CN109292696B - Anti-tilting aerial work platform - Google Patents
Anti-tilting aerial work platform Download PDFInfo
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- CN109292696B CN109292696B CN201811503447.5A CN201811503447A CN109292696B CN 109292696 B CN109292696 B CN 109292696B CN 201811503447 A CN201811503447 A CN 201811503447A CN 109292696 B CN109292696 B CN 109292696B
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- leveling devices
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- 238000001514 detection method Methods 0.000 claims abstract description 7
- 239000007788 liquid Substances 0.000 claims description 2
- 238000000034 method Methods 0.000 description 9
- 230000000694 effects Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000005611 electricity Effects 0.000 description 4
- 238000012876 topography Methods 0.000 description 4
- 230000001174 ascending effect Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000002955 isolation Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
- B66F11/042—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations actuated by lazy-tongs mechanisms or articulated levers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F13/00—Common constructional features or accessories
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses an anti-tilting aerial work platform, which comprises a working platform, a lifting device power device and a chassis, wherein the chassis comprises: the chassis bracket is used for being connected with the bottom of the lifting device; the top of the base is rotationally connected with the chassis bracket; the front and rear leveling device is used for adjusting the inclination angle of the chassis bracket in the front and rear direction; the left and right leveling devices are used for adjusting the inclination angle of the walking part in the left and right directions; the angle detection device is used for detecting the inclination angle of the chassis bracket; and the control device is used for controlling the front and back leveling devices and the left and right leveling devices to work. The invention solves the problem that the working platform can incline left and right along with the ground under the road condition of uneven ground, prevents the working platform from inclining and even overturning, effectively ensures the safety of staff and can be widely used in various high-altitude operations.
Description
Technical Field
The invention relates to the field of aerial work platforms, in particular to an aerial work platform capable of preventing inclination.
Background
The high-altitude operation platform is a product for serving movable high-altitude operation such as high-altitude operation, equipment installation and overhaul in various industries, the stability of the high-altitude operation platform can directly influence the operation safety of workers on the high-altitude operation platform in the operation process, and in the actual operation process, the rugged operation ground can be frequently encountered, so that under the road conditions of uneven topography, soft ground or ascending and descending slopes, the existing high-altitude operation platform can incline along with the topography, the high-altitude operation platform can incline, and the safe and stable operation of the high-altitude operation platform cannot be ensured. Even overturned when serious, the occurrence of safety accidents of workers is caused.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide an aerial work platform capable of avoiding the inclination of the work platform along with the topography.
The technical scheme provided by the invention comprises the following steps:
the working platform is used for an operator to stand for working;
the lifting device is connected with the working platform and used for lifting the working platform;
the power device is connected with the lifting device and provides power for the aerial working platform;
a chassis, the chassis comprising:
the chassis bracket is used for being connected with the bottom of the lifting device;
the top of the base is rotationally connected with the chassis bracket;
the walking part is hinged to two sides of the base through connecting rods and is used for driving the chassis of the aerial working platform to move;
the front and rear leveling device is used for adjusting the inclination angle of the chassis bracket in the front and rear direction, one end of the front and rear leveling device is hinged with the chassis bracket, and the other end of the front and rear leveling device is hinged with the base;
the left and right leveling devices are used for adjusting the inclination angle of the walking part in the left and right directions, one ends of the left and right leveling devices are hinged to two sides of the base, and the other ends of the left and right leveling devices are hinged to the walking part;
the angle detection device is connected with the chassis bracket and is used for detecting the inclination angle of the chassis bracket;
and the control device is used for controlling the front and back leveling devices and the left and right leveling devices to work.
Preferably, the power device includes:
an engine for providing mechanical energy;
the generator motor is connected with the engine through a clutch;
the storage battery is connected with the generator motor and used for storing electric energy generated when the generator motor rotates when the clutch is closed and providing electric energy for the generator motor when the clutch is opened;
and the hydraulic device is connected with the generator motor and provides liquid pressure energy for the aerial working platform.
Preferably, the number of the connecting rods is at least two on the left side and the connecting rods are arranged in parallel; the right sides are at least two and are mutually parallel.
Preferably, the front and rear leveling devices and the left and right leveling devices are oil cylinders.
Preferably, a travel switch for detecting the telescopic distance of the oil cylinder is arranged on the oil cylinder.
Preferably, the control device comprises a processor and a control valve connected with the processor, and the control valve is respectively connected with the front and rear leveling devices and the left and right leveling devices and used for adjusting the flow and the flow direction of the medium.
Preferably, the control valve is a solenoid valve.
Preferably, the walking part is a crawler belt.
Preferably, the lifting device is a scissor fork.
According to the invention, the inclination angle of the front and rear leveling devices in the front and rear directions is controlled by the control device, and the inclination angle of the left and right leveling devices in the left and right directions is controlled, so that the problem that the chassis can incline left and right along with the ground under the road conditions of uneven ground, soft ground or ascending and descending slopes is solved, the inclination of the operation platform is prevented, the safe and stable work is ensured, and the safety of staff is ensured.
Meanwhile, the invention utilizes the hybrid power comprising the combination of the generator motor and the engine, directly utilizes the electric energy as clean energy under the condition of sufficient electric quantity, and is environment-friendly and pollution-free; when electricity is used up, the generator motor can be driven to rotate by the engine, and the generator motor can generate electricity and is stored in the storage battery while working normally, so that the invention is energy-saving and environment-friendly, and the advantages of the engine and the motor can be integrated.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings may be obtained according to the drawings without inventive effort to those skilled in the art.
FIG. 1 is a front view of a preferred embodiment of the present invention;
FIG. 2 is a left side view of FIG. 1 with the right side travel being higher than the left side travel;
FIG. 3 is a left side view of FIG. 1; the left side walking part is higher than the right side walking part;
FIG. 4 is a front view of the chassis;
FIG. 5 is a left side view of FIG. 4;
FIG. 6 is a top view of FIG. 4;
FIGS. 7 and 8 are perspective views of FIG. 4 showing two different orientations;
figure 9 shows a perspective view of the base and the front-to-rear leveling device in isolation;
FIG. 10 shows a perspective view of the base and left and right leveling devices in isolation;
fig. 11 and 12 are working schematic diagrams of the front-rear leveling device, and fig. 11 is a state when the front-rear leveling device is extended, and fig. 12 is a state when the front-rear leveling device is contracted;
FIG. 13 is a schematic diagram of the operation of the left and right leveling devices;
fig. 14 is a schematic diagram of one connection of a power plant.
Detailed Description
In order that those skilled in the art may better understand the technical solutions of the present invention, the following detailed description of the present invention with reference to the accompanying drawings is provided for exemplary and explanatory purposes only and should not be construed as limiting the scope of the present invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
It should be noted that, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like refer to an azimuth or a positional relationship based on that shown in the drawings, or that the inventive product is commonly put in place when used, merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal," "vertical," "overhang," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
As shown in fig. 1 to 14, the technical solution provided in this embodiment is as follows:
work platform 10 for an operator to stand for work;
the lifting device 20 is connected with the working platform 10 and is used for lifting the working platform 10;
the power device 9 is connected with the lifting device 20 and provides power for the aerial working platform;
a chassis, wherein the chassis comprises:
a chassis bracket 1 for connection with a lifting device 20;
the top of the base 2 is rotationally connected with the chassis bracket 1;
the walking part 3 is hinged to the two sides of the base 2 through a connecting rod 8 and is used for driving the aerial working platform to move;
the front and rear leveling device 4 is used for adjusting the inclination angle of the chassis bracket 1 in the front and rear direction, one end of the front and rear leveling device 4 is hinged with the chassis bracket 1, and the other end is hinged with the base 2;
the left and right leveling devices 5 are used for adjusting the inclination angle of the walking part 3 in the left and right directions, one ends of the left and right leveling devices 5 are hinged to two sides of the base 2, and the other ends of the left and right leveling devices are hinged to the walking part 3;
an angle detection device 6 connected to the chassis bracket 1 and configured to detect an inclination angle of the chassis bracket 1;
and a control device 7 for controlling the operations of the front-rear leveling device 4 and the left-right leveling device 5.
The working platform 10 and the lifting device 20 are all of the prior art, and the conventional working platform 10 and lifting device 20 in the market can be adopted.
The number of the connecting rods 8 is preferably four, so that the connecting rods can play a role of a parallelogram, and referring to fig. 4-5, eight connecting rods 8 are adopted in fig. 4-5, four connecting rods are respectively arranged on the left side and the right side, and the four connecting rods are arranged on the left side and the four connecting rods are also arranged on the right side. In the direction of fig. 5, a parallelogram structure is formed, the short side on the walking part 3 and the short side on the base 2 keep a fixed angle unchanged, and the two long sides freely swing to change the angle, so that the vertical direction can be always kept when the walking part 3 swings up and down, and the walking part 3 is ensured not to be askew.
The angle detecting device 6 may be an angle sensor, and is installed at the upper portion or the lower portion of the chassis bracket 1, and is used for detecting an inclination angle and transmitting detected data to the control device 7 in real time. The control device 7 sends corresponding instructions to the front and rear leveling devices 4 and the left and right leveling devices 5 according to the data fed back by the angle sensor, so that the front and rear leveling devices 4 and the left and right leveling devices 5 drive the chassis bracket 1 to maintain a horizontal state.
The control device 7 can be a singlechip or a PLC, and can receive signals and send out signals through programming.
The top of the chassis bracket 1 is connected with an aerial working platform, the bottom of the chassis bracket 1 is hinged with the base 2 and can rotate around a hinge point, one end of the front and rear leveling device 4 is hinged with the chassis bracket 1, and when the front and rear leveling device 4 works, the chassis bracket 1 is driven to swing around the hinge point, so that leveling in the front and rear direction is realized.
Similarly, one end of the left and right leveling devices 5 is hinged to one side of the base 2, and the other end is hinged to the walking portion 3, or two left and right leveling devices 5 may be provided, which are respectively provided on the left and right sides of the base 2. When the left and right leveling devices 5 work, the traveling part 3 is driven to move up and down, thereby realizing adjustment in the left and right directions.
Therefore, the left leveling device 5, the right leveling device 4 and the front leveling device 4 can enable the aerial work platform to work on the road surface with uneven topography, and the chassis bracket 1 is kept balanced through real-time adjustment, so that the aerial work platform is prevented from tilting, and safety accidents are prevented.
As a further preferable aspect of the present embodiment, the power unit may include:
an engine 91 for providing mechanical energy;
a generator motor 92 connected to the engine 91 via a clutch 93;
a battery 94 connected to the generator motor 92 for storing electric energy generated when the generator motor 92 rotates when the clutch 93 is closed, and supplying electric energy to the generator motor 92 when the clutch 93 is opened;
hydraulic device 95 is connected to generator motor 92 and provides hydraulic pressure energy to the aerial platform.
The engine 91 may be a diesel engine, a gasoline engine, or other engine, providing rotational mechanical energy. The engine 91 is connected to the generator motor 92 through the clutch 93, and when the clutch 93 is closed, the generator motor 92 is driven to rotate, and when the clutch 93 is opened, the engine 91 is not operated.
The generator motor 92 is a motor device that can be used as a generator or a motor, and when driven by the engine 91, generates rotational motion and electric energy, and is stored in the battery 94, and when the generator motor 92 is not operated, the battery 94 can supply electric energy to the generator motor 92 to drive the generator motor 92 to rotate. The battery 94 may also be charged directly by the charging device.
In the embodiment, the generator motor 92 and the engine 91 are used as hybrid power, and electric energy is directly used as clean energy under the condition of sufficient electric quantity, so that the environment is protected and pollution is avoided; when the electricity is used up, the engine 91 can be used for driving the generator motor 92 to rotate, and the generator motor 92 can generate electricity and is stored in the storage battery 94 while working normally, so that the invention is energy-saving and environment-friendly, and the advantages of the engine and the motor can be combined.
As a further preference of this embodiment, for ease of connection, the chassis bracket 1 may comprise a chassis connector 11, as shown in fig. 9, the chassis connector 11 being hingedly connected to the base 2.
The left and right leveling devices 5 and the front and rear leveling devices 4 may be linear driving devices such as an oil cylinder and a cylinder, and a travel switch for detecting the telescopic distance of the linear driving devices is arranged on the linear driving devices, and the travel switch is connected with the control device 7 and is used for feeding back detected data to the control device 7.
The running part 3 may be a track or a wheel, preferably a track. As shown in fig. 13, a working schematic diagram of the left and right leveling devices 5 is shown, and when the left and right leveling devices 5 are contracted, the left walking part 3 is driven to move upward. Fig. 11 and 12 show an operation schematic diagram of the front-rear leveling device 4, wherein fig. 11 is a state in which the front-rear leveling device 4 is extended, and fig. 12 is a state in which the front-rear leveling device 4 is contracted.
The control device 7 may include a processor and a control valve connected to the processor, where the control valve is connected to the front and rear leveling devices 4 and the left and right leveling devices 5, respectively, and is used to regulate the flow rate and flow direction of the medium. The control valve may be a solenoid valve. The processor may be a single chip microcomputer or a PLC, or other general purpose processor, and mainly receives the signal of the angle detecting device 6, processes the signal according to the signal value, and then sends an instruction to the front-rear leveling device 4 and the left-right leveling device 5.
When the front leveling device 4 and the rear leveling device 5 are oil cylinders and air cylinders, the flow direction and the flow rate of a medium are controlled by control valves, such as electromagnetic valves, one end of each electromagnetic valve is connected with a medium inlet and outlet of the oil cylinder/air cylinder, and the other end of each electromagnetic valve is connected with an oil tank. The connection of the solenoid valve is common knowledge in the art, and thus will not be described in detail.
As shown in fig. 11 and 12, and fig. 2 and 3, the working principle of the present embodiment is shown:
when the vehicle runs down a slope, the angle detection device 6 detects angle inclination data and feeds the data back to the processor, the processor calculates the angle to be adjusted according to the current inclination data, calculates the distance required to act by the front and rear leveling devices 4, and then sends a control instruction to the control valve, and the control valve enables the front and rear leveling devices 4 to act to push out the piston rods of the front and rear leveling devices, so that the chassis bracket 1 rotates anticlockwise, and the leveling effect is achieved; similarly, when ascending a slope, the angle detection device 6 detects angle inclination data and feeds the data back to the processor, the processor calculates the angle to be adjusted according to the current inclination data, calculates the distance required to be acted by the front and rear leveling devices 4, and then sends a control instruction to the control valve, and the control valve enables the front and rear leveling devices 4 to act to shrink the piston rod, so that the chassis bracket 1 rotates clockwise, and the leveling effect is achieved. The connection of the solenoid valve is common knowledge in the art, and thus will not be described in detail.
The base 2 and the walking portion 3 may be welded with an ear plate, the connecting rod 8 and the left and right leveling devices 5 are hinged to the base 2 through the ear plate on the base 2, and are hinged to the walking portion 3 through the ear plate on the walking portion 3, as shown in fig. 10, four laterally symmetrical ear plates are welded on the base 2, two holes on the ear plate are hinged to the connecting rod 8, the other end of each connecting rod 8 is hinged to a hole formed in the ear plate on the walking portion 3, and the relative positions of the hole formed in the ear plate on the base 2 and the hole formed in the ear plate on the walking portion 3 are the same, so that the connecting rod and the ear plate form a parallelogram structure, and it can be ensured that the walking portion 3 does not rotate in the rotation process of the connecting rod 8. One end of the left and right leveling oil cylinders 5 is hinged with the upper hole formed in the upper lug plate of the base 2, and the other end of the left and right leveling oil cylinders is hinged with the lower hole formed in the upper lug plate of the walking part 3, so that the left and right leveling oil cylinders 5 are positioned at the diagonal positions of the parallelogram. When the left and right leveling devices 5 shrink, the connecting rod 8 drives the walking part 3 to rotate clockwise, and when the left and right leveling devices 5 stretch, the connecting rod 8 drives the walking part 3 to rotate anticlockwise, so that the height difference of the left and right walking parts 3 is formed, and the leveling effect is achieved.
The left and right leveling modes can be three modes: the leveling on the same side, the leveling on the opposite side and the leveling on both sides are performed simultaneously, taking the case that the front leveling device 4 and the rear leveling device 5 are oil cylinders as an example, when the angle detection device 6 detects that the chassis bracket 1 is inclined, a signal is sent to the control device 7, meanwhile, the travel switch on the oil cylinder feeds back information to the control device 7, and the control device 7 selects a corresponding leveling mode according to the following conditions:
(1) When the left travel switch and the right travel switch give signals for the control device 7 that the oil cylinders shrink in place, if the chassis bracket 1 tilts left at this time, the control device 7 controls the left oil cylinder to extend to reach the leveling effect, and similarly, when detecting tilting right, the control device controls the right oil cylinder to extend to reach the leveling effect, and then leveling is carried out on the same side.
(2) When the left travel switch and the right travel switch give the control device 7 the signals that the oil cylinders extend to the right, if the chassis bracket 1 tilts left at this time, the control device 7 controls the right oil cylinder to shrink to reach the leveling effect, and similarly, when the right tilting is detected, the left oil cylinder is controlled to shrink to reach the leveling effect, and the opposite side leveling is realized.
(3) When the left travel switch and the right travel switch give signals to the control device 7 that the oil cylinders are not contracted in place, the oil cylinders on the left side and the right side act and level simultaneously, and the two sides level simultaneously.
(4) When the oil cylinder of the control device 7 is contracted to a proper position by the one-side travel switch and the oil cylinder of the control device 7 is extended to a proper position by the other-side travel switch, the inclination angle of the chassis bracket 1 reaches the limit of the specified range, the leveling can not be performed any more, and the machine is required to be stopped.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present invention and its core ideas. The foregoing is merely a preferred embodiment of the invention, and it should be noted that, due to the limited text expressions, there is objectively no limit to the specific structure, and that, for a person skilled in the art, modifications, adaptations or variations may be made without departing from the principles of the present invention, and the above technical features may be combined in any suitable manner; such modifications, variations and combinations, or the direct application of the inventive concepts and aspects to other applications without modification, are contemplated as falling within the scope of the present invention.
Claims (5)
1. An anti-tilt aerial work platform, comprising:
the working platform is used for an operator to stand for working;
the lifting device is connected with the working platform and used for lifting the working platform;
the power device is connected with the lifting device and provides power for the aerial working platform;
a chassis, the chassis comprising:
the chassis bracket is used for being connected with the lifting device;
the top of the base is rotationally connected with the chassis bracket;
the walking part is hinged to two sides of the base through connecting rods and is used for driving the chassis of the aerial working platform to move;
the front and rear leveling device is used for adjusting the inclination angle of the chassis bracket in the front and rear direction, one end of the front and rear leveling device is hinged with the chassis bracket, and the other end of the front and rear leveling device is hinged with the base;
the left and right leveling devices are used for adjusting the inclination angle of the walking part in the left and right directions, one ends of the left and right leveling devices are hinged to two sides of the base, and the other ends of the left and right leveling devices are hinged to the walking part;
the angle detection device is connected with the chassis bracket and is used for detecting the inclination angle of the chassis bracket;
the control device is used for controlling the front and back leveling devices and the left and right leveling devices to work;
the front and rear leveling devices and the left and right leveling devices are oil cylinders;
the oil cylinder is provided with a travel switch for detecting the telescopic distance of the oil cylinder;
the control device comprises a processor and a control valve connected with the processor, and the control valve is respectively connected with the front and rear leveling devices and the left and right leveling devices and is used for adjusting the flow and the flow direction of a medium;
the four left and right connecting rods are arranged in parallel, the four right connecting rods are arranged in parallel, a parallelogram structure is formed, the short sides of the walking part and the short sides of the base are kept unchanged, the two long sides freely swing to change angles, and therefore the walking part can always keep vertical direction and can not skew when swinging up and down.
2. The aerial work platform of claim 1, wherein the power device comprises:
an engine for providing mechanical energy;
the generator motor is connected with the engine through a clutch;
the storage battery is connected with the generator motor and used for storing electric energy generated when the generator motor rotates when the clutch is closed and providing electric energy for the generator motor when the clutch is opened;
and the hydraulic device is connected with the generator motor and provides liquid pressure energy for the aerial working platform.
3. The aerial work platform of claim 1, wherein the control valve is a solenoid valve.
4. The aerial work platform of claim 1, wherein the walking section is a track.
5. The aerial work platform of claim 1, wherein the lifting device is a scissor fork.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811503447.5A CN109292696B (en) | 2018-12-10 | 2018-12-10 | Anti-tilting aerial work platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811503447.5A CN109292696B (en) | 2018-12-10 | 2018-12-10 | Anti-tilting aerial work platform |
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| CN109292696A CN109292696A (en) | 2019-02-01 |
| CN109292696B true CN109292696B (en) | 2024-03-29 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111017839A (en) * | 2020-01-02 | 2020-04-17 | 湖南星邦智能装备股份有限公司 | Driving control method, controller, control system and overhead working truck |
| CN114922014A (en) * | 2022-06-07 | 2022-08-19 | 山河智能装备股份有限公司 | Automatic leveling method of turnout laying and exchanging machine and turnout laying and exchanging machine |
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| CN109292696A (en) | 2019-02-01 |
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