CN108382473B - Active balancing device for non-road operation chassis and using method thereof - Google Patents
Active balancing device for non-road operation chassis and using method thereof Download PDFInfo
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- CN108382473B CN108382473B CN201810149221.3A CN201810149221A CN108382473B CN 108382473 B CN108382473 B CN 108382473B CN 201810149221 A CN201810149221 A CN 201810149221A CN 108382473 B CN108382473 B CN 108382473B
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- frame
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- framework
- oil cylinder
- hydraulic oil
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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
Abstract
The invention relates to the field of non-road balancing devices, in particular to a non-road operation chassis active balancing device and a using method thereof. The device comprises an active adjusting mechanism, an angle follow-up mechanism, a bottom steel frame (1) and an electro-hydraulic control mechanism. The active balancing device of the non-road operation chassis can be directly arranged on most of the working platforms of the non-road operation chassis through the quick-release device, and is simple to install and convenient to operate. Meanwhile, the device can realize real-time adjustment of the spatial position of the operation platform, so that an operator can keep operating the equipment in a horizontal sitting posture, psychological fear of the operator during operation on a sloping field is eliminated, labor intensity is reduced, and working efficiency is improved. The use method of the active balance device for the non-road operation chassis can effectively adjust the working center of gravity of the operation vehicle, reduce the risk of side turning and improve the operation safety performance.
Description
Technical Field
The invention relates to the field of non-road balancing devices, in particular to a non-road operation chassis active balancing device and a using method thereof.
Background
Self-propelled non-road work machines often need to travel on rough and uneven ground or work on hills and hills. Poor working environment, poor comfort and low safety performance are common problems. The research on the self-propelled non-road operation power chassis which can adapt to cross-country and farmland operation and has stronger operation stability is always a research hotspot in the field of self-propelled non-road machines in China.
The work on hills and hills is a normal state of the self-propelled non-road machine, and the work slope is large, which is an unavoidable problem. The existing active balancing device has the problems of long leveling response time, low leveling speed, poor leveling precision, small leveling angle range and the like.
Disclosure of Invention
The invention aims to provide an active balancing device for a non-road operation chassis, which can solve the problems in the prior art and can be directly loaded on various non-road working platforms through quick disassembly to directly realize the active balancing function.
The invention also aims to provide a use method of the active balancing device for the off-road operation chassis.
The invention is realized by the following scheme:
a non-road operation chassis active balancing device comprises an active adjusting mechanism, an angle follow-up mechanism, a bottom steel frame 1 and an electro-hydraulic control mechanism. Wherein:
the active adjustment mechanism includes a hydraulic ram engaging lug 2, a linear displacement sensor 4, a hydraulic ram 5, a threaded sleeve 19, and a variable angle rod end bearing 18.
The cylinder flange at the lower part of the hydraulic oil cylinder 5 is connected with the hydraulic oil cylinder connecting lug 2, the upper end part of a piston rod at the upper part of the hydraulic oil cylinder 5 is provided with a variable-angle rod end bearing 18, the upper part of the piston rod is sleeved with a threaded sleeve 19, and the first connecting lug 6 is arranged outside the threaded sleeve 19. A measuring rod of the linear displacement sensor 4 is parallel to the hydraulic oil cylinder 5, the upper end of the measuring rod is connected with a third connecting lug 8, and the lower end of the measuring rod is provided with a sensor connecting lug 3; the sensor engaging lug 3 is fixed on the hydraulic oil cylinder engaging lug 2, and the third engaging lug 8 is rotatably connected with the first engaging lug 6 through the second engaging lug 7.
The angle follow-up mechanism comprises a duplex angle follow-up frame, a top mounting plate 10 and a central bearing frame 24.
The duplex angle follow-up frame is arranged on the central bearing frame 24; the twin angular follower carriage includes a base frame 17, a swivel mechanism, a center frame 16, and a top frame 11.
The base frame 17 is fixed to the central carrier frame 24.
The rotating mechanism comprises a rotating shaft outer ear seat 12, a rotating shaft inner ear seat 13 and a rotating shaft 15; the rotation axis external ear mount 12 and the rotation axis internal ear mount 13 are rotatably connected by a rotation axis 15, and the rotation axis external ear mount 12 and the rotation axis internal ear mount 13 are respectively connected to an upper or lower frame member thereof.
Two rotating mechanisms are symmetrically arranged between the bottom frame 17 and the central frame 16 and between the central frame 16 and the top frame 11, respectively. The line of the two rotation mechanisms between the bottom framework 17 and the central framework 16 is perpendicular to the line of the two rotation mechanisms between the central framework 16 and the top framework 11 in the horizontal direction.
The bottom of the top framework 11 is also provided with a tilt sensor 14.
The top mounting plate 10 is arranged at the top ends of the active adjusting mechanism and the double-connection type angle follow-up frame; the top mounting plate 10 is connected to the top frame 11 at a central location. Bearing blocks 9 are respectively arranged at four corners of the top mounting plate 10, and are rotatably connected with the variable-angle rod end bearing 18 of the active adjusting mechanism through the bearing blocks 9.
The central bearing frame 24 is positioned in the middle of the bottom steel frame 1, and a plurality of groups of active adjusting mechanisms are symmetrically arranged by taking the central bearing frame 24 as a center; the active adjusting mechanism is connected with the bottom steel frame 1 through a hydraulic oil cylinder connecting lug 2.
The electro-hydraulic control mechanism comprises a three-position four-way electromagnetic valve 21, a hydraulic pump station 22 and a complete machine controller 23.
Each three-position four-way electromagnetic valve 21 respectively controls one hydraulic oil cylinder 5; the three-position four-way electromagnetic valve 21 is connected to a hydraulic pump station 22, and the hydraulic pump station 22 is electrically connected with a complete machine controller 23.
The linear displacement sensor 4 and the inclination angle sensor 14 are respectively and electrically connected with a complete machine controller 23.
The tilt sensor 14 is a gyroscope.
The active adjusting mechanisms are four groups.
The central bearing frame 24 comprises a main beam 241, a reinforcing beam 242 and a supporting beam 243; the reinforcing beams 242 are positioned at the lower part of the main beam 241, and each reinforcing beam 242 is respectively in a triangular structure with the main beam 241 and the bottom steel frame 1; the support beam 243 is located at the top of the main beam 241 and is at an angle to the main beam 241.
The number of the reinforcing beams 242 is two, and the number of the supporting beams 243 is four.
The base frame 17 is fixed to the support beams 243 of the central carrier frame 24.
A use method of an active balancing device of a non-road operation chassis comprises the following steps:
a. the active balancing device is arranged on a non-road vehicle, and the three-position four-way electromagnetic valve 21, the hydraulic pump station 22 and the complete machine controller 23 are respectively connected to a vehicle-mounted direct-current power supply system of a vehicle-mounted platform 26 of the non-road vehicle.
b. During the traveling of the non-road vehicle, when the vehicle travels on an uphill land, the vehicle-mounted platform 26 tilts with the whole vehicle at the same angle, and the tilt angle sensor 14 sends detection information to the whole vehicle controller 23 after detecting the tilt angle.
c. The complete machine controller 23 outputs an electric signal to the three-position four-way electromagnetic valve 21 in the electro-hydraulic control mechanism through information acquisition and operation analysis, and controls the telescopic motion of the hydraulic oil cylinder 5 through the three-position four-way electromagnetic valve 21.
d. Each hydraulic oil cylinder 5 drives the angle follow-up mechanism to move; the hydraulic oil cylinder 5 drives the top mounting plate 10 to move through expansion, and then drives the top framework 11 of the duplex angle follow-up frame.
When the top frame 11 moves, in the duplex type angle follow-up frame, the central frame 16 swings around the rotating mechanism in a vertical plane relative to the bottom frame 17, and the top frame 11 swings around the rotating mechanism in a vertical plane relative to the central frame 16.
The linear displacement sensor 4 and the tilt sensor 14 respectively detect the actual amount of motion of each hydraulic cylinder 5 and the duplex angle follow-up frame in real time during the motion process, and send the detected data to the whole machine controller 23.
e. The complete machine controller 23 collects, fuses, calculates and analyzes the sensor information again to obtain a compensation signal, and sends the compensation signal to the three-position four-way electromagnetic valve 21 in the electro-hydraulic control mechanism, so that the three-position four-way electromagnetic valve 21 controls the hydraulic oil cylinder 5, and the top mounting plate 10 moves.
f. The active balancing device of the non-road operation chassis continuously repeats the steps until the active balancing device is completely balanced.
The invention has the beneficial effects that:
1) the active balancing device of the non-road operation chassis can be directly arranged on most of working platforms of the non-road operation chassis through the quick-release device, and is simple to install and convenient to operate;
2) the active balancing device for the non-road operation chassis can realize real-time adjustment of the spatial position of the operation platform in the running process of the operation vehicle, so that an operator can operate equipment in a horizontal sitting posture, the psychological fear of the operator during operation on a sloping field is eliminated, the labor intensity is reduced, and the working efficiency is improved;
3) the use method of the active balance device for the non-road operation chassis can effectively adjust the working center of gravity of the operation vehicle, reduce the risk of side turning and improve the operation safety performance.
Drawings
FIG. 1 is a front view of an active balancing device for a non-road work chassis of the present invention;
FIG. 2 is a left side view of the active balancing device of the off-road vehicle chassis of the present invention;
FIG. 3 is an isometric view of an off-road work chassis active balancing apparatus of the present invention;
FIG. 4 is a schematic structural view of the active balancing device of the non-road operation chassis of the present invention mounted on the operation platform;
FIG. 5 is a schematic structural diagram of a duplex angle follower bracket of the active balancing device for a non-road operation chassis of the present invention;
fig. 6 is a schematic structural diagram of an active adjusting mechanism of the active balancing device of the non-road operation chassis of the invention.
Reference numerals:
1. bottom steel frame 2 and hydraulic oil cylinder connecting lug
3. Sensor connecting lug 4 and linear displacement sensor
5. Hydraulic cylinder 6 and first connecting lug
7. Second engaging lug 8 and third engaging lug
9. Bearing seat 10, top mounting plate
11. Top frame 12, rotary axis external ear seat
13. Rotating shaft inner ear seat 14 and inclination angle sensor
15. Rotating shaft 16, center frame
17. Bottom frame 18, variable angle rod end bearing
19. Threaded sleeve 20 and hydraulic pump station mounting frame
21. Three-position four-way electromagnetic valve 22 and hydraulic pump station
23. Complete machine controller 24 and central bearing frame
241. Main beam 242 and reinforcing beam
243. Support beam 26 and vehicle-mounted platform
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples.
As shown in fig. 1 to 3, the active balancing device for the non-road operation chassis comprises an active adjusting mechanism, an angle follow-up mechanism, a bottom steel frame 1 and an electro-hydraulic control mechanism. Wherein:
referring further to FIG. 6, the active adjustment mechanism includes a hydraulic ram engaging lug 2, a linear displacement sensor 4, a hydraulic ram 5, a threaded sleeve 19, and a variable angle rod end bearing 18.
A cylinder barrel flange at the lower part of the hydraulic oil cylinder 5 is connected with the hydraulic oil cylinder connecting lug 2, a variable-angle rod end bearing 18 is arranged at the upper end part of a piston rod at the upper part of the hydraulic oil cylinder 5, a threaded sleeve 19 is sleeved at the upper part of the piston rod, and a first connecting lug 6 is arranged outside the threaded sleeve 19; a measuring rod of the linear displacement sensor 4 is parallel to the hydraulic oil cylinder 5, the upper end of the measuring rod is connected with a third connecting lug 8, and the lower end of the measuring rod is provided with a sensor connecting lug 3; the sensor engaging lug 3 is fixed on the hydraulic oil cylinder engaging lug 2, and the third engaging lug 8 is rotatably connected with the first engaging lug 6 through the second engaging lug 7. When the hydraulic oil cylinder 5 stretches, the measuring rod of the linear displacement sensor 4 stretches simultaneously, so that the stretching displacement of the hydraulic oil cylinder 5 is measured. The angle follow-up mechanism comprises a duplex angle follow-up frame, a top mounting plate 10 and a central bearing frame 24.
The central bearing frame 24 comprises a main beam 241, a reinforcing beam 242 and a supporting beam 243; the reinforcing beams 242 are positioned at the lower part of the main beam 241, and each reinforcing beam 242 is respectively in a triangular structure with the main beam 241 and the bottom steel frame 1; the support beam 243 is located at the top of the main beam 241 and is at an angle to the main beam 241. Preferably, the number of the reinforcing beams 242 is two, and the number of the supporting beams 243 is four.
As shown in fig. 5, the duplex angle follower bracket is disposed on the central bearing frame 24. The twin angular follower carriage includes a base frame 17, a swivel mechanism, a center frame 16, and a top frame 11.
The base frame 17 is fixed to the support beams 243 of the center carrier 24.
The rotating mechanism comprises a rotating shaft outer ear seat 12, a rotating shaft inner ear seat 13 and a rotating shaft 15. The rotation axis external ear mount 12 and the rotation axis internal ear mount 13 are rotatably connected by a rotation axis 15, and the rotation axis external ear mount 12 and the rotation axis internal ear mount 13 are respectively connected to an upper or lower frame member thereof.
Two rotating mechanisms are respectively and symmetrically arranged between the bottom framework 17 and the central framework 16 and between the central framework 16 and the top framework 11; the line of the two rotation mechanisms between the bottom framework 17 and the central framework 16 is perpendicular to the line of the two rotation mechanisms between the central framework 16 and the top framework 11 in the horizontal direction.
The bottom of the top framework 11 is also provided with a tilt sensor 14.
Preferably, the tilt sensor 14 is a gyroscope.
The top mounting plate 10 is arranged at the top end of the active adjusting mechanism and the double-connected angle follow-up frame. The center of the top mounting plate 10 is connected with the top framework 11; bearing blocks 9 are respectively arranged at four corners of the top mounting plate 10, and are rotatably connected with the variable-angle rod end bearing 18 of the active adjusting mechanism through the bearing blocks 9.
The central bearing frame 24 is located in the middle of the bottom steel frame 1, and a plurality of groups of active adjusting mechanisms are symmetrically arranged by taking the central bearing frame 24 as a center. The active adjusting mechanism is connected with the bottom steel frame 1 through a hydraulic oil cylinder connecting lug 2.
Preferably, the active adjustment mechanisms are four groups, and are symmetrically arranged in front of, behind, to the left of, and to the right of the central bearing frame 24.
The electro-hydraulic control mechanism comprises a hydraulic pump station mounting frame 20, a three-position four-way electromagnetic valve 21, a hydraulic pump station 22 and a complete machine controller 23.
The electro-hydraulic control mechanism is arranged on the bottom steel frame 1; the hydraulic pump station mounting frame 20 is sleeved outside the hydraulic pump station 22 and fixed to the rear portion of the bottom steel frame 1. The top of the hydraulic pump station mounting frame 20 is provided with a plurality of three-position four-way electromagnetic valves 21. The whole machine controller 23 is connected with the bottom steel frame 1.
Each three-position four-way solenoid valve 21 controls one hydraulic cylinder 5. The three-position four-way electromagnetic valve 21 is connected to a hydraulic pump station 22, and the hydraulic pump station 22 is electrically connected with a complete machine controller 23.
The linear displacement sensor 4 and the inclination angle sensor 14 are respectively and electrically connected with a complete machine controller 23.
As shown in fig. 4, the method for using the active balancing device of the off-road work chassis of the invention comprises the following steps:
a. the active balancing device is arranged on a non-road vehicle, and the three-position four-way electromagnetic valve 21, the hydraulic pump station 22 and the complete machine controller 23 are respectively connected to a vehicle-mounted direct-current power supply system of a vehicle-mounted platform 26 of the non-road vehicle.
b. During the traveling of the non-road vehicle, when the vehicle travels on an uphill land, the vehicle-mounted platform 26 tilts with the whole vehicle at the same angle, and the tilt angle sensor 14 sends detection information to the whole vehicle controller 23 after detecting the tilt angle.
c. The complete machine controller 23 outputs an electric signal to the three-position four-way electromagnetic valve 21 in the electro-hydraulic control mechanism through information acquisition and operation analysis, and controls the telescopic motion of the hydraulic oil cylinder 5 through the three-position four-way electromagnetic valve 21.
d. Each hydraulic oil cylinder 5 drives the angle follow-up mechanism to move. The hydraulic oil cylinder 5 drives the top mounting plate 10 to move through expansion, and then drives the top framework 11 of the duplex angle follow-up frame.
When the top frame 11 moves, in the duplex type angle follow-up frame, the central frame 16 swings around the rotating mechanism in a vertical plane relative to the bottom frame 17, and the top frame 11 swings around the rotating mechanism in a vertical plane relative to the central frame 16. Therefore, the duplex angle follow-up frame realizes free motion in a large range at any angle in a Cartesian coordinate system through double-layer angle coupling.
The linear displacement sensor 4 and the tilt sensor 14 respectively detect the actual amount of motion of each hydraulic cylinder 5 and the duplex angle follow-up frame in real time during the motion process, and send the detected data to the whole machine controller 23.
e. The complete machine controller 23 collects, fuses, calculates and analyzes the sensor information again to obtain a compensation signal, and sends the compensation signal to the three-position four-way electromagnetic valve 21 in the electro-hydraulic control mechanism, so that the three-position four-way electromagnetic valve 21 controls the hydraulic oil cylinder 5, and the top mounting plate 10 moves. The accurate control to hydraulic cylinder 5 can be realized to above-mentioned process to the realization is to the accurate control of top mounting panel 10 swing angle, in order to reach the effect of initiative balance.
f. The active balancing device of the non-road operation chassis continuously repeats the steps until the active balancing device is completely balanced.
Claims (7)
1. The active balancing device for the non-road operation chassis is characterized in that: the device comprises an active adjusting mechanism, an angle follow-up mechanism, a bottom steel frame (1) and an electro-hydraulic control mechanism; wherein:
the active adjusting mechanism comprises a hydraulic oil cylinder connecting lug (2), a linear displacement sensor (4), a hydraulic oil cylinder (5), a threaded sleeve (19) and a variable-angle rod end bearing (18);
a cylinder barrel flange at the lower part of the hydraulic oil cylinder (5) is connected with the hydraulic oil cylinder connecting lug (2), a variable-angle rod end bearing (18) is arranged at the upper end part of a piston rod at the upper part of the hydraulic oil cylinder (5), a threaded sleeve (19) is sleeved at the upper part of the piston rod, and a first connecting lug (6) is arranged outside the threaded sleeve (19); a measuring rod of the linear displacement sensor (4) is parallel to the hydraulic oil cylinder (5), the upper end of the measuring rod is connected with the third connecting lug (8), and the lower end of the measuring rod is provided with a sensor connecting lug (3); the sensor connecting lug (3) is fixed on the hydraulic oil cylinder connecting lug (2), and the third connecting lug (8) is rotatably connected with the first connecting lug (6) through the second connecting lug (7);
the angle follow-up mechanism comprises a duplex angle follow-up frame, a top mounting plate (10) and a central bearing frame (24);
the duplex angle follow-up frame is arranged on the central bearing frame (24); the duplex angle follow-up frame comprises a bottom framework (17), a rotating mechanism, a central framework (16) and a top framework (11);
the bottom framework (17) is fixed on the central bearing frame (24);
the rotating mechanism comprises a rotating shaft outer ear seat (12), a rotating shaft inner ear seat (13) and a rotating shaft (15); the rotating shaft outer ear seat (12) and the rotating shaft inner ear seat (13) are rotatably connected through a rotating shaft (15), and the rotating shaft outer ear seat (12) and the rotating shaft inner ear seat (13) are respectively connected with framework components on the upper part or the lower part of the rotating shaft outer ear seat;
two rotating mechanisms are respectively and symmetrically arranged between the bottom framework (17) and the central framework (16) and between the central framework (16) and the top framework (11); the line of the axes of rotation of the two rotary mechanisms between the base structure (17) and the central structure (16) is perpendicular to the line of the axes of rotation of the two rotary mechanisms between the central structure (16) and the top structure (11) in the horizontal direction;
the bottom of the top framework (11) is also provided with an inclination angle sensor (14);
the top mounting plate (10) is arranged at the top ends of the active adjusting mechanism and the double-connection type angle follow-up frame; the central position of the top mounting plate (10) is connected with the top framework (11); bearing blocks (9) are respectively arranged at four corners of the top mounting plate (10), and the top mounting plate is rotatably connected with a variable-angle rod end bearing (18) of the active adjusting mechanism through the bearing blocks (9);
the central bearing frame (24) is positioned in the middle of the bottom steel frame (1), and a plurality of groups of active adjusting mechanisms are symmetrically arranged by taking the central bearing frame (24) as a center; the active adjusting mechanism is connected with the bottom steel frame (1) through a hydraulic oil cylinder connecting lug (2);
the electro-hydraulic control mechanism comprises a three-position four-way electromagnetic valve (21), a hydraulic pump station (22) and a complete machine controller (23);
each three-position four-way electromagnetic valve (21) respectively controls one hydraulic oil cylinder (5); the three-position four-way electromagnetic valve (21) is connected to a hydraulic pump station (22), and the hydraulic pump station (22) is electrically connected with a complete machine controller (23);
the linear displacement sensor (4) and the inclination angle sensor (14) are respectively and electrically connected with the whole machine controller (23).
2. The active off-road work chassis balancing device of claim 1, wherein: the tilt sensor (14) is a gyroscope.
3. The active off-road work chassis balancing device of claim 1, wherein: the active adjusting mechanisms are four groups.
4. The active off-road work chassis balancing device of claim 1, wherein: the central bearing frame (24) comprises a main beam (241), a reinforcing beam (242) and a supporting beam (243); the reinforcing beams (242) are positioned at the lower part of the main beam (241), and each reinforcing beam (242) is in a triangular structure with the main beam (241) and the bottom steel frame (1); the supporting beam (243) is positioned at the top end of the main beam (241) and forms a certain angle with the main beam (241).
5. The active off-road work chassis balancing device of claim 4, wherein: the number of the reinforcing beams (242) is two, and the number of the supporting beams (243) is four.
6. The active off-road work chassis balancing device of claim 4, wherein: the bottom framework (17) is fixed on a support beam (243) of the central bearing frame (24).
7. Use of the active balancing device for non-road working chassis according to any one of claims 1 to 6, characterized in that: the method comprises the following steps:
a. the active balancing device is arranged on a non-road vehicle, and a three-position four-way electromagnetic valve (21), a hydraulic pump station (22) and a complete machine controller (23) are respectively connected to a vehicle-mounted direct-current power supply system of a vehicle-mounted platform (26) of the non-road vehicle;
b. during the traveling of the non-road vehicle, when the vehicle travels on an uphill land, the vehicle-mounted platform (26) tilts with the whole vehicle at the same angle, and after the tilt angle is detected by the tilt angle sensor (14), the detection information is sent to the controller (23) of the whole vehicle;
c. the complete machine controller (23) outputs an electric signal to a three-position four-way electromagnetic valve (21) in the electro-hydraulic control mechanism through information acquisition and operation analysis, and controls the telescopic motion of the hydraulic oil cylinder (5) through the three-position four-way electromagnetic valve (21);
d. each hydraulic oil cylinder (5) drives the angle follow-up mechanism to move; the hydraulic oil cylinder (5) drives the top mounting plate (10) to move through expansion, and then drives the top framework (11) of the duplex angle follow-up frame;
when the top framework (11) moves, in the duplex angle follow-up frame, the central framework (16) swings around the rotating mechanism on the vertical plane relative to the bottom framework (17), and the top framework (11) swings around the rotating mechanism on the vertical plane relative to the central framework (16);
the linear displacement sensor (4) and the tilt angle sensor (14) respectively detect the actual motion amount of each hydraulic oil cylinder (5) and the duplex angle follow-up frame in real time in the motion process, and send the detected data to the whole machine controller (23);
e. the complete machine controller (23) collects, fuses and operates and analyzes the sensor information again to obtain a compensation signal, and the compensation signal is sent to a three-position four-way electromagnetic valve (21) in the electro-hydraulic control mechanism, so that the three-position four-way electromagnetic valve (21) controls the hydraulic oil cylinder (5), and the top mounting plate (10) moves;
f. the active balancing device of the non-road operation chassis continuously repeats the steps until the active balancing device is completely balanced.
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 |
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| 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 |
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| CN108382473A CN108382473A (en) | 2018-08-10 |
| CN108382473B true CN108382473B (en) | 2020-07-07 |
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| 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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| CN109109601A (en) * | 2018-09-10 | 2019-01-01 | 燕山大学 | Inertia regulation Active Suspensions control system and control method based on vehicle pose deviation |
| CN110509739B (en) * | 2019-08-15 | 2020-07-31 | 燕山大学 | Omnidirectional motion-fused universal six-freedom-degree parallel attitude-adjusting platform for intelligent workshop |
| 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 |
| 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 |
| CN112238822B (en) * | 2020-10-21 | 2022-01-18 | 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 |
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| JPH0245210A (en) * | 1988-08-05 | 1990-02-15 | Iseki & Co Ltd | Device for running on slope ground in tractor |
| CN101391376A (en) * | 2008-07-23 | 2009-03-25 | 云南昆船设计研究院 | Single-drive method for controlling the rotation and lift of worktable |
| CN103029121A (en) * | 2012-12-11 | 2013-04-10 | 燕山大学 | Three-degree-of-freedom parallel simulation platform with plane four-connecting rod closed loop structure |
| CN104465059A (en) * | 2014-12-04 | 2015-03-25 | 河海大学常州校区 | Follow-up flattening device for material coiling |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0245210A (en) * | 1988-08-05 | 1990-02-15 | Iseki & Co Ltd | Device for running on slope ground in tractor |
| CN101391376A (en) * | 2008-07-23 | 2009-03-25 | 云南昆船设计研究院 | Single-drive method for controlling the rotation and lift of worktable |
| CN103029121A (en) * | 2012-12-11 | 2013-04-10 | 燕山大学 | Three-degree-of-freedom parallel simulation platform with plane four-connecting rod closed loop structure |
| CN104465059A (en) * | 2014-12-04 | 2015-03-25 | 河海大学常州校区 | Follow-up flattening device for material coiling |
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