CN106114656A - A kind of container balance control method based on applied mathematical model - Google Patents
A kind of container balance control method based on applied mathematical model Download PDFInfo
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- CN106114656A CN106114656A CN201610495574.XA CN201610495574A CN106114656A CN 106114656 A CN106114656 A CN 106114656A CN 201610495574 A CN201610495574 A CN 201610495574A CN 106114656 A CN106114656 A CN 106114656A
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- container
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- mathematical model
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
- B62D37/04—Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
- B62D37/02—Stabilising vehicle bodies without controlling suspension arrangements by aerodynamic means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
- B62D37/04—Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses
- B62D37/06—Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses using gyroscopes
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a kind of container balance control method based on applied mathematical model, including casing, it is connected with vehicle frame below described casing, described box house arranges balance monitoring mechanism and control unit, described casing both sides arrange groove, by the vertically arranged cambered plate of telescopic prop in described groove, described balance monitoring mechanism, control unit, telescopic prop are sequentially connected with.The present invention utilizes bernoulli principle, when logistic car is run at high speed, adjusts the wind pressure of left and right sides, and to ensure the balance of logistics container, it is to avoid the generation of the accidents such as overturning, and the speed of logistic car is the fastest, and the dynamics of adjustment is the biggest, and stability is the best.
Description
Technical field
The present invention relates to balance based on applied mathematical model and control technical field, be specifically related to a kind of based on applied mathematics
The container balance control method of model.
Background technology
Logistics refer to article from supply to accept ground physical flow process.Logistics is by transport, stores, fills
Unload, carry, pack, that circulation and process, dispensing, the basic function such as information processing are implemented to organically combine according to actual needs is movable
Set.Along with shopping at network, the remote reinforcement etc. linked up, between people, the transmission of article is more and more frequent, sending out of logistics
Exhibition is increasingly faster, and the problem faced by needs is the oldest more many.Train or aircraft are used mostly for long distance transportation transprovincially
Carry out, it is contemplated that cost or inside the province transport mostly or use container or automobile carrier transport, be the most all to use collection
Vanning is transported.
Container refers to that having some strength, rigidity and specification specializes in the large-scale goods container that turnover uses.Use packaging
Case transshipment cargo, can directly freight in the warehouse of consignor, transports to the warehouse unloading of consignee, and more change trains in midway, ship time, need not
Goods is taken out in case and changes the outfit.But it is because the globality of container, there is bigger safety when relying on vehicle transport hidden
Suffer from, when particularly moving ahead at a relatively high speed in high speed, when running into emergency case, such as: the urgent lane change of driver etc., in container
The heart is the most unstable, the most then car body skid, tilt, heavy then container flies out or vehicle rollover, cause transport goods loss with
And the injures and deaths of personnel, therefore the balance for logistics container is to improve an important technology of freight security, is to improve thing
Current mass, the important leverage of the guarantee security of the lives and property.
The invention of Application No. 201210079334.3 relates to a kind of large-scale adjustable container weight-balancing device, the end of including
Seat, arranges the one-level bilayer guide case with sandwich on base, and multiple at least part of adaptation is contained in described folder
Two grades of monolayer guide plates within Rotating fields, the plurality of two grades of monolayer guide plates join end to end and form adjustable body structure,
The twin-stage oil cylinder matched respectively it is additionally provided with described one-level bilayer guide case and two grades of monolayer guide plates on described base.This
The bright container balance weight that have employed instead of traditional little counterweight block；Container balance weight implant can be sandy soil, it is possible to
Drawing materials in scene, replaces traditional casting pig balance weight with it, it is possible to be greatly reduced manufacturing cost；Not using when, go
Fall sandy soil, the most only need to transport container, convenient transport, reduction cost.This invention arranges balance weight in container and protects
Card container is steady, but can only Passive Defence to emergency case.
The disclosure of the invention of the Application No. 201210115196.X bascule of a kind of foldable container, including for
Connect chassis of container and the hinge of corner post of container, wherein, also include that one is fixed on described chassis of container and hang down in axis
Directly being arranged with an elastomeric element on the guide rod of container end wall place plane, described guide rod, described guide rod is provided with first
Limiting component, be provided with in the middle part of described guide rod one on described guide rod sliding sleeve slidably, described first limiting component and described
Sliding sleeve limits described elastomeric element from described elastomeric element two ends.The invention has the beneficial effects as follows: elastomeric element stiffness coefficient is big,
Security performance is good, can effectively realize when headwall folds buffering, headwall power-assisted effect when opening, reduce the requirement to elastomeric element and
Cost reduces, and versatility is good, is applicable to the chassis of container platform of differing heights.The balance quality of this invention bascule is very
Good, but also it is difficult to tackle emergency case, the flat of vehicle body and container cannot be adjusted in time when extraneous factor strength is excessive
Weighing apparatus；What is more important: vehicle of the prior art is when hauling goods, and owing to goods is irregular, goods is placed on vehicle on vehicle
It is susceptible to tilt, vehicle car driving process easily tilts to have an accident.
Summary of the invention
Problem to be solved by this invention is to provide a kind of container balance control method based on applied mathematical model, profit
With bernoulli principle, when logistic car is run at high speed, adjust the wind pressure of left and right sides, to ensure the balance of logistics container, keep away
Exempt from the generation of the accidents such as overturning.
For solving above-mentioned technical problem, the technical solution used in the present invention is:
A kind of container balance control device based on applied mathematical model, including casing, is connected with vehicle frame below described casing,
Described box house arranges balance monitoring mechanism and control unit, and described casing both sides arrange groove, by stretching in described groove
The vertically arranged cambered plate of contracting pillar, described balance monitoring mechanism, control unit, telescopic prop are sequentially connected with, and set in described casing
Having two dividing plates that casing is divided into left liquid storage cylinder, warehousing chamber and right liquid storage cylinder, connecting bottom described left liquid storage cylinder has water pump, water pump
Liquid outlet gives right liquid storage cylinder feed flow by water pipe, and described water pipe is provided with electromagnetic valve, the top of described left liquid storage cylinder and right liquid storage
The top in chamber is connected by conduit.
Further, described balance monitoring mechanism includes gyroscope and acceleration transducer.
Further, described control unit includes singlechip chip.
Further, described telescopic prop uses hydraulic lifting post horizontally set.
Further, described cambered plate is two, is separately positioned on the both sides of described casing front-end and back-end.
Further, described cambered plate includes that U-shaped substrate, described U-shaped substrate top and bottom arrange chute, described chute
One end rotary shaft is set, the other end of described chute arranges and arranges flexibility in sliding axle, described sliding axle and described rotary shaft
Plate, described sliding axle is connected with the sidewall of described U-shaped substrate by hydraulic push rod.
Further, described sliding axle is connected with the sidewall of described U-shaped substrate by flexible-belt.
Further, described telescopic prop is reversed two described cambered plates.
A kind of container balance control method based on applied mathematical model, comprises the following steps:
1) after vehicle installs goods, vehicle tilts to the right, detects car inclination of vehicle angle, Programmable Logic Controller according to gyroscope
Controlling pump working, by the right liquid storage left liquid storage cylinder of intracavity liquid suction, until vehicle balance, Controlled by Programmable Controller water pump stops
Only work, closed electromagnetic valve；
2) after vehicle installs goods, vehicle tilts to the left, detects car inclination of vehicle angle, Programmable Logic Controller according to gyroscope
Controlling pump working, by the left liquid storage right liquid storage cylinder of intracavity liquid suction, until vehicle balance, Controlled by Programmable Controller water pump stops
Only work, closed electromagnetic valve；
3) when logistic car is run at high speed, according to bernoulli principle, its mathematical formulae is p+1/2 ρ v2+ ρ gh=C, adjusts left and right sides
Wind pressure, to ensure the balance of logistics container, it is to avoid the generation of the accidents such as overturning, balance monitoring unit is to container
Gradient is monitored, and when rolling oblique to certain, control unit controls telescopic prop and ejected by cambered plate, cambered plate and container
Parallel, side is plane, and side is cambered surface, and after such cambered plate is ejected groove, air when running at high speed is from cambered plate
Both sides are flow through, and side is because the reason flow velocity of cambered surface can be accelerated, and opposite side is because being the inconvenience of plane flow velocity, and such cambered plate will
By pressure to cambered surface side, and this pressure can when speed is the biggest numerical value the biggest, it is ensured that when running at high speed, container is steady
Qualitative, pass through lateral pressure auxiliary when being in an emergency and turning to and maintain the steady of container, it is to avoid logistic car overturning.
The invention provides a kind of container balance control device based on applied mathematical model, the emphasis of this bascule
It is to utilize bernoulli principle p+1/2 ρ v2+ ρ gh=C, when logistic car is run at high speed, adjusts the wind pressure of left and right sides, to ensure
The balance of logistics container, it is to avoid the generation of the accidents such as overturning.Balance monitoring unit is that the gradient to container is monitored,
When rolling oblique to certain, control unit controls telescopic prop and is ejected by cambered plate, and cambered plate is parallel with container, and side is flat
Face, side is cambered surface, and after such cambered plate is ejected groove, air when running at high speed flows through from the both sides of cambered plate, side
Because the reason flow velocity of cambered surface can be accelerated, opposite side is because being the inconvenience of plane flow velocity, and such cambered plate will be by cambered surface one
The pressure of side, and this pressure can when speed is the biggest numerical value the biggest, it is ensured that the stability of container when running at high speed, occur tight
Anxious situation is passed through lateral pressure auxiliary and is maintained the steady of container when turning to, it is to avoid logistic car overturning.
The present invention utilizes bernoulli principle, when logistic car is run at high speed, adjusts the wind pressure of left and right sides, to ensure logistics
The balance of container, it is to avoid the generation of the accidents such as overturning, and the speed of logistic car is the fastest, the dynamics of adjustment is the biggest, and stability is more
Good.
Accompanying drawing explanation
The invention will be further described below in conjunction with the accompanying drawings:
Fig. 1 is the structural representation of present invention container based on applied mathematical model balance control device；
Fig. 2 is the structural representation of cambered plate of the present invention；
Fig. 3 is the structural representation of band rib cambered plate of the present invention；
Fig. 4 is the structural representation of oppositely arranged two cambered plates of the present invention.
Detailed description of the invention
Below in conjunction with Fig. 1 to Fig. 4 displaying further to technical solution of the present invention, detailed description of the invention is as follows:
Embodiment one
As shown in Figure 1: present embodiments provide a kind of container balance control device based on applied mathematical model, including casing
1, it is connected with vehicle frame below described casing 1, described casing 1 is internal arranges balance monitoring mechanism 2 and control unit 3, described casing 1
Both sides arrange groove 4, by the vertically arranged cambered plate of telescopic prop 56 in described groove 4, and described balance monitoring mechanism 2, control
Unit 3, telescopic prop 5 are sequentially connected with, and be provided with two dividing plates 23 casing is divided into left liquid storage cylinder 19, warehousing chamber in described casing 1
20 and right liquid storage cylinder 21, connect bottom described left liquid storage cylinder and have water pump, water pump liquid outlet gives right liquid storage cylinder feed flow by water pipe 25,
Described water pipe is provided with electromagnetic valve 22, the top of described left liquid storage cylinder 19 and the top of right liquid storage cylinder and is connected by conduit 26.Water
Pump uses centrifugal pump, it is possible to rotating is drawn water.
The focusing on of the present invention utilizes bernoulli principle, when logistic car is run at high speed, adjusts the wind pressure of left and right sides,
To ensure the balance of logistics container, it is to avoid the generation of the accidents such as overturning.Balance monitoring unit is that the gradient to container is entered
Row monitoring, when rolling oblique to certain, control unit controls telescopic prop and is ejected by cambered plate, and cambered plate is parallel with container, and one
Side is plane, and side is cambered surface, and after such cambered plate is ejected groove, air when running at high speed is from two effluents of cambered plate
Cross, side because the reason flow velocity of cambered surface can be accelerated, opposite side because being the inconvenience of plane flow velocity, such cambered plate will by
The pressure of cambered surface side, and this pressure can when speed is the biggest numerical value the biggest, it is ensured that the stability of container when running at high speed,
It is in an emergency when turning to and passes through the steady of lateral pressure auxiliary maintenance container, it is to avoid logistic car overturning.
Described balance monitoring mechanism 2 includes gyroscope 7 and acceleration transducer 8, and the angular velocity of casing is carried out by gyroscope
Monitoring, i.e. monitors the gradient of casing, and movement velocity monitoring when casing is tilted by accelerometer, both complementations can be complete
Direction, speed when casing tilts in pairs are monitored, it is simple to scent a hidden danger in time, and the speed tilted according to casing controls
Stretching out the time of cambered plate, thus realize the balance to casing and control, also avoid cambered plate to stretch out overlong time, cause secondary to turn over
Car hidden danger.
Described control unit 3 includes singlechip chip, is a kind of IC chip, is to use super large-scale integration
Technology have the central processor CPU of data-handling capacity, random access memory ram, read only memory ROM, multiple I/O mouth and
The functions such as interruption system, timer/counter are integrated on one piece of silicon chip the little and perfect microcomputer system constituted
System, small volume, arithmetic speed is very fast, can complete the monitoring to balance and control.
Described telescopic prop 5 uses hydraulic lifting post horizontally set, and the effect of telescopic prop is cambered plate to be ejected or receives
Returning in groove, control whether cambered plate is in operating position, the support degree of hydraulic lifting post is relatively big, can well conduct arc
Panel is applied to the pulling force of casing.
Described cambered plate 6 is two, is separately positioned on the both sides of described casing 1 front-end and back-end, and the inclination of casing is not
Being that side is integral inclined, but the side of certain one end occurs whipping or out of control causes, therefore four cambered plates are arranged on casing
The both sides of front-end and back-end, when certain end side run-off the straight, opposite side cambered plate stretches out and incline direction is applied contrary pulling force,
Avoid casing tipping.Regulating and controlling sensitiveer, the pulling force of applying is more direct, is beneficial to the quick casing to unstability and replys flat
Weighing apparatus.
A kind of container balance control method based on applied mathematical model, comprises the following steps:
1) after vehicle installs goods, vehicle tilts to the right, detects car inclination of vehicle angle, Programmable Logic Controller according to gyroscope
Controlling pump working, by the right liquid storage left liquid storage cylinder of intracavity liquid suction, until vehicle balance, Controlled by Programmable Controller water pump stops
Only work, closed electromagnetic valve；
2) after vehicle installs goods, vehicle tilts to the left, detects car inclination of vehicle angle, Programmable Logic Controller according to gyroscope
Controlling pump working, by the left liquid storage right liquid storage cylinder of intracavity liquid suction, until vehicle balance, Controlled by Programmable Controller water pump stops
Only work, closed electromagnetic valve；
3) when logistic car is run at high speed, according to bernoulli principle p+1/2 ρ v2+ ρ gh=C, the wind pressure of left and right sides is adjusted, to protect
The balance of exhibit adfluxion vanning, it is to avoid the generation of the accidents such as overturning, balance monitoring unit is that the gradient to container is supervised
Surveying, when rolling oblique to certain, control unit controls telescopic prop and is ejected by cambered plate, and cambered plate is parallel with container, and side is
Plane, side is cambered surface, and after such cambered plate is ejected groove, air when running at high speed flows through from the both sides of cambered plate, one
Side is because the reason flow velocity of cambered surface can be accelerated, and opposite side is because being the inconvenience of plane flow velocity, and such cambered plate will be by cambered surface
The pressure of side, and this pressure can when speed is the biggest numerical value the biggest, it is ensured that the stability of container when running at high speed, occur
Pass through lateral pressure auxiliary when emergency turns to and maintain the steady of container, it is to avoid logistic car overturning.
Filling water in described left liquid storage cylinder, right liquid storage cylinder is empty, and aquiform stool is suitable, and described left liquid storage cylinder top is provided with one-way exhaust
Valve, it is simple to pressure release.
Embodiment two
As shown in Figure 1 to Figure 3: the present embodiment additionally provides a kind of container balance control device based on applied mathematical model,
Including casing 1, being connected with vehicle frame below described casing 1, described casing 1 is internal arranges balance monitoring mechanism 2 and control unit 3,
Described casing 1 both sides arrange groove 4, by the vertically arranged cambered plate of telescopic prop 56, described balance monitoring machine in described groove 4
Structure 2, control unit 3, telescopic prop 5 are sequentially connected with.
As shown in Figure 2: described cambered plate 6 includes that U-shaped substrate 9, described U-shaped substrate 9 top and bottom arrange chute 10, institute
The one end stating chute 10 arranges rotary shaft 11, and the other end of described chute 10 arranges sliding axle 12, described sliding axle 12 and described
Arranging flexible board 13 in rotary shaft 11, described sliding axle 12 is connected with the sidewall 17 of described U-shaped substrate 9 by hydraulic push rod 14.
Rotary shaft is fixed on one end of chute, sliding axle then the other end of chute and can realize on chute slide, work as sliding axle
It will be made to become arc flexible board extruding during slip.Therefore the cambered plate of this structure is adjustable, and flexible board is at liquid
Pressure push rod is extruded as arc when promoting, and plays the effect of cambered plate, and when container is steady, hydraulic push rod does not extrude flexible board, then
Flexible board is plane, will not play the effect producing lateral pressure, regulate more flexible.
Described sliding axle 12 is connected with the sidewall 17 of described U-shaped substrate 9 by flexible-belt 16, and sliding axle is sliding on chute
Dynamic, the opening of U-shaped substrate can be covered when flexible board is surface plate, foreign material will not be made to fall in U-shaped substrate, inside is set
Received shipment row impacts, and when flexible board is squeezed into as arc, sliding axle can stretch the flexible-belt region to exposing to be carried out
Cover, it is ensured that foreign material will not enter in U-shaped substrate between the sidewall of sliding axle and U-shaped substrate, the operation of equipment is run into
Row protection.
As shown in Figure 3: between rotary shaft 11 and sliding axle 12, arrange rib 15, flexible board 13 is arranged on rib 15, only
Using flexible board possibly cannot ensure hardness, the cambered plate that flexible board is formed under the impact of high velocity air is likely to deformation, logical
Cross rib can flexible board be supported, it is ensured that the stability that equipment runs.
Embodiment three
As shown in Figure 1, Figure 2 and Figure 4: the present embodiment additionally provides a kind of container based on applied mathematical model balance and controls dress
Putting, including casing 1, be connected with vehicle frame below described casing 1, described casing 1 is internal arranges balance monitoring mechanism 2 and control unit
3, described casing 1 both sides arrange groove 4, by the vertically arranged cambered plate of telescopic prop 56, described balance monitoring in described groove 4
Mechanism 2, control unit 3, telescopic prop 5 are sequentially connected with.
Being reversed two described cambered plates 6 on described telescopic prop 5, it is whole that two cambered plates are reversed composition one
Body, two such face can become arc, and when container disequilibrium, the cambered plate of both sides can act as the work of regulation
With.When tilting to the right such as container afterbody, the left surface of the cambered plate of container two sides of tail becomes arc, two cambered plates
Will produce thrust to the left, it is ensured that the balance of container, this is compared with embodiment two, and balance thrust during container unstability increases
Double, more can guarantee that the smooth transport of container.
Embodiment four
As shown in Figures 1 to 4: the present embodiment additionally provides a kind of container balance control device based on applied mathematical model,
Including casing 1, being connected with vehicle frame below described casing 1, described casing 1 is internal arranges balance monitoring mechanism 2 and control unit 3,
Described casing 1 both sides arrange groove 4, by the vertically arranged cambered plate of telescopic prop 56, described balance monitoring machine in described groove 4
Structure 2, control unit 3, telescopic prop 5 are sequentially connected with.
Finally illustrating, above example is only in order to illustrate technical scheme and unrestricted, and this area is common
Other amendment or equivalents that technical scheme is made by technical staff, without departing from technical solution of the present invention
Spirit and scope, all should contain in the middle of scope of the presently claimed invention.
Claims (8)
1. a container balance control method based on applied mathematical model, it is characterised in that: comprise the following steps:
1) after vehicle installs goods, vehicle tilts to the right, detects car inclination of vehicle angle, Programmable Logic Controller according to gyroscope
Controlling pump working, by the right liquid storage left liquid storage cylinder of intracavity liquid suction, until vehicle balance, Controlled by Programmable Controller water pump stops
Only work, closed electromagnetic valve；
2) after vehicle installs goods, vehicle tilts to the left, detects car inclination of vehicle angle, Programmable Logic Controller according to gyroscope
Controlling pump working, by the left liquid storage right liquid storage cylinder of intracavity liquid suction, until vehicle balance, Controlled by Programmable Controller water pump stops
Only work, closed electromagnetic valve；
3) when logistic car is run at high speed, according to bernoulli principle p+1/2 ρ v2+ ρ gh=C, the wind pressure of left and right sides is adjusted, to protect
The balance of exhibit adfluxion vanning, it is to avoid the generation of the accidents such as overturning, balance monitoring unit is that the gradient to container is supervised
Surveying, when rolling oblique to certain, control unit controls telescopic prop and is ejected by cambered plate, and cambered plate is parallel with container, and side is
Plane, side is cambered surface, and after such cambered plate is ejected groove, air when running at high speed flows through from the both sides of cambered plate, one
Side is because the reason flow velocity of cambered surface can be accelerated, and opposite side is because being the inconvenience of plane flow velocity, and such cambered plate will be by cambered surface
The pressure of side, and this pressure can when speed is the biggest numerical value the biggest, it is ensured that the stability of container when running at high speed, occur
Pass through lateral pressure auxiliary when emergency turns to and maintain the steady of container, it is to avoid logistic car overturning.
2. a container balance control device based on applied mathematical model, including casing, below described casing with vehicle frame even
Connect, it is characterised in that: described box house arranges balance monitoring mechanism and control unit, and described casing both sides arrange groove, institute
Passing through the vertically arranged cambered plate of telescopic prop in stating groove, described balance monitoring mechanism, control unit, telescopic prop connect successively
Connect, be provided with two dividing plates in described casing and casing be divided into left liquid storage cylinder, warehousing chamber and right liquid storage cylinder, bottom described left liquid storage cylinder
Connecting and have water pump, water pump liquid outlet gives right liquid storage cylinder feed flow by water pipe, and described water pipe is provided with electromagnetic valve, described left liquid storage cylinder
Top connected by conduit with the top of right liquid storage cylinder.
3. container balance control device based on applied mathematical model as claimed in claim 2, it is characterised in that: described flat
Weighing apparatus mechanism for monitoring includes gyroscope and acceleration transducer.
4. container balance control device based on applied mathematical model as claimed in claim 2, it is characterised in that: described control
Unit processed includes singlechip chip.
5. container balance control device based on applied mathematical model as claimed in claim 2, it is characterised in that stretch described in:
Contracting pillar uses hydraulic lifting post horizontally set.
6. container balance control device based on applied mathematical model as claimed in claim 2, it is characterised in that: described arc
Panel is two, is separately positioned on the both sides of described casing front-end and back-end.
7. container balance control device based on applied mathematical model as claimed in claim 2, it is characterised in that: described arc
Panel includes that U-shaped substrate, described U-shaped substrate top and bottom arrange chute, and one end of described chute arranges rotary shaft, described cunning
The other end of groove arranges and arranges flexible board in sliding axle, described sliding axle and described rotary shaft, and described sliding axle passes through hydraulic thrust
Bar is connected with the sidewall of described U-shaped substrate.
8. container balance control device based on applied mathematical model as claimed in claim 7, it is characterised in that stretch described in:
Two described cambered plates it are reversed on contracting pillar.
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| CN201610495574.XA CN106114656A (en) | 2016-06-30 | 2016-06-30 | A kind of container balance control method based on applied mathematical model |
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| CN201610495574.XA CN106114656A (en) | 2016-06-30 | 2016-06-30 | A kind of container balance control method based on applied mathematical model |
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| CN106859869A (en) * | 2017-03-21 | 2017-06-20 | 南阳医学高等专科学校第附属医院 | A kind of Internal Medicine-Oncology rescue carrigae |
| CN113939177A (en) * | 2021-09-24 | 2022-01-14 | 上海航天电子通讯设备研究所 | LCP flexible substrate curved surface forming device and method |
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| CN106859869A (en) * | 2017-03-21 | 2017-06-20 | 南阳医学高等专科学校第附属医院 | A kind of Internal Medicine-Oncology rescue carrigae |
| CN106859869B (en) * | 2017-03-21 | 2018-11-23 | 南阳医学高等专科学校第一附属医院 | A kind of Internal Medicine-Oncology rescue carrigae |
| CN113939177A (en) * | 2021-09-24 | 2022-01-14 | 上海航天电子通讯设备研究所 | LCP flexible substrate curved surface forming device and method |
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