top of rear side so that the suspension that front and rear hydraulic top is constituted, back
Raise front to decline, so that excavating rolling stock reaches balance movement.When the present invention is when the back in the four-wheel of walking excavating machine
Wheels travel aloft when, the mode of control and principle with front side wheels travel aloft when it is identical.
The interconnection suspension of the present invention, uses balance sensor control so that the wheel of traveling can adapt to be uneven automatically
Landform, sprung-hub wheel meet it is high it is convex can shrink automatically, running into indentation can be extended automatically, and excavation rolling stock can be made to keep automatic automatically
Balance, and make excavation rolling stock in rugged landform, each wheel is essentially identical to the touch pressure on ground, makes stride
Excavator is more quick when operation is travelled, and substantially increases operating efficiency and stability, security.
The walking excavating machine of the present invention so that hydraulic suspension is interconnected again the balance sensor control of interconnection suspension so that
Excavator can keep operation in the state of autobalance all the time in any rugged landform.Because interconnection suspension has
Passive intersection lifting, which disappears to turn round, adapts to rough terrain function, it is ensured that excavator can be with fast running without too on rough terrain
Jolt, all around will not also tilt, and all wheels be uneven on ground stop or travel when, ground is connect
Touch is uniform all the time, so greatly improves the operating efficiency and safety and stability performance of excavator.
The beneficial effects of the invention are as follows：The present invention makes walking excavating machine not jolted very much in uneven ground, is quick on the draw, surely
Qualitative comfortableness is good, and the function with anti-inclination, anti-rollover and anti-pitching, climbing ability is strong.
Brief description of the drawings：
Fig. 1 is the structural representation of embodiments of the invention one；
Fig. 2 is anterior-posterior balance control device structural representation of the present invention；
Fig. 3 is left-right balance control device structural representation of the present invention；
Fig. 4 is integral elevating control device structural representation of the present invention；
Fig. 5 is the structural representation of embodiments of the invention two.
Embodiment：
In order that technological means, creation new feature, reached purpose and effect that the present invention is realized are easy to understand, below
With reference to being specifically illustrating, the present invention is expanded on further.
Embodiment one
As shown in figure 1, a kind of walking excavating machine with a variety of functions, including interconnection suspension system and excavation rolling stock 8,
Interconnecting suspension system includes hydraulic top 1, left-right balance control device 2, anterior-posterior balance control device 3, the first steering gear 4, second
Steering gear 5, fluid pump 6 and fluid source 7；Hydraulic top 1 is arranged on the upside for the wheel for excavating rolling stock 8, the upside of each wheel
Two hydraulic tops 1 are provided with, the two of which hydraulic top 1 in the different wheel with end is attached by the first pipeline 9,
Remaining hydraulic top 1 leads in the other end different wheel of remaining hydraulic top 1 respectively with homonymy in the different wheel with end
Second pipe 10 is crossed to connect；Left-right balance control device 2 is connected by pipeline with positioned at the both sides second for excavating rolling stock 8 respectively
Pipe 10 is connected, and anterior-posterior balance control device 3 is connected by pipeline with positioned at the first pipeline 9 for excavating the two ends of rolling stock 8 respectively, the
The side of two steering gear 5 connection left-right balance control device 2 and other end connecting fluid pump 6 and fluid source 7, the first steering gear 4 one
Side connection anterior-posterior balance control device 3 and other end connecting fluid pump 6 and fluid source 7.
As shown in Fig. 2 anterior-posterior balance control device 3 includes cylinder body 31, dividing plate 32, piston rod 33 and piston 34, dividing plate 32
Sealing is fixedly installed on the middle inside position of cylinder body 31, and piston rod 33 slidably passes through dividing plate 32, and piston 34 includes two
And the two ends of piston rod 33 are arranged on, between the front end of cylinder body 31 and piston 34, between piston 34 and dividing plate 32, piston 34 and cylinder
A connector is respectively arranged between the end of body 31, connector is respectively the first connector 35, the second connector from front to back
36th, the 3rd connector 37 and the 4th connector 38, the first connector 35 and the 4th connector 38 respectively with two the first pipelines 9 one
One it is corresponding be attached, the second connector 36 and the 3rd connector 37 are attached with the first steering gear 4 respectively.
As shown in figure 3, left-right balance control device 2 includes two hydraulic cylinders 21 and fixed plate 22, fixed plate 22 is fixed and set
Put on the hydraulic stem of two hydraulic cylinders 21, hydraulic cylinder 21 includes inlet and liquid outlet, the feed liquor of one of hydraulic cylinder 21
Mouthful and liquid outlet be connected respectively with the second steering gear 5, the inlet and liquid outlet of another hydraulic cylinder 21 respectively with two the
Two pipelines 10 are attached correspondingly.
As shown in figure 1, the first steering gear 4 is identical with the structure of the second steering gear 5, including two fluid flow ports 41, a streams
Body refluxing opening 42 and a fluid input port 43, two fluid flow ports 41 of the first steering gear 4 respectively with the second connector 36 and
Three connectors 37 are connected, the hydraulic cylinder 21 of two fluid flow ports 41 of the second steering gear 5 respectively with left-right balance control device 2
Inlet and liquid outlet connection, fluid reflux mouthfuls 42 is connected with fluid source 7, and fluid input port 43 is carried out with fluid compression pump 6
It is connected again with fluid source 7 after connection.
As shown in figure 1, also including integral elevating control device 11 and solenoid directional control valve 12.
As shown in figure 4, integral elevating control device 11 includes five hydraulic cylinder 11-1 and fixed plate 11-2, fixed plate 11-2
On the hydraulic stem for being fixedly installed on five hydraulic cylinder 11-1, hydraulic cylinder 11-1 includes inlet and liquid outlet, one of hydraulic pressure
Cylinder 11-1 inlet and liquid outlet is connected with solenoid directional control valve 12 respectively, four additional hydraulic cylinder 11-1 liquid outlet respectively with
Two the first pipelines 9 and two second pipes 10 are attached correspondingly.
As shown in figure 1, the first steering gear 4 and the second steering gear 5 are attached with gravity pendulum 13 respectively.Solenoid directional control valve
12 is identical with the liquid in-out mouth structure of the first steering gear 4 and the second steering gear 5, and two fluid flow ports 41 of solenoid directional control valve 12 are distinguished
It is attached with a hydraulic cylinder 11-1 of integral elevating control device 11 inlet and liquid outlet, fluid reflux mouthful 42 and stream
Body source 7 is connected, and fluid input port 43 is connected with fluid source 7 again after being attached with fluid compression pump 6.
As shown in figure 1, excavating rolling stock 8 includes wheel support 81, wheel 82, vehicle frame 83, one-level hydraulic top 84 and two grades of liquid
Bear down on one 85, wheel 82 is arranged on wheel support 81, and hydraulic top 1 is arranged between wheel support 81 and vehicle frame 83, one-level hydraulic top 84
Wheel 82 and the sidepiece in the middle of wheel support 81 are arranged on, 2-level hydraulic top 85 is arranged on the side between wheel support 81 and vehicle frame 83
Portion.
Specific embodiment 2, as shown in figure 5, integral elevating control device 11 has the liquid of multiple exit using function identical
Cylinder pressure body equipment is substituted.The structure of other structures and embodiment 1 is completely the same.
The general principle and principal character and advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the simply explanation described in above-described embodiment and specification is originally
The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (10)
1. a kind of walking excavating machine with a variety of functions, it is characterised in that：Including interconnection suspension system and excavation rolling stock, institute
The interconnection suspension system stated includes hydraulic top, left-right balance control device, anterior-posterior balance control device, the first steering gear, second
Steering gear, fluid pump and fluid source；Described hydraulic top is arranged on the upside for the wheel for excavating rolling stock, the upside of each wheel
Two hydraulic tops are provided with, the two of which hydraulic top in the different wheel with end is attached by the first pipeline, position
In remaining hydraulic top passes through the in the other end different wheel of remaining hydraulic top respectively with homonymy on the different wheel with end
Two pipelines are connected；Described left-right balance control device passes through pipeline and the connecting tube of both sides second positioned at excavation rolling stock respectively
Connection, described anterior-posterior balance control device is connected by pipeline with positioned at the first pipeline for excavating rolling stock two ends respectively, institute
The the second steering gear side connection left-right balance control device and other end connecting fluid pump and fluid source, described first turn stated
Anterior-posterior balance control device and other end connecting fluid pump and fluid source are connected to device side.
2. a kind of walking excavating machine with a variety of functions according to claim 1, it is characterised in that：Described is front and rear flat
The control device that weighs includes cylinder body, dividing plate, piston rod and piston, and described bulkhead seal is fixedly installed on the middle inside position of cylinder body
Put, described piston rod slidably passes through dividing plate, piston includes two and is arranged on the two ends of piston rod, described cylinder body
Be respectively arranged with a connector between front end and piston, between piston and dividing plate, between piston and cylinder body end, connector from
Front to back is respectively the first connector, the second connector, the 3rd connector and the 4th connector, the first described connector and
Four connectors are attached correspondingly with two the first pipelines respectively, the second described connector and the 3rd connector difference
It is attached with the first steering gear.
3. a kind of walking excavating machine with a variety of functions according to claim 2, it is characterised in that：Put down described left and right
The control device that weighs includes two hydraulic cylinders and fixed plate, and described fixed plate is fixedly installed on the hydraulic stem of two hydraulic cylinders,
Described hydraulic cylinder includes inlet and liquid outlet, the inlet and liquid outlet of one of hydraulic cylinder respectively with the second steering gear
Connection, the inlet and liquid outlet of another hydraulic cylinder are attached correspondingly with two second pipes respectively.
4. a kind of walking excavating machine with a variety of functions according to Claims 2 or 3, it is characterised in that：Described
One steering gear is identical with the structure of the second steering gear, including two fluid flow ports, a fluid reflux mouthful and a fluid input port,
Two fluid flow ports of the first described steering gear are connected with the second connector and the 3rd connector respectively, the second described steering gear
Inlet and liquid outlet of two fluid flow ports respectively with a hydraulic cylinder of left-right balance control device be connected, described fluid
Refluxing opening is connected with fluid source, and described fluid input port is connected with fluid source again after being attached with fluid compression pump.
5. a kind of walking excavating machine with a variety of functions according to claim 4, it is characterised in that：Also include overall liter
Control device and the 3rd steering gear are dropped, and described integral elevating control device includes five hydraulic cylinders and fixed plate, and described consolidates
Fixed board is fixedly installed on the hydraulic stem of five hydraulic cylinders, and described hydraulic cylinder includes inlet and liquid outlet, one of liquid
The inlet and liquid outlet of cylinder pressure are connected with the 3rd steering gear respectively, the liquid outlet of four additional hydraulic cylinder respectively with two first
Pipeline and two second pipes are attached correspondingly.
6. a kind of walking excavating machine with a variety of functions according to claim 5, it is characterised in that：Described the 3rd turn
It is identical with the liquid in-out mouth structure of the first steering gear and the second steering gear to device, two fluid flow ports of the 3rd steering gear respectively with it is whole
The inlet and liquid outlet of one hydraulic cylinder of body lifting control device are attached, and described fluid reflux mouthful connects with fluid source
Connect, described fluid input port is connected with fluid source again after being attached with fluid compression pump.
7. a kind of walking excavating machine with a variety of functions according to claim 6, it is characterised in that：Described first turn
Substituted to device, the second steering gear or the 3rd steering gear with solenoid directional control valve, the first described steering gear and second is turned to
Device is attached with gravity pendulum or sensor and power source respectively.
8. a kind of walking excavating machine with a variety of functions according to claim 4, it is characterised in that：Described hydraulic top
Substituted using air spring, described air spring is bellows type air spring or diaphragm type air spring.
9. a kind of walking excavating machine with a variety of functions according to claim 6, it is characterised in that：Put down described left and right
Weighing apparatus control device, anterior-posterior balance control device and integral elevating control device have the hydraulic cylinder of multiple exit using function identical
Body equipment is substituted.
10. a kind of walking excavating machine with a variety of functions according to claim 1, it is characterised in that：Described excavation
Rolling stock includes wheel support, wheel, vehicle frame, one-level hydraulic top and 2-level hydraulic top, and described wheel is arranged on wheel support, institute
The hydraulic top stated is arranged between wheel support and vehicle frame, and described one-level hydraulic top is arranged on the side in the middle of wheel and wheel support
Portion, described 2-level hydraulic top is arranged on the sidepiece between wheel support and vehicle frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710236812.XA CN107059979A (en) | 2017-04-12 | 2017-04-12 | A kind of walking excavating machine with a variety of functions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710236812.XA CN107059979A (en) | 2017-04-12 | 2017-04-12 | A kind of walking excavating machine with a variety of functions |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107059979A true CN107059979A (en) | 2017-08-18 |
Family
ID=59602028
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710236812.XA Withdrawn CN107059979A (en) | 2017-04-12 | 2017-04-12 | A kind of walking excavating machine with a variety of functions |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107059979A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11485029B2 (en) | 2017-06-29 | 2022-11-01 | Industry-University Cooperation Foundation Hanyang University Erica Campus | Working robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5621908A (en) * | 1979-07-25 | 1981-02-28 | Fiat Allis Construct Machine | Controller for liquid pressure suspension of vehicle |
| FR2822859A1 (en) * | 2001-03-29 | 2002-10-04 | Volvo Compact Equipment Sa | MULTIPURPOSE PUBLIC WORKS MACHINE OF THE LOADER-EXCAVATOR TYPE |
| CN102277891A (en) * | 2011-05-19 | 2011-12-14 | 徐工集团工程机械股份有限公司科技分公司 | Walking engineering machinery and leveling device thereof |
| CN103398035A (en) * | 2013-08-12 | 2013-11-20 | 华电重工股份有限公司 | Multi-platform multi-cylinder-synergy automatic leveling system |
-
2017
- 2017-04-12 CN CN201710236812.XA patent/CN107059979A/en not_active Withdrawn
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5621908A (en) * | 1979-07-25 | 1981-02-28 | Fiat Allis Construct Machine | Controller for liquid pressure suspension of vehicle |
| FR2822859A1 (en) * | 2001-03-29 | 2002-10-04 | Volvo Compact Equipment Sa | MULTIPURPOSE PUBLIC WORKS MACHINE OF THE LOADER-EXCAVATOR TYPE |
| CN102277891A (en) * | 2011-05-19 | 2011-12-14 | 徐工集团工程机械股份有限公司科技分公司 | Walking engineering machinery and leveling device thereof |
| CN103398035A (en) * | 2013-08-12 | 2013-11-20 | 华电重工股份有限公司 | Multi-platform multi-cylinder-synergy automatic leveling system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11485029B2 (en) | 2017-06-29 | 2022-11-01 | Industry-University Cooperation Foundation Hanyang University Erica Campus | Working robot |
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| SE01 | Entry into force of request for substantive examination | ||
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170818 |
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| WW01 | Invention patent application withdrawn after publication |