CN108382473A - A kind of non-rice habitats operation chassis active balancing device and its application method - Google Patents
A kind of non-rice habitats operation chassis active balancing device and its application method Download PDFInfo
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- CN108382473A CN108382473A CN201810149221.3A CN201810149221A CN108382473A CN 108382473 A CN108382473 A CN 108382473A CN 201810149221 A CN201810149221 A CN 201810149221A CN 108382473 A CN108382473 A CN 108382473A
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- balancing device
- angle
- rice habitats
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D49/00—Tractors
- B62D49/08—Tractors having means for preventing overturning or tipping
- B62D49/085—Counterweight
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The present invention relates to non-rice habitats balancing device fields, especially a kind of non-rice habitats operation chassis active balancing device and its application method.The device includes active regulating mechanism, angle follower, bottom steel frame (1) and electrohydraulic controlling mechanism.The non-rice habitats operation chassis active balancing device of the present invention can be directly mounted on by device for quickly disassembling on the workbench of most of non-rice habitats operation chassis, and installation is simple and convenient to operate.Meanwhile the device may be implemented to adjust the spatial position of job platform in real time, allows the operator to be maintained under horizontal sitting posture and operates equipment, it is frightened to eliminate psychology of the operating personnel in hillside fields operation, reduces labor intensity, improves working efficiency.The application method of the non-rice habitats operation chassis active balancing device of the present invention can effectively adjust Operation Van's focus of work, reduce rollover risk, improve job safety performance.
Description
Technical field
The present invention relates to non-rice habitats balancing device field, especially a kind of non-rice habitats operation chassis active balancing device and its
Application method.
Background technology
Self-propelled non-rice habitats Work machine, it is often necessary in rugged and rough ground run or in hills, hillside band operation.
Operating environment is bad, comfort is poor, low security performance is common problem.For can adapt to cross-country, farmland operation, while having again
The research of the self-propelled non-rice habitats operation power chassis of standby stronger operation stability is always the self-propelled non-rice habitats machinery neck in China
Research hotspot in domain.
It is the normality of self-propelled non-rice habitats machinery in hills, hillside operation, the operation gradient is inevitable greatly problem.It is existing
With the presence of the active balancing device leveling response time it is long, leveling speed is slow, leveling precision is bad and leveling angular range is small
Etc. problems.
Invention content
The object of the present invention is to provide a kind of non-rice habitats operation chassis active balancing device, which can solve existing skill
The problem of art, can be loaded directly on various non-rice habitats workbench by Quick Release, be directly realized by active balancing function.
It is a further object of the present invention to provide a kind of application methods of above-mentioned non-rice habitats operation chassis active balancing device.
The present invention is achieved by the following scheme：
A kind of non-rice habitats operation chassis active balancing device, including active regulating mechanism, angle follower, bottom steel frame
1 and electrohydraulic controlling mechanism.Wherein：
Active regulating mechanism includes hydraulic cylinder engaging lug 2, linear movement pick-up 4, hydraulic cylinder 5,19 and of screw shell
Variable-angle rod end bearing 18.
The cylinder barrel flange of 5 lower part of the hydraulic cylinder is connect with hydraulic cylinder engaging lug 2, the piston on 5 top of hydraulic cylinder
Bar upper end is equipped with variable-angle rod end bearing 18, and piston rod top is cased with screw shell 19, is set outside the screw shell 19
There is the first engaging lug 6.The measuring staff of linear movement pick-up 4 is parallel with hydraulic cylinder 5, and its measuring staff upper end connects with third engaging lug 8
It connects, lower end is equipped with sensor engaging lug 3；Sensor engaging lug 3 is fixed on hydraulic cylinder engaging lug 2, and third engaging lug 8 passes through
Second engaging lug 7 and the first engaging lug 6 are rotatablely connected.
Angle follower includes twin angle arbitrary-movement articulator, top mounting plate 10 and center bearing frame 24.
The twin angle arbitrary-movement articulator is set on center bearing frame 24；Twin angle arbitrary-movement articulator includes bottom framework
17, rotating mechanism, center framework 16 and top framework 11.
Bottom framework 17 is fixed on center bearing frame 24.
The rotating mechanism includes ear mount 12 outside rotary shaft, ear mount 13 and rotary shaft 15 in rotary shaft；Wherein, rotary shaft
Ear mount 13 is rotatably coupled by rotary shaft 15 in outer ear mount 12 and rotary shaft, ear mount in the outer ear mount 12 of rotary shaft and rotary shaft
13 connect with the architectural components of upper part or lower part respectively.
Between bottom framework 17 and center framework 16, two respectively symmetrically are equipped between center framework 16 and top framework 11
A rotating mechanism.The line of two rotating mechanisms between bottom framework 17 and center framework 16 and center framework 16 and top shelf
The line of two rotating mechanisms between structure 11 is vertical in the horizontal direction.
11 bottom of top framework is additionally provided with obliquity sensor 14.
The top mounting plate 10 is arranged in active regulating mechanism and twin angle arbitrary-movement articulator top；Top mounting plate 10
Center connect with the top framework 11.The quadrangle of top mounting plate 10 is respectively equipped with bearing block 9, and passes through bearing block
9 are rotatably coupled with the variable-angle rod end bearing 18 of the active regulating mechanism.
Center bearing frame 24 is located at the centre of bottom steel frame 1, centered on center bearing frame 24, is arranged symmetrically multigroup master
Dynamic regulating mechanism；Active regulating mechanism is connect by hydraulic cylinder engaging lug 2 with bottom steel frame 1.
The electrohydraulic controlling mechanism includes three position four-way electromagnetic valve 21, hydraulic power unit 22 and complete machine controller 23.
Each three position four-way electromagnetic valve 21 controls a hydraulic cylinder 5 respectively；Three position four-way electromagnetic valve 21 accesses hydraulic pump
Stand 22, the hydraulic power unit 22 is electrically connected with complete machine controller 23.
The linear movement pick-up 4 and obliquity sensor 14 are electrically connected with complete machine controller 23 respectively.
The obliquity sensor 14 is gyroscope.
The active regulating mechanism is four groups.
The center bearing frame 24 includes girder 241, reinforcement 242 and supporting beam 243；The reinforcement 242 is located at master
241 lower part of beam, every reinforcement 242 respectively with 1 structure triangular in shape of girder 241 and bottom steel frame；Supporting beam 243 is located at master
241 top of beam, and at an angle with girder 241.
The reinforcement 242 is two, and supporting beam 243 is four.
The bottom framework 17 is fixed in the supporting beam 243 of center bearing frame 24.
A kind of application method of non-rice habitats operation chassis active balancing device, includes the following steps：
A. the active balancing device is installed on off roader, and makes three position four-way electromagnetic valve 21, hydraulic power unit 22
And complete machine controller 23 is respectively connected to the Vehicular direct-current power-supply system of the vehicular platform 26 of off roader.
B. in off roader traveling process, when vehicle travels uphill, vehicular platform 26 occurs with vehicle
After obliquity sensor 14 detects angle of inclination, detection information is sent in complete machine controller 23 for the inclination of equal angular.
C. complete machine controller 23 is by information collection, operational analysis, by three in electric signal output to electrohydraulic controlling mechanism
Position four-way solenoid valve 21 controls the stretching motion of hydraulic cylinder 5 by three position four-way electromagnetic valve 21.
D. each hydraulic cylinder 5 drives the movement of angle follower；Hydraulic cylinder 5 drives top mounting plate 10 to transport by flexible
It is dynamic, and then drive the top framework 11 of twin angle arbitrary-movement articulator.
When top framework 11 moves, in twin angle arbitrary-movement articulator, center framework 16 is relative to bottom framework 17 vertical
Face is swung around rotating mechanism, and top framework 11 is relative to center framework 16 in vertical plane around the swing of rotating mechanism.
Linear movement pick-up 4 and obliquity sensor 14 detect each hydraulic cylinder 5 and duplex in real time respectively during the motion
The actual motion amount of formula angle arbitrary-movement articulator, and the data of detection are sent to complete machine controller 23.
E. sensor information acquisition fusion, operational analysis are compensated signal by complete machine controller 23 again, and compensation is believed
The three position four-way electromagnetic valve 21 number being sent in electrohydraulic controlling mechanism makes three position four-way electromagnetic valve 21 control hydraulic cylinder 5, in turn
Top mounting plate 10 is set to move.
F. non-rice habitats operation chassis active balancing device constantly repeats above step, until the active balancing device is completely flat
Weighing apparatus.
The beneficial effects of the present invention are：
1) non-rice habitats operation chassis active balancing device of the invention can be directly mounted on by device for quickly disassembling most of non-
On the workbench of road work chassis, installation is simple and convenient to operate；
2) reality may be implemented in working truck driving process in non-rice habitats operation chassis active balancing device of the invention
When adjust the spatial position of job platform, allow the operator to be maintained under horizontal sitting posture and operate equipment, eliminate operating personnel
Psychology in hillside fields when operation is frightened, reduces labor intensity, improves working efficiency；
3) application method of non-rice habitats operation chassis active balancing device of the invention can effectively adjust Operation Van's work
Center of gravity reduces rollover risk, improves job safety performance.
Description of the drawings
Fig. 1 is the front view of the non-rice habitats operation chassis active balancing device of the present invention；
Fig. 2 is the non-rice habitats operation chassis active balancing device left view of the present invention；
Fig. 3 is the non-rice habitats operation chassis active balancing device isometric side view of the present invention；
Fig. 4 is that the non-rice habitats operation chassis active balancing device of the present invention is mounted on the structural schematic diagram on job platform；
Fig. 5 is the structural representation of the twin angle arbitrary-movement articulator of the non-rice habitats operation chassis active balancing device of the present invention
Figure；
Fig. 6 is the active regulating mechanism structural schematic diagram of the non-rice habitats operation chassis active balancing device of the present invention.
Reference numeral：
1, bottom steel frame 2, hydraulic cylinder engaging lug
3, sensor engaging lug 4, linear movement pick-up
5, hydraulic cylinder 6, the first engaging lug
7, the second engaging lug 8, third engaging lug
9, bearing block 10, top mounting plate
11, the outer ear mount of top framework 12, rotary shaft
13, ear mount 14, obliquity sensor in rotary shaft
15, rotary shaft 16, center framework
17, bottom framework 18, variable-angle rod end bearing
19, screw shell 20, hydraulic power unit mounting bracket
21, three position four-way electromagnetic valve 22, hydraulic power unit
23, complete machine controller 24, center bearing frame
241, girder 242, reinforcement
243, supporting beam 26, vehicular platform
Specific implementation mode
With reference to the accompanying drawings and examples, the specific implementation mode of the present invention is described in further detail.
As shown in FIG. 1 to 3, a kind of non-rice habitats operation chassis active balancing device, including active regulating mechanism, angle with
Motivation structure, bottom steel frame 1 and electrohydraulic controlling mechanism.Wherein：
Shown in Fig. 6, active regulating mechanism includes hydraulic cylinder engaging lug 2, linear movement pick-up 4, liquid
Compressing cylinder 5, screw shell 19 and variable-angle rod end bearing 18.
The cylinder barrel flange of 5 lower part of the hydraulic cylinder is connect with hydraulic cylinder engaging lug 2, the piston on 5 top of hydraulic cylinder
Bar upper end is equipped with variable-angle rod end bearing 18, and piston rod top is cased with screw shell 19, is set outside the screw shell 19
There is the first engaging lug 6；The measuring staff of linear movement pick-up 4 is parallel with hydraulic cylinder 5, and its measuring staff upper end connects with third engaging lug 8
It connects, lower end is equipped with sensor engaging lug 3；Sensor engaging lug 3 is fixed on hydraulic cylinder engaging lug 2, and third engaging lug 8 passes through
Second engaging lug 7 and the first engaging lug 6 are rotatablely connected.When 5 stretching motion of hydraulic cylinder, the measuring staff of linear movement pick-up 4 is same
When it is flexible, realize the telescopic displacement for measuring hydraulic cylinder 5.Angle follower includes twin angle arbitrary-movement articulator, top installation
Plate 10 and center bearing frame 24.
The center bearing frame 24 includes girder 241, reinforcement 242 and supporting beam 243；The reinforcement 242 is located at master
241 lower part of beam, every reinforcement 242 respectively with 1 structure triangular in shape of girder 241 and bottom steel frame；Supporting beam 243 is located at master
241 top of beam, and at an angle with girder 241.Preferably, the reinforcement 242 is two, and supporting beam 243 is four.
As shown in figure 5, the twin angle arbitrary-movement articulator is set on center bearing frame 24.Twin angle arbitrary-movement articulator packet
Include bottom framework 17, rotating mechanism, center framework 16 and top framework 11.
Bottom framework 17 is fixed in the supporting beam 243 of center bearing frame 24.
The rotating mechanism includes ear mount 12 outside rotary shaft, ear mount 13 and rotary shaft 15 in rotary shaft.Wherein, rotary shaft
Ear mount 13 is rotatably coupled by rotary shaft 15 in outer ear mount 12 and rotary shaft, ear mount in the outer ear mount 12 of rotary shaft and rotary shaft
13 connect with the architectural components of upper part or lower part respectively.
Between bottom framework 17 and center framework 16, two respectively symmetrically are equipped between center framework 16 and top framework 11
A rotating mechanism；The line of two rotating mechanisms between bottom framework 17 and center framework 16 and center framework 16 and top
The line of two rotating mechanisms between portion's framework 11 is vertical in the horizontal direction.
11 bottom of top framework is additionally provided with obliquity sensor 14.
Preferably, the obliquity sensor 14 is gyroscope.
The top mounting plate 10 is arranged in active regulating mechanism and twin angle arbitrary-movement articulator top.Top mounting plate 10
Center connect with the top framework 11；The quadrangle of top mounting plate 10 is respectively equipped with bearing block 9, and passes through bearing block
9 are rotatably coupled with the variable-angle rod end bearing 18 of the active regulating mechanism.
Center bearing frame 24 is located at the centre of bottom steel frame 1, centered on center bearing frame 24, is arranged symmetrically multigroup master
Dynamic regulating mechanism.Active regulating mechanism is connect by hydraulic cylinder engaging lug 2 with bottom steel frame 1.
Preferably, the active regulating mechanism be four groups, respectively symmetrically be arranged in center bearing frame 24 it is forward and backward, left,
It is right.
The electrohydraulic controlling mechanism include hydraulic power unit mounting bracket 20, three position four-way electromagnetic valve 21, hydraulic power unit 22 and
Complete machine controller 23.
Electrohydraulic controlling mechanism is arranged in bottom steel frame 1；Wherein, the hydraulic power unit mounting bracket 20 is placed on hydraulic power unit 22
Rear portion that is external and being fixed on bottom steel frame 1.20 top of hydraulic power unit mounting bracket is installed by multiple three position four-way electromagnetic valves 21.It is described
Complete machine controller 23 is connect with bottom steel frame 1.
Each three position four-way electromagnetic valve 21 controls a hydraulic cylinder 5 respectively.Three position four-way electromagnetic valve 21 accesses hydraulic pump
Stand 22, the hydraulic power unit 22 is electrically connected with complete machine controller 23.
The linear movement pick-up 4 and obliquity sensor 14 are electrically connected with complete machine controller 23 respectively.
As shown in figure 4, the application method of the non-rice habitats operation chassis active balancing device of the present invention includes the following steps：
A. the active balancing device is installed on off roader, and makes three position four-way electromagnetic valve 21, hydraulic power unit 22
And complete machine controller 23 is respectively connected to the Vehicular direct-current power-supply system of the vehicular platform 26 of off roader.
B. in off roader traveling process, when vehicle travels uphill, vehicular platform 26 occurs with vehicle
After obliquity sensor 14 detects angle of inclination, detection information is sent in complete machine controller 23 for the inclination of equal angular.
C. complete machine controller 23 is by information collection, operational analysis, by three in electric signal output to electrohydraulic controlling mechanism
Position four-way solenoid valve 21 controls the stretching motion of hydraulic cylinder 5 by three position four-way electromagnetic valve 21.
D. each hydraulic cylinder 5 drives the movement of angle follower.Hydraulic cylinder 5 drives top mounting plate 10 to transport by flexible
It is dynamic, and then drive the top framework 11 of twin angle arbitrary-movement articulator.
When top framework 11 moves, in twin angle arbitrary-movement articulator, center framework 16 is relative to bottom framework 17 vertical
Face is swung around rotating mechanism, and top framework 11 is relative to center framework 16 in vertical plane around the swing of rotating mechanism.So far, duplex
Formula angle arbitrary-movement articulator realizes a wide range of any angle free movement in cartesian coordinate system by the coupling of the double-deck angle.
Linear movement pick-up 4 and obliquity sensor 14 detect each hydraulic cylinder 5 and duplex in real time respectively during the motion
The actual motion amount of formula angle arbitrary-movement articulator, and the data of detection are sent to complete machine controller 23.
E. sensor information acquisition fusion, operational analysis are compensated signal by complete machine controller 23 again, and compensation is believed
The three position four-way electromagnetic valve 21 number being sent in electrohydraulic controlling mechanism makes three position four-way electromagnetic valve 21 control hydraulic cylinder 5, in turn
Top mounting plate 10 is set to move.The above process can realize being precisely controlled to hydraulic cylinder 5, to realize to top mounting plate
10 swing angles are precisely controlled, to achieve the effect that active balancing.
F. non-rice habitats operation chassis active balancing device constantly repeats above step, until the active balancing device is completely flat
Weighing apparatus.
Claims (7)
1. a kind of non-rice habitats operation chassis active balancing device, it is characterised in that：Including active regulating mechanism, angle follower
Structure, bottom steel frame (1) and electrohydraulic controlling mechanism；Wherein：
Active regulating mechanism includes hydraulic cylinder engaging lug (2), linear movement pick-up (4), hydraulic cylinder (5), screw shell
(19) and variable-angle rod end bearing (18)；
The cylinder barrel flange of hydraulic cylinder (5) lower part is connect with hydraulic cylinder engaging lug (2), the work on hydraulic cylinder (5) top
Stopper rod upper end is equipped with variable-angle rod end bearing (18), and piston rod top is cased with screw shell (19), the screw shell
(19) external to be equipped with the first engaging lug (6)；The measuring staff of linear movement pick-up (4) is parallel with hydraulic cylinder (5), and its measuring staff upper end
It is connect with third engaging lug (8), lower end is equipped with sensor engaging lug (3)；Sensor engaging lug (3) is fixed on hydraulic cylinder connection
On ear (2), third engaging lug (8) is rotatablely connected by the second engaging lug (7) and the first engaging lug (6)；
Angle follower includes twin angle arbitrary-movement articulator, top mounting plate (10) and center bearing frame (24)；
The twin angle arbitrary-movement articulator is set on center bearing frame (24)；Twin angle arbitrary-movement articulator includes bottom framework
(17), rotating mechanism, center framework (16) and top framework (11)；
Bottom framework (17) is fixed on center bearing frame (24)；
The rotating mechanism includes ear mount (12) outside rotary shaft, ear mount (13) and rotary shaft (15) in rotary shaft；Wherein, it rotates
Ear mount (13) is rotatably coupled by rotary shaft (15) in the outer ear mount (12) of axis and rotary shaft, the outer ear mount (12) of rotary shaft and rotation
Ear mount (13) is connect with the architectural components of upper part or lower part respectively in shaft；
It respectively symmetrically is set between bottom framework (17) and center framework (16), between center framework (16) and top framework (11)
There are two rotating mechanisms；The line of two rotating mechanisms between bottom framework (17) and center framework (16) and center framework
(16) line of two rotating mechanisms between top framework (11) is vertical in the horizontal direction；
Top framework (11) bottom is additionally provided with obliquity sensor (14)；
The top mounting plate (10) is arranged in active regulating mechanism and twin angle arbitrary-movement articulator top；Top mounting plate (10)
Center connect with the top framework (11)；The quadrangle of top mounting plate (10) is respectively equipped with bearing block (9), and passes through
Bearing block (9) and the variable-angle rod end bearing (18) of the active regulating mechanism are rotatably coupled；
Center bearing frame (24) is located at the centre of bottom steel frame (1), centered on center bearing frame (24), is arranged symmetrically multigroup
Active regulating mechanism；Active regulating mechanism is connect by hydraulic cylinder engaging lug (2) with bottom steel frame (1)；
The electrohydraulic controlling mechanism includes three position four-way electromagnetic valve (21), hydraulic power unit (22) and complete machine controller (23)；
Each three position four-way electromagnetic valve (21) controls a hydraulic cylinder (5) respectively；Three position four-way electromagnetic valve (21) accesses hydraulic pressure
Pumping plant (22), the hydraulic power unit (22) are electrically connected with complete machine controller (23)；
The linear movement pick-up (4) and obliquity sensor (14) are electrically connected with complete machine controller (23) respectively.
2. non-rice habitats operation according to claim 1 chassis active balancing device, it is characterised in that：The obliquity sensor
(14) it is gyroscope.
3. non-rice habitats operation according to claim 1 chassis active balancing device, it is characterised in that：It is described actively to adjust machine
Structure is four groups.
4. non-rice habitats operation according to claim 1 chassis active balancing device, it is characterised in that：The center bearing frame
(24) include girder (241), reinforcement (242) and supporting beam (243)；The reinforcement (242) is located at girder (241) lower part,
Every reinforcement (242) respectively with girder (241) and bottom steel frame (1) structure triangular in shape；Supporting beam (243) is located at girder
(241) top, and at an angle with girder (241).
5. non-rice habitats operation according to claim 4 chassis active balancing device, it is characterised in that：The reinforcement
(242) it is two, supporting beam (243) is four.
6. non-rice habitats operation according to claim 4 chassis active balancing device, it is characterised in that：The bottom framework
(17) it is fixed in the supporting beam (243) of center bearing frame (24).
7. a kind of application method of non-rice habitats operation chassis active balancing device as described in one of claim 1~6, feature
It is：Include the following steps：
A. the active balancing device is installed on off roader, and makes three position four-way electromagnetic valve (21), hydraulic power unit (22)
And complete machine controller (23) is respectively connected to the Vehicular direct-current power-supply system of the vehicular platform (26) of off roader；
B. in off roader traveling process, when vehicle travels uphill, with vehicle phase occurs for vehicular platform (26)
With the inclination of angle, after obliquity sensor (14) detects angle of inclination, detection information is sent in complete machine controller (23)；
C. complete machine controller (23) is by information collection, operational analysis, by three in electric signal output to electrohydraulic controlling mechanism
Four way solenoid valve (21) controls the stretching motion of hydraulic cylinder (5) by three position four-way electromagnetic valve (21)；
D. each hydraulic cylinder (5) drives the movement of angle follower；Hydraulic cylinder (5) drives top mounting plate (10) by flexible
Movement, and then drive the top framework (11) of twin angle arbitrary-movement articulator；
When top framework (11) moves, in twin angle arbitrary-movement articulator, center framework (16) is relative to bottom framework (17) perpendicular
It faces directly and is swung around rotating mechanism, top framework (11) is relative to center framework (16) in vertical plane around the swing of rotating mechanism；
Linear movement pick-up (4) and obliquity sensor (14) detect each hydraulic cylinder (5) and double in real time respectively during the motion
The actual motion amount of connection formula angle arbitrary-movement articulator, and the data of detection are sent to complete machine controller (23)；
E. sensor information acquisition fusion, operational analysis are compensated signal by complete machine controller (23) again, by thermal compensation signal
The three position four-way electromagnetic valve (21) being sent in electrohydraulic controlling mechanism makes three position four-way electromagnetic valve (21) control hydraulic cylinder (5),
And then top mounting plate (10) is made to move；
F. non-rice habitats operation chassis active balancing device constantly repeats above step, until the active balancing device complete equipilibrium.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810149221.3A CN108382473B (en) | 2018-02-13 | 2018-02-13 | Active balancing device for non-road operation chassis and using method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810149221.3A CN108382473B (en) | 2018-02-13 | 2018-02-13 | Active balancing device for non-road operation chassis and using method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108382473A true CN108382473A (en) | 2018-08-10 |
| CN108382473B CN108382473B (en) | 2020-07-07 |
Family
ID=63069399
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810149221.3A Expired - Fee Related CN108382473B (en) | 2018-02-13 | 2018-02-13 | Active balancing device for non-road operation chassis and using method thereof |
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| CN110281726A (en) * | 2018-09-10 | 2019-09-27 | 燕山大学 | Stable Platform system and its control method based on Active Suspensions |
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| CN111010913A (en) * | 2019-12-20 | 2020-04-17 | 洛阳福格森机械装备有限公司 | Auxiliary tilting prevention device of mini-tiller |
| CN111141507A (en) * | 2019-12-30 | 2020-05-12 | 农业农村部南京农业机械化研究所 | Automatic leveling test bench |
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| CN110509739A (en) * | 2019-08-15 | 2019-11-29 | 燕山大学 | Merge the general six-freedom parallel posture adjustment platform in intelligent workshop of omnidirectional moving |
| CN111010913A (en) * | 2019-12-20 | 2020-04-17 | 洛阳福格森机械装备有限公司 | Auxiliary tilting prevention device of mini-tiller |
| CN111010913B (en) * | 2019-12-20 | 2022-04-29 | 洛阳福格森机械装备有限公司 | Auxiliary tilting prevention device of mini-tiller |
| CN111141507B (en) * | 2019-12-30 | 2021-06-01 | 农业农村部南京农业机械化研究所 | Automatic leveling test bench |
| CN111141507A (en) * | 2019-12-30 | 2020-05-12 | 农业农村部南京农业机械化研究所 | Automatic leveling test bench |
| CN112031462A (en) * | 2020-08-21 | 2020-12-04 | 上海建工四建集团有限公司 | Dismantling and clearing method for horizontal structure |
| CN112238822A (en) * | 2020-10-21 | 2021-01-19 | 河南大学 | Two-wheeled robot capable of remotely transmitting video based on 5G communication network |
| CN113629573A (en) * | 2021-08-09 | 2021-11-09 | 广东电网有限责任公司 | Automatic balanced insulating bench |
| CN114161395A (en) * | 2021-12-30 | 2022-03-11 | 佳木斯大学 | Mechanical pneumatic arm type robot with soft body |
| CN114161395B (en) * | 2021-12-30 | 2022-05-31 | 佳木斯大学 | Mechanical pneumatic arm type robot with soft body |
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