CN206479793U - The control system and telescopic equipment of telescopic equipment - Google Patents
The control system and telescopic equipment of telescopic equipment Download PDFInfo
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- CN206479793U CN206479793U CN201621449748.0U CN201621449748U CN206479793U CN 206479793 U CN206479793 U CN 206479793U CN 201621449748 U CN201621449748 U CN 201621449748U CN 206479793 U CN206479793 U CN 206479793U
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Abstract
The utility model discloses a kind of control system of telescopic equipment and telescopic equipment, it is related to engineering machinery field.The control system of the telescopic equipment includes：Distance detection device and control device；The distance detection device is arranged on the arm head of telescopic equipment, and the distance detection device is electrically connected with the control device；Wherein, the distance of distance detection device measurement arm head and peripheral obstacle, and the distance value measured is sent into control device, control device is after the distance value is received, and control telescopic equipment carries out corresponding expanding-contracting action.In the utility model, control system controls telescopic equipment to carry out corresponding expanding-contracting action according to the distance value of measurement, so as to prevent arm head collision obstacle.
Description
Technical field
The utility model is related to engineering machinery field, the control system and telescopic equipment of more particularly to a kind of telescopic equipment.
Background technology
Bridge inspection vehicle is, for transporting personnel, instrument and material to the equipment of specified location operation, during operation, to detect people
Member enters the detection work that workbench carries out bridge, and workbench is usually to be suspended at below bridge, due to being manned
Equipment, it is necessary to ensure that equipment safety.
Nowadays with bridge machinery the need for, the workbench of bridge inspection vehicle is increasingly longer, and the field range of people has
Limit, in the intermediate region of workbench due to apart from operating personnel's relative close, the operation of avoidance is still realized by observation.And
When bridge floor or workbench arm tail are operated, due to it is distant, there is blind area, run into obstacle during workbench stretching
During thing, easily collide and cause the generation of peril.Manual operation realizes that avoidance is although feasible, but remote or have blind
When area is operated, there is the hidden danger that collision occurs.
Utility model content
The utility model need solve a technical problem be：A kind of control system of telescopic equipment is provided, so as to
To prevent the arm head of the telescopic equipment from being collided with peripheral obstacle.
According to first aspect of the present utility model there is provided a kind of control system of telescopic equipment, including：Distance detection dress
Put and control device；The distance detection device is arranged on the arm head of telescopic equipment, the distance detection device and the control
Device electrical connection processed；Wherein, the distance detection device measures the distance of the arm head and peripheral obstacle, and will measure away from
The control device is sent to from value, the control device controls the telescopic equipment to carry out after the distance value is received
Corresponding expanding-contracting action.
In one embodiment, the system also includes：Warning device, is electrically connected with the control device；Wherein, it is described
Control device sends the alarm signal with the first preset frequency to the warning device, the warning device receive it is described
The first alert process is performed after alarm signal with the first preset frequency；Or the control device is sent out to the warning device
The alarm signal with the second preset frequency is sent, the warning device is receiving the alarm signal with the second preset frequency
The second alert process is performed after number；First preset frequency is less than second preset frequency.
In one embodiment, the warning device includes：Buzzer.
In one embodiment, the distance detection device includes：Electric swing equipment and distance-measuring equipment；The motor pendulum
Dynamic equipment is arranged on the arm head, and the electric swing equipment includes motor and swing rod；The distance-measuring equipment is arranged on described
On swing rod；The control device is electrically connected with the motor, and the distance-measuring equipment is electrically connected with the control device；Wherein, institute
State control device and send weave control signal to the motor of the electric swing equipment, control the swing rod to swing, so as to drive
The distance-measuring equipment is swung；The distance-measuring equipment measures the distance of the arm head and peripheral obstacle in real time, and will measure away from
The control device is sent to from value.
In one embodiment, the distance-measuring equipment includes：Ultrasonic sensor or Laser Distance Measuring Equipment.
In one embodiment, the distance detection device includes：Multiple ultrasonic sensors or multiple laser rangings are set
It is standby；Wherein, the multiple ultrasonic sensor or the multiple Laser Distance Measuring Equipment be separately mounted on the arm head towards
On the position of different directions.
According to second aspect of the present utility model there is provided a kind of telescopic equipment, including：Foregoing telescopic equipment
Control system.
In the utility model, control system controls telescopic equipment to carry out corresponding expanding-contracting action according to the distance value of measurement,
So as to prevent arm head collision obstacle.
It is of the present utility model other by referring to the drawings to the detailed description of exemplary embodiment of the present utility model
Feature and its advantage will be made apparent from.
Brief description of the drawings
The accompanying drawing for constituting a part for specification describes embodiment of the present utility model, and uses together with the description
In explanation principle of the present utility model.
Referring to the drawings, according to following detailed description, the utility model can be more clearly understood from, wherein：
Fig. 1 is that the structure for the control system for schematically showing the telescopic equipment according to the utility model one embodiment connects
Map interlinking.
Fig. 2 is the structure for the control system for schematically showing the telescopic equipment according to the utility model another embodiment
Connection figure.
Fig. 3 is to schematically show being arranged on bridge detection vehicle working platform according to the utility model one embodiment
Control system schematic diagram.
Fig. 4 is the flow chart for the control method for showing the telescopic equipment according to the utility model one embodiment.
Fig. 5 is the flow chart for the control method for showing the telescopic equipment according to the utility model another embodiment.
Embodiment
Various exemplary embodiments of the present utility model are described in detail now with reference to accompanying drawing.It should be noted that：Unless another
Illustrate outside, the part and the positioned opposite of step, numerical expression and numerical value otherwise illustrated in these embodiments is not limited
Make scope of the present utility model.
Simultaneously, it should be appreciated that for the ease of description, the size of the various pieces shown in accompanying drawing is not according to reality
Proportionate relationship draw.
The description only actually at least one exemplary embodiment is illustrative below, never as to this practicality
New and its application or any limitation used.
It may be not discussed in detail for technology, method and apparatus known to person of ordinary skill in the relevant, but suitable
In the case of, the technology, method and apparatus should be considered as authorizing a part for specification.
In shown here and discussion all examples, any occurrence should be construed as merely exemplary, without
It is as limitation.Therefore, the other examples of exemplary embodiment can have different values.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it need not be further discussed in subsequent accompanying drawing in individual accompanying drawing.
Fig. 1 is that the structure for the control system for schematically showing the telescopic equipment according to the utility model one embodiment connects
Map interlinking.As shown in figure 1, the control system 10 can include：Distance detection device 101 and control device 102.Distance detection dress
101 are put to may be mounted on the arm head of telescopic equipment.The distance detection device 101 is electrically connected with control device 102.In addition, being
Execution structure 110 is also show in the purpose of explanation, Fig. 1.
The distance detection device 101 measures the distance of arm head and peripheral obstacle, and the distance value measured is sent into control
Device 102 processed.The control device 102 is after the distance value is received, and control telescopic equipment carries out corresponding expanding-contracting action.Example
Such as, the control device can control telescopic equipment to carry out corresponding expanding-contracting action according to the control interval residing for the distance value.
In this embodiment, control system controls telescopic equipment to carry out corresponding expanding-contracting action according to the distance value of measurement,
So as to prevent arm head collision obstacle.
In one embodiment, telescopic equipment here can be：Bridge detection vehicle working platform or with multiple flat
The engineering mechanical device (such as the crane with telescopic arm) of platform or single oil cylinder automatically retractable.
In one embodiment, the control interval can include：Distance value >=first threshold, Second Threshold≤distance value<
First threshold, three threshold values≤distance value<Second Threshold, and distance value<3rd threshold value.Here, first threshold>Second Threshold
>3rd threshold value.For example, first threshold is 1m, Second Threshold is 0.6m, and the 3rd threshold value is 0.4m.
For different control intervals, different control strategies can be taken.For example it is as follows：
When distance value >=first threshold, the control telescopic equipment of control device 102 normally stretches out.In the threshold of distance value >=first
In the case of value, control device confirms that the distance of arm head and barrier is also distant, without risk of collision, is set so control is flexible
Standby normal stretching.
When Second Threshold≤distance value<During first threshold, control device control reduces the stretching speed of telescopic equipment.Example
Such as, the stretching speed of telescopic equipment can be halved.In Second Threshold≤distance value<In the case of first threshold, control device is true
Recognizing arm head and barrier has the danger of collision, therefore reduces the stretching speed of telescopic equipment.
When three threshold values≤distance value<During Second Threshold, control device control telescopic equipment stops expanding-contracting action.The 3rd
Threshold value≤distance value<In the case of Second Threshold, control device confirms the dangerous increase that arm head bumps against with barrier, therefore control
Telescopic equipment stops expanding-contracting action.Here it is possible to which the expanding-contracting action that expanding-contracting action regards that stretching speed is 0 as will be stopped.
Work as distance value<During three threshold values, control device control telescopic equipment performs retract action, until telescopic equipment is contracted
Return to so that distance value is equal to Second Threshold.In distance value<In the case of 3rd threshold value, control device confirms arm head and barrier
The danger of collision is very big, it is necessary to telescopic equipment be retracted, until being retracted into so that distance value is equal to Second Threshold.
In the above-described embodiments, different control intervals of the control system according to residing for distance value, carry out different controls and stretch
Contracting is acted, so as to prevent collision obstacle.
In certain embodiments, the control device can use controller, it would however also be possible to employ control circuit.For example, the control
Circuit processed can include multiple comparators, can be with transmission range value and threshold value (such as first threshold for each comparator
Value, Second Threshold or the 3rd threshold value), so as to compare the size of the distance value and the threshold value, and finally compared according to each
The comparative result of device, determines the control interval residing for the distance value, and executing agency is output control signals to by corresponding comparator,
So as to control telescopic equipment to perform corresponding scaling operation.
Fig. 2 is the structure for the control system for schematically showing the telescopic equipment according to the utility model another embodiment
Connection figure.As shown in Fig. 2 the control system 20 can include：Distance detection device 201 and control device 202.The distance is detected
Device 201 and control device 202 are same or similar with distance detection device 101 and control device 102 in Fig. 1 respectively.Exception,
The executing agency 210 of telescopic equipment is also show in Fig. 2.
In one embodiment, the control system 20 can also include：Warning device 203.The warning device 203 and control
Device 202 is electrically connected.For example, the warning device can be including buzzer etc..
In one embodiment, control device 202 sends the alarm signal with the first preset frequency to the warning device 203
Number, the warning device 203 performs the first alert process after the alarm signal with the first preset frequency is received.For example,
When three threshold values≤distance value<During Second Threshold, control device 202 is sent with the first preset frequency to warning device 203
Alarm signal, the warning device 203 performs the first alert process after the alarm signal with the first preset frequency is received.
For example, in three threshold values≤distance value<In the case of Second Threshold, control device stops flexible moving except control telescopic equipment
Make, also control warning device alarm, for example, buzzer is sent sound.
In another embodiment, control device 202 sends the alarm with the second preset frequency to the warning device 203
Signal, the warning device 203 performs the second alert process after the alarm signal with the second preset frequency is received.Example
Such as, distance value is worked as<During three threshold values, control device 202 sends the alarm signal with the second preset frequency to warning device 203
Number, warning device 203 performs the second alert process after the alarm signal with the second preset frequency is received.Here,
One preset frequency is less than the second preset frequency.For example, in distance value<In the case of 3rd threshold value, control device is stretched except control
Contracting equipment performs retract action, goes back the higher alarm signal of output frequency so that the buzz phase modulation of warning device should be raised.
In the above-described embodiments, by carrying out the alarm of different frequency, it can allow the operator to know and work as forearm
Which control interval is the distance of head and barrier be in, and causes the attention of operating personnel.
In one embodiment, distance detection device 201 can include：Electric swing equipment 221 and distance-measuring equipment 231.
The electric swing equipment 221 is arranged on arm head.The electric swing equipment 221 includes motor and swing rod (not shown in Fig. 2).Should
Motor can be swung with driven fork.The distance-measuring equipment 231 is arranged on the swing rod of electric swing equipment 221.The control device 202
Electrically connected with the motor of electric swing equipment 221.The distance-measuring equipment 231 is electrically connected with control device 202.
Wherein, the control device 202 sends weave control signal (so that motor is transported to the motor of electric swing equipment 221
Turn, so as to be swung with driven fork), control swing rod is swung, so as to drive distance-measuring equipment 231 to swing.The distance-measuring equipment 231 is surveyed in real time
The distance of arm head and peripheral obstacle is measured, and the distance value measured is sent to control device 202.
In this embodiment, distance-measuring equipment is driven to swing by electric swing equipment, the electric swing device structure is simple,
It is easy to implement, and large range of detection can be realized., for example can be with and the quantity for the distance-measuring equipment so used is fewer
Only one distance-measuring equipment can be just realized to around scanning, therefore cost is smaller.
In one embodiment, when Second Threshold≤distance value<During first threshold, the control increase of control device 202 is electronic
The swing speed of the swing rod of rocking apparatus.For example, in Second Threshold≤distance value<In the case of first threshold, control device is removed
Control reduces the stretching speed of telescopic equipment, also increases the swing speed of the swing rod of electric swing equipment, namely increase ranging
The frequency of device scan detection, so as to quickly scan, prevents collision.
In one embodiment, distance-measuring equipment 231 can include：Ultrasonic sensor or Laser Distance Measuring Equipment.
In certain embodiments, distance detection device is combined except using above-mentioned electric swing equipment and distance-measuring equipment
Mode, can also use other modes.For example, distance detection device can include：Multiple ultrasonic sensors or multiple laser
Distance-measuring equipment.The plurality of ultrasonic sensor (or the plurality of Laser Distance Measuring Equipment) be separately mounted on arm head towards not Tongfang
To position on.For example, before arm head, above, below, the left side and the right side be respectively mounted a ultrasonic sensor, from
And realize the range measurement to peripheral obstacle.
Fig. 3 is to schematically show being arranged on bridge detection vehicle working platform according to the utility model one embodiment
Control system schematic diagram.Below by taking bridge detection vehicle working platform as an example, the utility model one embodiment is described in detail
Control system.
As shown in figure 3, workbench 310 can include：Arm head 351, arm tail 352 and retractable driving device 311 etc..This reality
Included with the control system of new embodiment：Electric swing equipment 321, distance-measuring equipment 331, control device 302 and buzzer (are made
For warning device) 303 etc..Here, the control device 302 also serves as the master controller of workbench.Electric swing equipment 321 with
The base connection of distance-measuring equipment 331.In addition, also show barrier 360 and telescopic direction 370 in Fig. 3.
For example, distance-measuring equipment 331 can be the ultrasonic sensor of exportable standard signal, ultrasonic wave is sent during its work
Signal, realizes the detection of peripheral obstacle, and exports the distance signal of arm head and barrier to control device 302.
The distance between workbench arm head and barrier that the reception distance-measuring equipment 331 of control device 302 is measured signal, leads to
Cross and judge interval where this distance value, corresponding control signal to be exported to retractable driving device 311.Retractable driving device 311
The control signal sent according to control device 302, realizes the output of workbench stretching motion power source, and driving workbench is stretched
Contracting.Swing rod is transported in the control signal that motor in electric swing equipment 321 is sent according to control device 302, driving pendulous device
It is dynamic, realize that the inductive probe for the distance-measuring equipment 331 being arranged on swing rod is swung.The report that buzzer receiving control device 302 is sent
Alert signal, carries out buzzing alarm.
Exemplified by using ultrasonic sensor as distance-measuring equipment, in bridge detection vehicle working platform during stretching, surpass
Sonic sensor monitors surrounding environment in real time in the drive lower swing of electric swing equipment, when running into barrier, and ultrasonic wave is passed
Sensor calculates the distance value of arm head and barrier according to the ultrasonic signal of return, is designated as M, and export to control device, control
Device processed implements the control process of the utility model embodiment control system according to the distance value M detected.Below with the first threshold
Exemplified by value=1m, Second Threshold=0.6m, three threshold values=0.4m, the control process of control system is described, it is as follows：
1) as M >=1m, workbench normally stretches out, without anticollision control.
2) as 0.6m≤M ＜ 1m, control device 302 sends control signal to retractable driving device 311 and electric swing
Equipment 321, the speed that workbench stretches out is halved, while the swing speed of swing rod in electric swing equipment is doubled, namely
By the doubling frequency of ultrasonic sensor Scanning Detction.
3) as 0.4m≤M ＜ 0.6m, the alarm signal of the output certain frequency of control device 302 carries out honeybee to buzzer
Ring alarm, and control platform stops stretching, extension.
4) as M ＜ 0.4m, the frequency of the output alarm signal of control device 302 is improved, and the tone of buzzing is accordingly raised, and
And the control signal of workbench retraction is sent to the retractable driving device 311 of platform, control workbench is retracted at 0.6m,
Now workbench retraction movement stops, buzzer stop alarm.
In the above-described embodiments, the distance value of arm head and barrier is directly output to platform main control using distance-measuring equipment
Device, installs electric swing equipment additional on distance-measuring equipment base, and large range of monitoring can be achieved.Control device receives distance-measuring equipment
After the distance value of detection, using automatic obstacle-avoiding control algolithm, the warning output of different stage can be achieved and workbench is stretched
Exhibition carries out deceleration control, stops a series of avoidance operations such as control and opposite direction motion control, so as to reach that workbench is automatic
The purpose of anticollision, ensures the person and equipment safety.
The utility model additionally provides a kind of telescopic equipment, including：The control system of foregoing telescopic equipment.Example
Such as, telescopic equipment here can be：Bridge detection vehicle working platform (as shown in Figure 3) or with multiple platforms or more piece
The engineering mechanical device (such as the crane with telescopic arm) of arm automatically retractable.
Fig. 4 is the flow chart for the control method for showing the telescopic equipment according to the utility model one embodiment.
In step S401, the arm head of telescopic equipment and the distance value of peripheral obstacle are obtained.
In step S402, control interval according to residing for distance value controls telescopic equipment to carry out corresponding expanding-contracting action.
In this embodiment it is possible to store multiple control intervals in advance, the distance value of arm head and peripheral obstacle is being measured
Afterwards, judge which control interval the distance value is in, which control interval is according to distance value to control telescopic equipment to enter
The corresponding expanding-contracting action of row, so as to prevent arm head collision obstacle.
In one embodiment, control interval can include：Distance value >=first threshold, Second Threshold≤distance value<The
One threshold value, three threshold values≤distance value<Second Threshold, and distance value<3rd threshold value.Here, first threshold>Second Threshold>
3rd threshold value.For example, first threshold is 1m, Second Threshold is 0.6m, and the 3rd threshold value is 0.4m.
In one embodiment, step S402 can include：When distance value >=first threshold, control telescopic equipment is normal
Stretch out.Alternatively, step S402 can also include：When Second Threshold≤distance value<During first threshold, control reduces flexible set
Standby stretching speed.Alternatively, step S402 can also include：When three threshold values≤distance value<During Second Threshold, control is stretched
Contracting equipment stops expanding-contracting action.Alternatively, step S402 can also include：Work as distance value<During three threshold values, control is flexible to be set
It is standby to perform retract action, until telescopic equipment is retracted into so that the distance value is equal to Second Threshold.This embodiment achieves root
Different extension and contraction controls are carried out according to different control intervals, i.e., deceleration control carried out to telescopic equipment, stop control and counter motion
A series of automatic obstacle-avoiding operations such as control.
In one embodiment, the control method can also include：When three threshold values≤distance value<During Second Threshold,
Send the alarm signal with the first preset frequency to perform the first alert process to warning device.Work as distance value<3rd threshold value
When, send the alarm signal with the second preset frequency to perform the second alert process to warning device.Wherein, the first predetermined frequency
Rate is less than the second preset frequency.The danger that the embodiment can remind operating personnel currently to have collision obstacle by alarming.
In one embodiment, the control method can also include：When Second Threshold≤distance value<During first threshold,
The swing speed of the swing rod of control increase electric swing equipment.Namely the frequency of increase distance-measuring equipment Scanning Detction.
Fig. 5 is the flow chart for the control method for showing the telescopic equipment according to the utility model another embodiment.Below
By taking bridge detection vehicle working platform as an example, the control method according to another embodiment of the utility model is described in detail with reference to Fig. 5
Flow chart.
In step S501, system initialization.
In step S502, judge that platform stretches out whether signal sends.If it is, process enters step S503, otherwise mistake
Journey return to step S502.
In step S503, the distance value M of distance detection device transmission is received and handled.
M >=first threshold whether is met in step S504, judging distance value M.Such as first threshold is 1m.If it is,
Process return to step S503, else process enters step S505.
In step S505, whether judging distance value M meets Second Threshold≤M ＜ first thresholds.For example Second Threshold is
0.6m.If it is, process enters step S506 and S507, else process enters step S508.
In step S506, platform stretches out speed and reduces (for example speed halves).
In step S507, distance detection device slew rate increase (such as slew rate is doubled).
Three threshold values≤M ＜ Second Thresholds whether are met in step S508, judging distance value M.For example, the 3rd threshold value is
0.4m.If it is, process enters step S509 and S510, else process enters step S511 and S512.
In step S509, platform, which stretches out, to be stopped.
In step S510, buzzing alarm.
In step S511, platform is retracted.
In step S512, buzzing alert frequency is improved.
M >=Second Threshold whether is met in step S513, judging distance value M.If it is, process enter step S514,
S515 and S516, otherwise return to step S511.
In step S514, distance detection device slew rate recovers constant speed.
In step S515, platform, which is retracted, to be stopped.
In step S516, buzzer stop alarm.
There is provided a kind of controlling party that can apply to the telescopic equipments such as bridge detection vehicle working platform in this embodiment
Method.Environment of the monitoring telescopic equipment when stretching out around arm head, can be realized not according to the distance of arm head and peripheral obstacle in real time
The warning output of same level is pointed out and stretches telescopic equipment carry out deceleration control, stop control and opposite direction motion control etc.
A series of avoidance operations, so as to reach the purpose of telescopic equipment automatic obstacle-avoiding, prevent that peril occurs caused by collision, protects
Barrier personnel, equipment availability are safe and reliable.
So far, the utility model is described in detail.In order to avoid covering design of the present utility model, this is not described
Some details well known to field.Those skilled in the art can be appreciated how to implement public here as described above, completely
The technical scheme opened.
Although some specific embodiments of the present utility model are described in detail by example, this area
It is to be understood by the skilled artisans that above example is merely to illustrate, rather than in order to limit scope of the present utility model.This
Field it is to be understood by the skilled artisans that can be in the case where not departing from scope and spirit of the present utility model, to above example
Modify.Scope of the present utility model is defined by the following claims.
Claims (7)
1. a kind of control system of telescopic equipment, it is characterised in that including：
Distance detection device and control device；
The distance detection device is arranged on the arm head of telescopic equipment, and the distance detection device is electrically connected with the control device
Connect；
Wherein, the distance detection device measures the distance of the arm head and peripheral obstacle, and the distance value measured is transmitted
To the control device, the control device controls the telescopic equipment to be stretched accordingly after the distance value is received
Contracting is acted.
2. system according to claim 1, it is characterised in that also include：
Warning device, is electrically connected with the control device；
Wherein, the control device sends the alarm signal with the first preset frequency, the alarm dress to the warning device
Put and perform the first alert process after the alarm signal with the first preset frequency is received；Or
The control device sends the alarm signal with the second preset frequency to the warning device, and the warning device is connecing
The second alert process is performed after receiving the alarm signal with the second preset frequency；
First preset frequency is less than second preset frequency.
3. system according to claim 2, it is characterised in that
The warning device includes：Buzzer.
4. system according to claim 1, it is characterised in that the distance detection device includes：Electric swing equipment and
Distance-measuring equipment；
The electric swing equipment is arranged on the arm head, and the electric swing equipment includes motor and swing rod；The ranging
Equipment is arranged on the swing rod；The control device is electrically connected with the motor, the distance-measuring equipment and the control device
Electrical connection；
Wherein, the control device sends weave control signal to the motor of the electric swing equipment, controls the swing rod pendulum
It is dynamic, so as to drive the distance-measuring equipment to swing；The distance-measuring equipment measures the distance of the arm head and peripheral obstacle in real time, and
The distance value measured is sent to the control device.
5. system according to claim 4, it is characterised in that
The distance-measuring equipment includes：Ultrasonic sensor or Laser Distance Measuring Equipment.
6. system according to claim 1, it is characterised in that
The distance detection device includes：Multiple ultrasonic sensors or multiple Laser Distance Measuring Equipments；
Wherein, the multiple ultrasonic sensor or the multiple Laser Distance Measuring Equipment be separately mounted on the arm head towards
On the position of different directions.
7. a kind of telescopic equipment, it is characterised in that including：The control of telescopic equipment as described in claim 1 to 6 any one
System.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621449748.0U CN206479793U (en) | 2016-12-28 | 2016-12-28 | The control system and telescopic equipment of telescopic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621449748.0U CN206479793U (en) | 2016-12-28 | 2016-12-28 | The control system and telescopic equipment of telescopic equipment |
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| Publication Number | Publication Date |
|---|---|
| CN206479793U true CN206479793U (en) | 2017-09-08 |
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ID=59750909
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| Application Number | Title | Priority Date | Filing Date |
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| CN201621449748.0U Active CN206479793U (en) | 2016-12-28 | 2016-12-28 | The control system and telescopic equipment of telescopic equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106502137A (en) * | 2016-12-28 | 2017-03-15 | 徐工集团工程机械有限公司 | The control system of telescopic equipment, method and telescopic equipment |
-
2016
- 2016-12-28 CN CN201621449748.0U patent/CN206479793U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106502137A (en) * | 2016-12-28 | 2017-03-15 | 徐工集团工程机械有限公司 | The control system of telescopic equipment, method and telescopic equipment |
| CN106502137B (en) * | 2016-12-28 | 2023-11-03 | 江苏徐工工程机械研究院有限公司 | Control system and method of telescopic equipment and telescopic equipment |
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