CN107965481B - Control system and control method for vehicle-mounted hydraulic support leg - Google Patents
Control system and control method for vehicle-mounted hydraulic support leg Download PDFInfo
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- CN107965481B CN107965481B CN201711475216.3A CN201711475216A CN107965481B CN 107965481 B CN107965481 B CN 107965481B CN 201711475216 A CN201711475216 A CN 201711475216A CN 107965481 B CN107965481 B CN 107965481B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B20/00—Safety arrangements for fluid actuator systems; Applications of safety devices in fluid actuator systems; Emergency measures for fluid actuator systems
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
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- Analytical Chemistry (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention relates to the field of hydraulic pressure and automatic electric control, in particular to a control system and a control method of a vehicle-mounted hydraulic support leg. The hydraulic pump is connected with the motor, the controller provides driving energy through an energy storage power supply, and an oil inlet of the hydraulic pump is connected with a hydraulic oil tank capable of providing oil; the oil outlet of the hydraulic pump is respectively connected with a check valve and a safety valve, and the safety valve is connected with a hydraulic oil tank through a hydraulic oil pipe; the one-way valve is connected with the reversing valve; the oil inlet and outlet of the supporting leg oil cylinder is connected with the reversing valve through the balance valve mechanism; the controller is connected with the sensor. Compared with the prior art, a continuous and efficient current output and rotating speed reduction control strategy is provided, so that the reliability and the safety are improved, and the automatic control capability is enhanced; the sensors are highly matched, so that a multifunctional protection strategy is provided, and work under various working conditions is realized.
Description
Technical Field
The invention relates to the field of hydraulic pressure and automatic electric control, in particular to a control system and a control method of a vehicle-mounted hydraulic support leg.
Background
At present, the vehicle-mounted hydraulic support control system is mainly divided into manual and linkage operation control and relatively intelligent leveling control technologies, and the conventional working condition requirements of the vehicle-mounted hydraulic support system can be met, but the requirements of vehicle-mounted safety performance and corresponding guarantee strategy control technologies after misoperation of drivers or operators are ignored; the vehicle-mounted hydraulic support system is usually not leveled when only the lying road surface is mainly considered for supporting on the vehicle-mounted safety requirement and a certain slope or rollover angle working condition is not considered, so that the vehicle is subjected to rollover and damage caused by the hydraulic pump system exceeding a peak working condition in the supporting process; secondly, the driver or the operator is unavoidably in misoperation, the habit of random operation is required to consider and make multiple control strategies, mutual restriction is carried out, and the safe guarantee operation of the system is realized. Therefore, it is necessary to provide a hydraulic support leg leveling control system and a control method thereof, which can realize multifunctional safety guarantee.
Disclosure of Invention
The invention aims at the demands of markets and clients, and realizes an intelligent automatic leveling control technology in order to ensure the safe and reliable operation of a hydraulic support leg system on each working condition road section. Particularly designs a control system and a control method of a vehicle-mounted hydraulic support leg.
The invention is realized in such a way that a control system of a vehicle-mounted hydraulic support leg comprises a support leg oil cylinder, and is characterized in that: the control system comprises a hydraulic pump, a motor, a controller and a sensor, wherein the hydraulic pump and the controller are connected with the motor, the controller provides driving energy through an energy storage power supply, and an oil inlet of the hydraulic pump is connected with a hydraulic oil tank capable of providing oil; the oil outlet of the hydraulic pump is respectively connected with a one-way valve and a safety valve, and the safety valve is connected with a hydraulic oil tank through a hydraulic oil pipe; the one-way valve is connected with the reversing valve; the oil inlet and outlet of the supporting leg oil cylinder is connected with the reversing valve through the balance valve mechanism; the controller is connected with the sensor.
The utility model provides a control system of on-vehicle hydraulic support leg which characterized in that: the sensor comprises a pressure sensor, a temperature sensor, a position inclination sensor and a stroke displacement sensor.
The pressure sensor is arranged on the balance valve mechanism, the temperature sensor is arranged on the shell of the motor, the position inclination sensor is arranged at the bottom of the carriage, and the stroke displacement sensor is arranged on the landing leg oil cylinder.
The balance valve mechanism comprises a pilot overflow valve and a one-way valve which are connected in parallel.
The control method of the control system of the vehicle-mounted hydraulic support leg is characterized by comprising the following steps of:
s1, initializing; when starting the controller, the control system performs initialization detection;
s2, a standby mode is set at the controller; when the controller is executed in the standby mode of the direct current brushless controller, the controller automatically detects according to the temperature transmitted by the temperature sensor and the absolute value data transmitted by the position inclination sensor, and prepares to start the hydraulic pump by pressing an operation button;
s3, operating a hydraulic pump; after the hydraulic pump is started to work, the supporting leg oil cylinder starts to slowly extend, and the controller selects the rotating speed according to data transmitted by the pressure sensor;
s4, the hydraulic pump runs at a reduced rotating speed; when the hydraulic pump runs at a rotating speed, the controller prepares for automatic leveling according to the data transmitted by the stroke displacement sensor;
s5, starting an automatic leveling system; when the control system reaches an automatic leveling condition, the controller controls the slow telescopic movement of each supporting leg oil cylinder according to the data transmitted by the position inclination sensor and the stroke displacement sensor, and continuously corrects the slow telescopic movement;
and S6, stopping working of the supporting leg hydraulic system after leveling is finished.
A control method of a control system of a hydraulic support leg, characterized by comprising the following steps: and if the initialization detection of the S1 is abnormal in 5 times of detection, the support leg hydraulic system cannot be operated.
And when the numerical value of the temperature sensor of the S2 reaches 100 ℃ or the data of the position inclination sensor is larger than 10 ℃, the controller sends a stop operation command.
The invention has the beneficial effects that: (1) the 24vMOS tube power module is used as a driving controller to provide continuous and efficient current output, so that a control strategy of continuous high-load operation and rotation speed reduction of a support system is ensured, and the reliability and the safety and the automatic control of products are improved.
(2) The high cooperation of pressure sensor, position inclination sensor and stroke displacement sensor has multi-functional protection strategy, realizes the operating mode condition of automatic judgement beyond security performance requirement scope, avoids working under the limit, dangerous operating mode.
Drawings
FIG. 1 is a schematic diagram of a control system for a vehicle-mounted hydraulic leg in accordance with the present invention;
fig. 2 is a control flow diagram of the control system of the present invention relating to a vehicle-mounted hydraulic leg.
The drawing shows that, 1 is a hydraulic support leg oil cylinder, 2 is a balance valve mechanism, 3 is a three-position four-way reversing valve, 4 is a spring type one-way valve, 5 is a safety valve, 6 is a hydraulic pump, 7 is a hydraulic oil tank, 8 is a direct current brushless motor, 9 is a direct current brushless controller, 10 is an energy storage power supply, 11 is a temperature sensor, 12 is a pressure sensor, 13 is a position inclination sensor, 14 is a stroke displacement sensor, S1 is step 1, S2 is step 2, S3 is step 3, S4 is step 4, S5 is step 5, and S6 is step 6.
Detailed Description
As shown in fig. 1 and fig. 2, a control system of a vehicle-mounted hydraulic support leg comprises a support leg oil cylinder 1, wherein the control system comprises a hydraulic pump 6, a motor 8, a controller 9 and a sensor, the hydraulic pump 6 and the controller 9 are connected with the motor 8, the controller 9 provides driving energy through an energy storage power supply 10, and an oil inlet of the hydraulic pump 6 is connected with a hydraulic oil tank 7 capable of providing oil; the oil outlet of the hydraulic pump 6 is respectively connected with the check valve 4 and the safety valve 5, and the safety valve 5 is connected with the hydraulic oil tank 7 through a hydraulic oil pipe; the one-way valve 4 is connected with the reversing valve 3; the oil inlet and outlet of the supporting leg oil cylinder 1 is connected with a reversing valve 3 through a balance valve mechanism 2; the controller 9 is connected to the sensor.
The control system of the vehicle-mounted hydraulic support leg comprises a pressure sensor 12, a temperature sensor 11, a position inclination sensor 13 and a stroke displacement sensor 14.
The pressure sensor 12 is installed on the balance valve mechanism 2, the temperature sensor 11 is installed on the shell of the DC brushless motor 8, the position inclination sensor 13 is installed on the carriage, and the stroke displacement sensor 14 is installed on the hydraulic support leg oil cylinder 1.
The balance valve mechanism 2 comprises a pilot relief valve and a one-way valve which are connected in parallel.
The intelligent automatic leveling hydraulic support leg control system comprises a hydraulic support leg oil cylinder 1, a balance valve mechanism 2, a three-position four-way reversing valve 3, a spring type one-way valve 4, a safety valve 5, a hydraulic pump (such as a gear pump) 6, a hydraulic oil tank 7, a 24v DC brushless motor 8, a 24v DC brushless controller 9, a low-voltage energy storage power supply 10, a pt100 temperature sensor 11, a pressure sensor 12, a position inclination sensor 13 and a stroke displacement sensor 14. The 24v brushless DC motor 8 and the hydraulic pump 6 adopt a direct connection mode, a flange spigot is matched, the hydraulic pump 6 is directly driven to work, a pt100 temperature sensor 11 is arranged on the shell of the 24v brushless DC motor 8, the actual running temperature of the 24v brushless DC motor 8 is monitored in real time, signals are transmitted to the 24v brushless DC controller 9 in real time, and when the internal temperature of the motor 8 reaches the insulation level requirement of the motor 8 due to long-time high-load running of the 24v brushless DC motor 8, the hydraulic support leg system is directly stopped to continue to work.
The power module of the 24v brushless controller 9 adopts a high-current mos tube to be combined in parallel and series connection mode, so that the 24v brushless controller 9 can output continuous high current and power output, and the low-voltage energy storage power supply 10 provides driving energy for the 24v brushless controller 9 and is also used as a control power supply for sensors of other system branches; when the 24v brushless DC control 9 is started, the 24v brushless DC motor 8 is driven to operate at the rated rotation speed of 1500r/min, and the motor is transmitted to the hydraulic pump 6 to operate, and the hydraulic pump 6 also operates at the same rotation speed as the brushless DC motor 8 due to the direct connection mode.
In the landing leg hydraulic system, a hydraulic oil tank 7 is in butt joint with an oil inlet of a hydraulic pump 6 to provide an oil source for the hydraulic pump 6, an oil outlet of the hydraulic pump 6 is in butt joint with an oil inlet end of a safety valve 5 through a three-way valve block, and an oil return hole of the safety valve 5 directly returns to the hydraulic oil tank 7 through a hydraulic oil pipe to form a hydraulic safety guarantee loop; the purpose of the spring type check valve 4 is to prevent the hydraulic oil of the landing leg oil cylinder 1 from returning to the hydraulic pump 6, so that reserved air exists in the branch hydraulic oil pipe, cavitation occurs in the system operation process, and the normal operation of the hydraulic pump 6 is affected.
The spring type one-way valve 4 is connected with the three-position four-way reversing valve 3, the three-position four-way reversing valve 3 is used as a reversing mechanism of a hydraulic system and is correspondingly connected with an oil inlet and an oil outlet of the supporting leg oil cylinder 1, a pilot overflow valve and the one-way valve are respectively arranged between the two oil inlet and outlet passages and are connected in parallel to form a balance valve mechanism 2, and the pressure maintaining effect of the hydraulic supporting leg oil cylinder 1 is realized; the hydraulic support oil cylinder 1 is not required to be unloaded and automatically lowered due to the dead weight of the support, the pressure sensor 12 is arranged at the balance valve mechanism 2, pressure value data of the oil cylinder entering and exiting are sent to the 24v direct current brushless controller 9, the value of the pressure sensor 12 is increased along with rising and increasing of the load of the support oil cylinder 1, when the set load pressure value is reached, the hydraulic pump 6 automatically releases pressure, and the pressure of the hydraulic pump 6 is ensured to be in a normal working range.
The hydraulic support leg oil cylinders 1 are respectively provided with a travel displacement sensor 14, the length data of the telescopic distance of the inner rod of the support leg oil cylinder 1 is detected, and the information is transmitted to the 24v direct current brushless controller 9 and used as an executing mechanism unit of a later control strategy to set the control strategy requirement and the running instruction.
The inclination sensor 13 is arranged at the bottom of the carriage, and the horizontal balance state of the carriage body in the telescopic process of the hydraulic support leg is detected, so that the whole car is ensured not to work under the road condition exceeding the angle side slope and the slope of the support leg system.
The four different types of sensors are provided with a primary command level and a secondary command level, a 24v direct current brushless controller 9 is used for programming and setting related control strategy instructions, and once the direct current brushless controller 9 receives data fed back by the sensors as a primary value, a self-locking closing function is sent out, so that a hydraulic support leg driving system cannot be operated; when the secondary value is received, the dc brushless controller 9 will operate the hydraulic leg work in a prioritized logic relationship determination. The hydraulic support leg system can safely and reliably operate on all working condition road sections, and has multifunctional safety guarantee.
The control method of the control system of the vehicle-mounted hydraulic support leg is characterized by comprising the following steps of:
s1, initializing; at the beginning of the start of the controller 9 the control system will perform an initialization check. When the direct current brushless controller 9 starts to be started, the control system performs initialization detection to detect the data receiving and transmitting state of the control system and whether the initial self-setting data of the direct current brushless motor 8 are normal, the controller cpu operates and the internal power supply condition is met.
S2, a standby mode is set at the controller; when the controller 9 is in the standby mode, the controller 9 automatically detects the temperature from the temperature sensor 11 and the absolute value from the inclination sensor 13, and prepares to start the start of the hydraulic pump 6 by pressing the operation button. When the operation is executed to the standby mode of the direct current brushless controller 9, the operation button is started to perform primary grade detection, and if the temperature value of the detected pt100 sensor 11 reaches 100 ℃, or the absolute value data of the position inclination sensor 13 of the carriage is larger than 10 ℃, the direct current brushless controller 9 sends an operation stopping command to prompt the potential safety hazard of the working condition road section to be further examined; if the first level value is not reached, S3 is performed to start the hydraulic pump.
3. The hydraulic pump operates; after the hydraulic pump 6 is started to work, the supporting leg oil cylinder 1 starts to slowly extend; the controller 9 performs rotational speed selection based on data from the pressure sensor 12. After the hydraulic pump 6 is started, the hydraulic support oil cylinder 1 starts to slowly lift, at the moment, the direct current brushless controller 9 receives pressure data of the hydraulic support oil cylinder 1 in and out of the branch circuit at all times, when the value of the transmitted pressure sensor 12 is less than or equal to 4MPa, the 24v direct current brushless controller 9 controls the driving motor 8 to still operate according to the rated operation rotating speed 1500r/min until the transmitted value of the pressure sensor 12 is greater than 4MPa, and the hydraulic pump 6 carries out a rotating speed reducing operation strategy of S4.
4. The hydraulic pump runs at a reduced rotating speed; when the hydraulic pump 6 is running at a reduced rotational speed, the controller 9 prepares for auto leveling based on the data transmitted from the stroke displacement sensor 14. The rotation speed of the hydraulic pump 6 is reduced to 1000r/min according to the linear proportion, so that the hydraulic support leg oil cylinder 1 can run at a low rotation speed when bearing high load. When the hydraulic pump 6 runs at a rotating speed, the stroke data transmitted by the stroke displacement sensor 14 on the supporting leg oil cylinder 1 is further judged, and when the direct current brushless controller 9 detects that the stroke displacement value of the supporting leg oil cylinder 1 is more than or equal to 30mm, the automatic leveling system of S5 is started.
5. Starting an automatic leveling system; when the control system reaches an automatic leveling condition, the controller 9 controls the slow telescopic movement of the supporting leg oil cylinders 1 according to the data transmitted by the position inclination sensor 13 and the stroke displacement sensor 14, and continuously corrects the supporting leg oil cylinders. When the control system reaches an automatic leveling condition, the direct current brushless controller 9 takes the transmitted signal data of the position inclination sensor 13 and the signal data of the stroke displacement sensor 14 of the support leg oil cylinders 1 as common judging basis, and the horizontal angle of the position inclination sensor 13 is maintained between 0 and 1 degrees and the stroke displacement of the stroke displacement sensor 14 is ensured to be between 40 and 80mm by controlling the continuous correction of the slow telescopic movement of each support leg oil cylinder 1.
6. And (5) stopping working of the supporting leg hydraulic system after leveling is finished. When the leveling of the hydraulic support legs is finished, the hydraulic pump 6 stops working, and the support leg hydraulic system is in a standby state; an intelligent automatic leveling control technology is realized.
A control method of a control system of a vehicle-mounted hydraulic support leg, wherein if 5 times of abnormal tests occur in the initialization detection of S1, the support leg hydraulic system is not operated; after detecting normal, entering S2 to execute standby mode of the DC brushless controller; if the test is abnormal, the initialization is continuously carried out until the abnormal phenomenon can not be solved after the initialization is detected for 5 times, an alarm overhauling signal is sent out, and an operator is informed of the need of maintaining the replacement product.
A control method of a control system of a hydraulic support leg is characterized in that when the value of a temperature sensor 11 of S2 reaches 100 ℃, or when the value of a position inclination sensor 14 is larger than 10 ℃, a controller 9 sends out a stop operation command.
The above embodiment is only one of the preferred embodiments of the present invention, and the ordinary changes and substitutions made by those skilled in the art within the scope of the present invention should be included in the scope of the present invention.
Claims (5)
1. The utility model provides a control system of on-vehicle hydraulic support leg, includes landing leg hydro-cylinder, its characterized in that: the control system comprises a hydraulic pump, a motor, a controller and a sensor, wherein the hydraulic pump and the controller are connected with the motor, the controller provides driving energy through an energy storage power supply, and an oil inlet of the hydraulic pump is connected with a hydraulic oil tank capable of providing oil; the oil outlet of the hydraulic pump is respectively connected with a one-way valve and a safety valve, and the safety valve is connected with a hydraulic oil tank through a hydraulic oil pipe; the one-way valve is connected with the reversing valve; the oil inlet and outlet of the supporting leg oil cylinder is connected with the reversing valve through the balance valve mechanism; the controller is connected with the sensor;
the sensor comprises a pressure sensor, a temperature sensor, a position inclination sensor and a stroke displacement sensor;
the control method of the control system of the vehicle-mounted hydraulic support leg comprises the following steps:
s1, initializing; when starting the controller, the control system performs initialization detection;
s2, a standby mode is set at the controller; when the controller is executed in the standby mode of the direct current brushless controller, the controller automatically detects according to the temperature transmitted by the temperature sensor and the absolute value data transmitted by the position inclination sensor, and prepares to start the hydraulic pump by pressing an operation button;
s3, operating a hydraulic pump; after the hydraulic pump is started to work, the supporting leg oil cylinder starts to slowly extend, and the controller selects the rotating speed according to data transmitted by the pressure sensor;
s4, the hydraulic pump runs at a reduced rotating speed; when the hydraulic pump runs at a rotating speed, the controller prepares for automatic leveling according to the data transmitted by the stroke displacement sensor;
s5, starting an automatic leveling system; when the control system reaches an automatic leveling condition, the controller controls the slow telescopic movement of each supporting leg oil cylinder according to the data transmitted by the position inclination sensor and the stroke displacement sensor, and continuously corrects the slow telescopic movement;
and S6, stopping working of the supporting leg hydraulic system after leveling is finished.
2. The control system of an on-board hydraulic leg according to claim 1, wherein: the pressure sensor is arranged on the balance valve mechanism, the temperature sensor is arranged on the shell of the motor, the position inclination sensor is arranged at the bottom of the carriage, and the stroke displacement sensor is arranged on the landing leg oil cylinder.
3. The control system of an on-board hydraulic leg according to claim 1, wherein: the balance valve mechanism comprises a pilot overflow valve and a one-way valve which are connected in parallel.
4. The control system of an on-board hydraulic leg according to claim 1, wherein: and if the initialization detection of the S1 is abnormal in 5 times of tests, the support leg hydraulic system cannot be operated.
5. The control system of an on-board hydraulic leg according to claim 1, wherein: and when the value of the temperature sensor of the S2 reaches 100 ℃ or the value of the position inclination sensor is larger than 10 ℃, the controller sends a stop operation command.
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| CN201711475216.3A CN107965481B (en) | 2017-12-29 | 2017-12-29 | Control system and control method for vehicle-mounted hydraulic support leg |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109083892A (en) * | 2018-10-17 | 2018-12-25 | 北京天顺长城液压科技有限公司 | Electrofluidic control device for milling machine supporting leg |
| CN109606246B (en) * | 2019-01-30 | 2023-07-07 | 中国矿业大学 | Dynamic balance hydraulic chassis for semi-fluid transport container and control method |
| CN110107552B (en) * | 2019-04-12 | 2021-03-09 | 北京航天发射技术研究所 | Vehicle-mounted platform support leg synchronous control method and system |
| CN110707623B (en) * | 2019-10-08 | 2020-11-17 | 广东博智林机器人有限公司 | Cable erection equipment and mobile construction waste treatment system |
| CN112627531A (en) * | 2019-10-09 | 2021-04-09 | 青岛九合重工机械有限公司 | Novel pump truck automatic balance system |
| CN110965442A (en) * | 2019-12-11 | 2020-04-07 | 三一汽车制造有限公司 | Milling machine support leg lifting control system, milling machine and control method |
| 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 |
| CN113294412B (en) * | 2021-05-18 | 2024-07-09 | 山西航天清华装备有限责任公司 | Intelligent leveling system and method for engineering vehicle with hydraulic support legs |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN201784598U (en) * | 2010-05-28 | 2011-04-06 | 长沙中联重工科技发展股份有限公司 | Supporting leg type engineering machine and hydraulic control system thereof |
| CA2921070A1 (en) * | 2013-08-16 | 2015-02-19 | Tot Holdings Inc. | Pipe loader system and method |
| CN203754373U (en) * | 2013-11-08 | 2014-08-06 | 杭州爱知工程车辆有限公司 | Vehicle frame automatic leveling device |
| CN204171001U (en) * | 2014-09-10 | 2015-02-25 | 山东鲁能智能技术有限公司 | Based on the transformer station water flushing device people of laser ranging |
| CN204194341U (en) * | 2014-09-10 | 2015-03-11 | 国家电网公司 | Based on the transformer station water flushing device people of supersonic sounding |
| DE102014225336A1 (en) * | 2014-12-09 | 2016-06-09 | Wobben Properties Gmbh | Tower crane for erecting a wind turbine, and method for erecting the tower crane |
| CN205663666U (en) * | 2016-06-03 | 2016-10-26 | 三峡大学 | Radar carries hydraulic pressure auto leveling system of car |
| CN208073889U (en) * | 2017-12-29 | 2018-11-09 | 龙岩市海德馨汽车有限公司 | A kind of control system of vehicle-mounted hydraulic supporting leg |
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