CN103742765A - Leveling device for suspension equipment - Google Patents
Leveling device for suspension equipment Download PDFInfo
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- CN103742765A CN103742765A CN201310469661.4A CN201310469661A CN103742765A CN 103742765 A CN103742765 A CN 103742765A CN 201310469661 A CN201310469661 A CN 201310469661A CN 103742765 A CN103742765 A CN 103742765A
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Abstract
The invention discloses a leveling device for suspension equipment. A panel is supported on four supporting legs. Each supporting leg comprises a motor fixing box, a motor, a ball screw pair and a cylindrical supporting leg body. The motor fixing boxes are fixed to the end portion of the bottom face of a fixing plate of a sliding screw base. The motors are arranged in the motor fixing boxes through motor fixing frames installed in the motor fixing boxes. Screws in the ball screw pairs are connected with main motor shafts through couplers. The inner cavities of the cylindrical supporting legs are provided with the screw pairs. The screws in the ball screw pairs penetrate out of the motor boxes and extend into the screw pairs in the cylindrical supporting legs. The leveling device for the suspension equipment can greatly lower the work intensity, save labor and materials, improve the work efficiency by 88%, improve the installation process quality, meet the precision requirement, prevent the equipment from breaking down or being damaged irreversibly in the debugging or operating process, and save the operating cost for enterprises.
Description
Technical field
The present invention relates to a kind of equipment levelling device, particularly a kind of suspension equipment levelling device.
Background technique
Suspension type equipment is the operating device of electrical network main equipment mostly, and the quality of its mounting process directly affects the health operation of equipment.For example, the mechanism case mounting point of isolation switch is improper, will make isolating switch main bearing be subject to radial stress, when electric machine rotation, more can produce a torsion to main shaft, after long-time running, can cause main shaft or other weaker transmission part plastic deformation.Cause isolating switch point, the irreversible impact such as not in place and main shaft two ends fixed block wearing and tearing of closing operation, harm equipment safety operation.With Quanzhou power administration example, 261.8 groups of the annual newly-increased isolating switches from 2006 to 2010; Operating isolating switch 2000 batch totals, the highest service life of disconnecting link 20 years, it is 100 groups that quantity is changed in average annual technological transformation, therefore approximately has every year the isolating switch of 361.8 to need to install, and is the important component part of a service work.Mechanism case is as the power source of isolating switch, and the good and bad health that directly affects equipment of its mounting process is moved.At present, the mounting type of isolator operating mechanism is varied, and each construction team is neither one standard all, has at mechanism case underlay wooden case, hydraulic forklift and various increasing plug thing and fixes; Useful rope is hung in mechanism case on isolating switch main shaft, more artificial correction etc.These installation methods all cannot accurately meet the installation precision of mechanism case at three axial positions in space, and low, the fragile element of installation of safety coefficient, installation procedure is loaded down with trivial details, working efficiency is low, wasting manpower and material resources.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art part, and provide, a kind of installation precision is high, safety coefficient is high, and installation procedure is simple, and working efficiency is high, the suspension equipment levelling device that user cost is low.
A kind of suspension equipment levelling device, include panel, and four supporting legs, panel support is on four supporting legs, each supporting leg includes motor fixing box, motor, ball wire bar pair, tubular support leg, described motor fixing box is fixed on the end of sliding screw seat fixed plate bottom surface, motor is arranged in motor fixing box by the motor fixing frame being installed in motor fixing box, screw mandrel in ball wire bar pair is connected with electric machine main shaft by coupling, at tubular support leg inner chamber, be provided with screw pair, screw mandrel in ball wire bar pair passes motor box and extend in the screw pair in tubular support leg, described supporting leg also includes a guide rod, described guide rod is parallel with tubular support leg, the motor box place that is connected in of the fixing frame of the upper end of guide rod by being fixed on motor box follows motor box and moves up and down, in tubular support, leg place is also provided with guide plate, guide rod is through this guide plate, in the bottom of each supporting leg, be provided with empty leg detecting switch, center portion in the bottom surface of panel is provided with double-shaft tilt angle sensor, described suspension equipment levelling device also includes control system, described control system is used for controlling motor action, and receive the signal of double-shaft tilt angle sensor and empty leg detecting switch.
Suspension type equipment automatic control tegulatingdevice of the present invention, panel is realized to the adjustment of short transverse by the supporting leg of rise-fall type, simultaneously by double-shaft tilt angle sensor being set in panel bottom, and empty leg detecting switch is set in the bottom of supporting leg, and the information of double-shaft tilt angle sensor and empty leg detecting switch is passed to control system, then by control system control motor action, realize the adjustment of levelness.
In the bottom of guide rod, be provided with limit switch sensing plate, near the guide rod of the lower surface of guide plate, be provided with limit switch.
By the lower surface at guide plate, limit switch is set, and limit switch sensing plate is set on guide rod, so just can prevent supporting leg should adjust too high and situation of prolapse upwards when adjusting.
Between guide plate and fixing frame, be also provided with the threaded connector for being connected both.
Between arranges threaded connector can further strengthen the stability of this supporting leg.
The upper position place of guide rod between guide plate and fixing frame is provided with sensing plate, on the threaded connector between guide plate and fixing frame, is provided with limit switch.
By limit switch and sensing plate are set between guide plate and fixing frame, just can prevent that the situation that panel declines too low from occurring.
Described motor is stepper motor.
Described control system includes single-chip microcomputer, display screen, empty leg detecting switch, limit switch, stepper motor driver, stepper motor, double-shaft tilt angle sensor and display screen, empty leg detecting switch, limit switch and double-shaft tilt angle sensor pass to single-chip microcomputer by the signal collecting, single-chip microcomputer is connected with display screen, be connected with stepper motor driver stepper motor driver Driving Stepping Motor action of single-chip microcomputer.
Described stepper motor driver is twin shaft stepper motor driver, and a stepper motor driver drives stepper motor action in two supporting legs.
The method of described Single-chip Controlling stepper motor action is that motionless with the highest strong point of panel, remaining three strong point is adjusted to the leveling mode of chasing of its alignment.
The concrete adjusting method of described supporting leg is, adopt the leveling method of unidirectional rising supporting leg, it is the peak of uncertain platform, press the order method of leveling successively of directions X and Y-direction, in the time of leveling, only regulate one side lower in all directions, be specially and first regulate directions X level, judge the size of the inclination alpha that the level sensor of double-shaft tilt angle sensor records, if α is <0, known X-axis forward is lower than negative sense, fixing A, 2 of D are motionless, rising B, C 2 points, allow BC take AD as axle for counterclockwise rotation, thereby the numerical value of inclination alpha is reduced gradually, until meet required precision, be that directions X is up to the standard, otherwise fixing BC is motionless, thereby allow AD turn clockwise and to make the numerical value of inclination alpha meet required precision around BC, and then adjusting Y-direction level, method is identical with directions X, four angles that wherein ABCD is panel.
Described leveling method is that directions X and Y-direction are cycled to repeat repeatedly adjustment.
Adopt above-mentioned leveling method, even have in leveling process, disturb or change because the peak of platform appears in coupling situation, equally can imitate the inferior object that reaches leveling that regulates by one direction.The strategy of unidirectional rising supporting leg leveling, be actually the improvement of chasing method leveling, this leveling method is strictly followed the principle that in leveling process, supporting leg keeps rising, and has guaranteed stability and the precision of leveling, can effectively get rid of coupling and the interference in leveling process simultaneously.When the method has avoided multiple spot to regulate because each supporting leg displacement, speed are different, thereby restriction mutually, concrete control algorithm is difficult to the shortcoming realizing, and also keeps the change peak simultaneously, has reduced system operation time and programing work amount.
The workflow of control system is first to carry out four empty legs and detect, as detected, continue to detect, as detected, carry out Z axis height setting, as arrive a position, and continue into X-axis calibration, as do not proceeded Z axis, set, as X-axis, calibration meets precision, proceeds Y-axis calibration, as X-axis is not calibrated, proceed X-axis calibration, as Y-axis, calibration meets precision, and work completes, and Z axis resets.
Between panel and supporting leg, be also provided with panel entirety controlling device to the left and right, described left and right adjusting device includes the guide rail that the first slide block and slide block move thereon, the first described slide block is arranged on the opposite side of the length direction of panel bottom surface, the first described slide block moves on two the first slide block guide rails that are arranged symmetrically with, the first described slide block guide rail is arranged on the first guide rails fixing support, at the two ends of the lower surface of the first guide rails fixing support, be provided with two with the perpendicular slide block fixing frame of the first guide rails fixing support, medium position at the slide block fixing frame upper surface of a side is provided with the first sliding screw fixed base, the first described sliding screw is arranged in sliding screw fixed base, the first screw pair in the first described sliding screw is arranged at the bottom surface of panel.
The suspension type equipment levelling device of this structure, can be supported on supporting leg four ends of slide block fixing frame lower surface, except realizing Level-adjusting, can also realize panel to from left to right adjustment.
Suspension type equipment levelling device also includes front-and-back adjusting device, described front-and-back adjusting device is to be provided with the second more than two slide blocks at the lower surface of the slide block fixing frame of left and right adjusting device, the second described slide block moves on the second slide block guide rail, the second described slide block guide rail is arranged on the second guide rails fixing support, the second described guide rails fixing support is installed on the two sliding screw seat fixed plates perpendicular with it, at the lower surface of slide block fixing frame, be provided with the second screw pair, the second sliding screw fixed base is arranged at the medium position on sliding screw seat fixed plate, the second sliding screw is arranged in the second sliding screw fixed base.
By front-and-back adjusting device is set, can realizes panel front and back and adjust.
Between slide block and guide rail, roller is installed.
On first, second sliding screw, be provided with the handwheel for regulating use.
In sum, the present invention's following advantage compared to existing technology:
Use suspension equipment levelling device of the present invention, can significantly reduce working strength, use manpower and material resources sparingly, can increase work efficiency 88%.Improving mounting process quality, meet validity requirement, avoid fault or the irreversible damage of equipment in debugging or running appearance, is that enterprise saves operating cost.This device applicability is strong, belongs to suspension type and installs and level and direction are had to all can using of required precision, and application prospect is wider.
Accompanying drawing explanation
Fig. 1 is the front view of suspension equipment levelling device of the present invention.
Fig. 2 is the plan view of throwing off panel of Fig. 1.
Fig. 3 is the left view of Fig. 1.
Fig. 4 is the stereogram of apparatus of the present invention.
Fig. 5 is the electrical principle block diagram of apparatus of the present invention.
Fig. 6 is the circuit diagram of apparatus of the present invention.
Fig. 7 is the leveling flow chart of the unidirectional rising supporting leg of apparatus of the present invention.
Fig. 8 is the control flow chart of the control system of apparatus of the present invention.
Fig. 9 is directions X and Y-direction levelling principle figure.
Empty leg detecting switch 12 limit switch sensing plate 13 limit switch 14 left and right adjusting device 141 first slide block 142 first slide block guide rail 143 first guide rails fixing support 144 slide block fixing frame 15 first sliding screw fixed base 151 first sliding screw 16 front-and-back adjusting device 161 second slide block 162 second slide block guide rail 163 second guide rails fixing supports of label declaration 1 panel 2 supporting leg 3 motor fixing box 4 stepper motor 5 ball wire bar pair 6 tubular support leg 7 sliding screw seat fixed plate 8 guide rod 9 guide plate 10 handwheel 11.
Embodiment
Below in conjunction with embodiment, the present invention is described in more detail.
A kind of suspension equipment levelling device, include panel 1, and four supporting legs 2, panel support is on four supporting legs, each supporting leg includes motor fixing box 3, stepper motor 4, ball wire bar pair 5, tubular support leg 6, described motor fixing box is fixed on the end of sliding screw seat fixed plate 7 bottom surfaces, motor is arranged in motor fixing box by the motor fixing frame being installed in motor fixing box, screw mandrel in ball wire bar pair is connected with electric machine main shaft by coupling, at tubular support leg inner chamber, be provided with screw pair, screw mandrel in ball wire bar pair passes motor box and extend in the screw pair in tubular support leg, described supporting leg also includes a guide rod 8, described guide rod is parallel with tubular support leg, the motor box place that is connected in of the fixing frame of the upper end of guide rod by being fixed on motor box follows motor box and moves up and down, in tubular support, leg place is also provided with guide plate 9, guide rod is through this guide plate, in the bottom of each supporting leg, be provided with empty leg detecting switch 11, center portion in the bottom surface of panel is provided with double-shaft tilt angle sensor, described suspension equipment levelling device also includes control system, described control system is used for controlling motor action, and receive double-shaft tilt angle sensor, the signal of limit switch and empty leg detecting switch.In the bottom of guide rod, be provided with limit switch sensing plate 12, near the guide rod of the lower surface of guide plate, be provided with limit switch 13.Between guide plate and fixing frame, be also provided with the threaded connector for being connected both.The upper position place of guide rod between guide plate and fixing frame is provided with sensing plate, on the threaded connector between guide plate and fixing frame, is provided with limit switch.Described control system includes single-chip microcomputer, display screen, empty leg detecting switch, limit switch, stepper motor driver, stepper motor, double-shaft tilt angle sensor and display screen, empty leg detecting switch, limit switch and double-shaft tilt angle sensor pass to single-chip microcomputer by the signal collecting, single-chip microcomputer is connected with display screen, be connected with stepper motor driver stepper motor driver Driving Stepping Motor action of single-chip microcomputer.Described stepper motor driver is twin shaft stepper motor driver, and a stepper motor driver drives stepper motor action in two supporting legs.The method of described Single-chip Controlling stepper motor action is that motionless with the highest strong point of panel, remaining three strong point is adjusted to the leveling mode of chasing of its alignment.The concrete adjusting method of described supporting leg is, adopt the leveling method of unidirectional rising supporting leg, it is the peak of uncertain platform, press the order method of leveling successively of directions X and Y-direction, in the time of leveling, only regulate one side lower in all directions, be specially and first regulate directions X level, judge the size of the inclination alpha that the level sensor of double-shaft tilt angle sensor records, if α is <0, known X-axis forward is lower than negative sense, fixing A, 2 of D are motionless, rising B, C 2 points, allow BC take AD as axle for counterclockwise rotation, thereby the numerical value of inclination alpha is reduced gradually, until meet required precision, be that directions X is up to the standard, otherwise fixing BC is motionless, thereby allow AD turn clockwise and to make the numerical value of inclination alpha meet required precision around BC, and then adjusting Y-direction level, method is identical with directions X, four angles that wherein ABCD is panel.Described leveling method is that directions X and Y-direction are cycled to repeat repeatedly adjustment.The workflow of control system is first to carry out four empty legs and detect, as detected, continue to detect, as detected, carry out Z axis height setting, as arrive a position, and continue into X-axis calibration, as do not proceeded Z axis, set, as X-axis, calibration meets precision, proceeds Y-axis calibration, as X-axis is not calibrated, proceed X-axis calibration, as Y-axis, calibration meets precision, and work completes, and Z axis resets.Between panel and supporting leg, be also provided with panel entirety controlling device 14 to the left and right, described left and right adjusting device includes the guide rail 142 that the first slide block 141 and slide block move thereon, the first described slide block is arranged on the opposite side of the length direction of panel bottom surface, the first described slide block moves on two the first slide block guide rails that are arranged symmetrically with, the first described slide block guide rail is arranged on the first guide rails fixing support 143, at the two ends of the lower surface of the first guide rails fixing support, be provided with two with the perpendicular slide block fixing frame 144 of the first guide rails fixing support, medium position at the slide block fixing frame upper surface of a side is provided with the first sliding screw fixed base 15, the first described sliding screw 151 is arranged in sliding screw fixed base, the first screw pair in the first described sliding screw is arranged at the bottom surface of panel.Suspension type equipment levelling device also includes front-and-back adjusting device 16, described front-and-back adjusting device is to be provided with the second more than two slide blocks 161 at the lower surface of the slide block fixing frame of left and right adjusting device, the second described slide block moves on the second slide block guide rail, the second described slide block guide rail is arranged on the second guide rails fixing support 163, the second described guide rails fixing support is installed on the two sliding screw seat fixed plates 7 perpendicular with it, at the lower surface of slide block fixing frame, be provided with the second screw pair, the second sliding screw fixed base is arranged at the medium position on sliding screw seat fixed plate, the second sliding screw is arranged in the second sliding screw fixed base.Between slide block and guide rail, roller is installed.On first, second sliding screw, be provided with the handwheel 10 for regulating use.
It is same as the prior art that the present embodiment is not stated part.
Claims (10)
1. a suspension equipment levelling device, it is characterized in that: include panel, and four supporting legs, panel support is on four supporting legs, each supporting leg includes motor fixing box, motor, ball wire bar pair, tubular support leg, described motor fixing box is fixed on the end of sliding screw seat fixed plate bottom surface, motor is arranged in motor fixing box by the motor fixing frame being installed in motor fixing box, screw mandrel in ball wire bar pair is connected with electric machine main shaft by coupling, at tubular support leg inner chamber, be provided with screw pair, screw mandrel in ball wire bar pair passes motor box and extend in the screw pair in tubular support leg, described supporting leg also includes a guide rod, described guide rod is parallel with tubular support leg, the motor box place that is connected in of the fixing frame of the upper end of guide rod by being fixed on motor box follows motor box and moves up and down, in tubular support, leg place is also provided with guide plate, guide rod is through this guide plate, in the bottom of each supporting leg, be provided with empty leg detecting switch, center portion in the bottom surface of panel is provided with double-shaft tilt angle sensor, described suspension equipment levelling device also includes control system, described control system is used for controlling motor action, and receive the signal of double-shaft tilt angle sensor and empty leg detecting switch.
2. suspension equipment levelling device according to claim 1, is characterized in that: in the bottom of guide rod, be provided with limit switch sensing plate, near the guide rod of the lower surface of guide plate, be provided with limit switch.
3. suspension equipment levelling device according to claim 2, it is characterized in that: between guide plate and fixing frame, be also provided with the threaded connector for being connected both, the upper position place of guide rod between guide plate and fixing frame is provided with sensing plate, on the threaded connector between guide plate and fixing frame, is provided with limit switch.
4. suspension equipment levelling device according to claim 3, it is characterized in that: described motor is stepper motor, described control system includes single-chip microcomputer, display screen, empty leg detecting switch, limit switch, stepper motor driver, stepper motor, double-shaft tilt angle sensor and display screen, empty leg detecting switch, limit switch and double-shaft tilt angle sensor pass to single-chip microcomputer by the signal collecting, single-chip microcomputer is connected with display screen, be connected with stepper motor driver stepper motor driver Driving Stepping Motor action of single-chip microcomputer.
5. suspension equipment levelling device according to claim 4, is characterized in that: described stepper motor driver is twin shaft stepper motor driver, and a stepper motor driver drives stepper motor action in two supporting legs.
6. suspension equipment levelling device according to claim 5, is characterized in that: the method for described Single-chip Controlling stepper motor action is that motionless with the highest strong point of panel, remaining three strong point is adjusted to the leveling mode of chasing of its alignment.
7. suspension equipment levelling device according to claim 6, it is characterized in that: the concrete adjusting method of described supporting leg is, adopt the leveling method of unidirectional rising supporting leg, it is the peak of uncertain platform, press the order method of leveling successively of directions X and Y-direction, in the time of leveling, only regulate one side lower in all directions, be specially and first regulate directions X level, judge the size of the inclination alpha that the level sensor of double-shaft tilt angle sensor records, if α is <0, known X-axis forward is lower than negative sense, fixing A, 2 of D are motionless, rising B, C 2 points, allow BC take AD as axle for counterclockwise rotation, thereby the numerical value of inclination alpha is reduced gradually, until meet required precision, be that directions X is up to the standard, otherwise fixing BC is motionless, thereby allow AD turn clockwise and to make the numerical value of inclination alpha meet required precision around BC, and then adjusting Y-direction level, method is identical with directions X, four angles that wherein ABCD is panel, described leveling method is that directions X and Y-direction are cycled to repeat repeatedly adjustment.
8. suspension equipment levelling device according to claim 7, is characterized in that: the workflow of control system is first to carry out four empty legs and detect, as detected, continue to detect, as detected, carry out Z axis height setting, as arrive a position, continue to calibrate into X-axis, as do not proceeded Z axis, set, as X-axis, calibration meets precision, proceeds Y-axis calibration, as X-axis is not calibrated, proceed X-axis calibration, as Y-axis, calibration meets precision, work completes, and Z axis resets.
9. suspension equipment levelling device according to claim 1, it is characterized in that: between panel and supporting leg, be also provided with panel entirety controlling device to the left and right, described left and right adjusting device includes the guide rail that the first slide block and slide block move thereon, the first described slide block is arranged on the opposite side of the length direction of panel bottom surface, the first described slide block moves on two the first slide block guide rails that are arranged symmetrically with, the first described slide block guide rail is arranged on the first guide rails fixing support, at the two ends of the lower surface of the first guide rails fixing support, be provided with two with the perpendicular slide block fixing frame of the first guide rails fixing support, medium position at the slide block fixing frame upper surface of a side is provided with the first sliding screw fixed base, the first described sliding screw is arranged in sliding screw fixed base, the first screw pair in the first described sliding screw is arranged at the bottom surface of panel.
10. suspension equipment levelling device according to claim 9, it is characterized in that: suspension type equipment levelling device also includes front-and-back adjusting device, described front-and-back adjusting device is to be provided with the second more than two slide blocks at the lower surface of the slide block fixing frame of left and right adjusting device, the second described slide block moves on the second slide block guide rail, the second described slide block guide rail is arranged on the second guide rails fixing support, the second described guide rails fixing support is installed on the two sliding screw seat fixed plates perpendicular with it, at the lower surface of slide block fixing frame, be provided with the second screw pair, the second sliding screw fixed base is arranged at the medium position on sliding screw seat fixed plate, the second sliding screw is arranged in the second sliding screw fixed base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310469661.4A CN103742765A (en) | 2013-10-10 | 2013-10-10 | Leveling device for suspension equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310469661.4A CN103742765A (en) | 2013-10-10 | 2013-10-10 | Leveling device for suspension equipment |
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| CN103742765A true CN103742765A (en) | 2014-04-23 |
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| CN201310469661.4A Pending CN103742765A (en) | 2013-10-10 | 2013-10-10 | Leveling device for suspension equipment |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104534234A (en) * | 2014-12-24 | 2015-04-22 | 中国计量学院 | High-altitude lifting device for oil tank three-dimensional scanning measurement |
| CN107352250A (en) * | 2017-07-05 | 2017-11-17 | 宁夏天地奔牛实业集团有限公司 | Self-leveling type belt self-movable foot end and belt self-movable foot end self-leveling method |
| CN108326807A (en) * | 2018-01-15 | 2018-07-27 | 张帝 | A kind of tightness detection platform for machine components |
| CN109000755A (en) * | 2018-07-02 | 2018-12-14 | 昆明理工大学 | A kind of evaporation from water surface amount detecting device |
| CN109084149A (en) * | 2018-08-13 | 2018-12-25 | 南京理工大学 | A kind of electromechanical automatic leveling rotating base |
| CN110043772A (en) * | 2019-05-10 | 2019-07-23 | 山东拓普液压气动有限公司 | A kind of 4 leveling systems and its leveling method for water-bed landing platform |
| CN111103902A (en) * | 2020-01-02 | 2020-05-05 | 蓝箭航天空间科技股份有限公司 | Leveling control system and method for rocket launching platform |
| CN111169664A (en) * | 2020-01-02 | 2020-05-19 | 蓝箭航天空间科技股份有限公司 | Leveling control system and method |
| CN112781560A (en) * | 2021-01-26 | 2021-05-11 | 太原理工大学 | Automatic and manual combined leveling device and method |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108326807A (en) * | 2018-01-15 | 2018-07-27 | 张帝 | A kind of tightness detection platform for machine components |
| CN109000755A (en) * | 2018-07-02 | 2018-12-14 | 昆明理工大学 | A kind of evaporation from water surface amount detecting device |
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| CN109084149B (en) * | 2018-08-13 | 2020-09-18 | 南京理工大学 | Electromechanical automatic leveling rotating base |
| CN110043772A (en) * | 2019-05-10 | 2019-07-23 | 山东拓普液压气动有限公司 | A kind of 4 leveling systems and its leveling method for water-bed landing platform |
| CN111103902A (en) * | 2020-01-02 | 2020-05-05 | 蓝箭航天空间科技股份有限公司 | Leveling control system and method for rocket launching platform |
| CN111169664A (en) * | 2020-01-02 | 2020-05-19 | 蓝箭航天空间科技股份有限公司 | Leveling control system and method |
| CN112781560A (en) * | 2021-01-26 | 2021-05-11 | 太原理工大学 | Automatic and manual combined leveling device and method |
| CN112781560B (en) * | 2021-01-26 | 2022-09-16 | 太原理工大学 | Automatic and manual combined leveling device and method |
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Application publication date: 20140423 |
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| RJ01 | Rejection of invention patent application after publication |