CN113173500A - Lifting lodging mechanism and control method thereof - Google Patents
Lifting lodging mechanism and control method thereof Download PDFInfo
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- CN113173500A CN113173500A CN202110346327.4A CN202110346327A CN113173500A CN 113173500 A CN113173500 A CN 113173500A CN 202110346327 A CN202110346327 A CN 202110346327A CN 113173500 A CN113173500 A CN 113173500A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
- B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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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
- B66F3/00—Devices, e.g. jacks, adapted for uninterrupted lifting of loads
- B66F3/08—Devices, e.g. jacks, adapted for uninterrupted lifting of loads screw operated
- B66F3/10—Devices, e.g. jacks, adapted for uninterrupted lifting of loads screw operated with telescopic sleeves
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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
- B66F3/00—Devices, e.g. jacks, adapted for uninterrupted lifting of loads
- B66F3/44—Devices, e.g. jacks, adapted for uninterrupted lifting of loads with self-contained electric driving motors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Structural Engineering (AREA)
- Automation & Control Theory (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The invention provides a lifting lodging mechanism and a control method thereof, wherein the mechanism comprises the following two main components: a vertical lifting mechanism body and a two-degree-of-freedom lodging leveling mechanism body. The vertical lifting mechanism also comprises the following devices: the device comprises a lifting servo motor, a lifting servo driver, a high-precision mechanical tail end encoder, a proximity switch and a lifting main controller. The two-degree-of-freedom lodging leveling mechanism also comprises the following devices: high accuracy position servo motor, high accuracy every single move servo motor, lockpin motor, inclinometer, position servo driver, every single move servo driver, main control unit that lodges. The algorithm part comprises the following steps: a two-degree-of-freedom lodging optimal path leveling algorithm and an algorithm implementation flow. The invention realizes the vertical lifting, the rotation of the bearing device with the direction of [ -182 ° ] and the rotation of the pitching [ -91 ° - +33 ° ] and simultaneously solves the problem that the horizontal precision requirement of the upper bearing surface can not be met due to the inclination of the lower bearing device and the lifting rod through a leveling algorithm. The invention has compact structure, reliable equipment and high algorithm efficiency, and can realize the azimuth pitching rotation movement of the bearing equipment, the lifting and the accurate and rapid dynamic leveling of the bearing surface.
Description
Technical Field
The invention relates to the field of precision machinery, servo control and attitude algorithm, in particular to a lifting lodging mechanism and a control method thereof.
Background
At present, equipment in a specific application scene has the requirement of supporting horizontal bearing platforms with different heights, a conventional lifting mechanism has the problem that the horizontal precision requirement of an upper bearing surface cannot be met due to the fact that lower bearing equipment and the lifting mechanism incline, and a set of mechanism with fixed-height lifting and rapid dynamic precise leveling needs to be designed to meet the problem.
Disclosure of Invention
The invention provides a lifting lodging mechanism device and a high-precision rapid dynamic leveling algorithm thereof in order to solve the prior technical requirements, and the application requirements of keeping the bearing platform at different heights are realized by adopting a vertical lifting mechanism, a two-degree-of-freedom lodging leveling mechanism and the high-precision rapid dynamic leveling algorithm.
In order to achieve the above effects, the technical scheme provided by the invention is as follows:
the invention provides a lifting lodging mechanism device, which comprises a vertical lifting mechanism body 1 and a lodging leveling mechanism body 2;
the top of the vertical lifting mechanism body 1 is provided with the lodging leveling mechanism body 2, and the vertical lifting mechanism body 1 adopts a motor to drive a screw rod nut to realize vertical lifting and is used for supporting the lodging leveling mechanism body 2 with two degrees of freedom at the upper part thereof to be lifted in a fixed height;
The two-degree-of-freedom lodging leveling mechanism body 2 adopts a structure that a worm gear serves as a primary speed reducer and a speed reducer serves as a secondary speed reducer, and is used for realizing azimuth and pitching rotation of the upper bearing platform 3.
Further, the vertical lifting mechanism 1 comprises a rod body part, a screw rod and nut module, a speed reducer and a lifting servo motor 4; the output shaft of the lifting servo motor is directly connected with the input shaft of the speed reducer, the output shaft of the speed reducer and the screw rod nut module are driven through straight gear transmission, and the screw rod nut module pushes the rod body to realize the lifting function.
Further, the lodging leveling mechanism 2 comprises an azimuth worm gear, a pitch worm gear, an azimuth reducer, a pitch reducer, an azimuth servo motor 6, a pitch servo motor 7 and an inclinometer 9, wherein the azimuth servo motor 6 is connected with the azimuth worm gear to realize primary speed reduction, and the azimuth worm gear is connected with the azimuth reducer to realize secondary speed reduction to drive azimuth rotation; the pitch servo motor 7 is connected with a pitch worm gear to realize primary speed reduction, and the pitch worm gear is connected with a pitch speed reducer to realize secondary speed reduction to drive pitch rotation; the inclinometer is arranged below the bearing platform 3 and can tilt together with the bearing platform; the locking pin motor 8 and the pitching zero position are coaxially arranged.
Furthermore, in the vertical lifting mechanism 1, a high-precision mechanical end encoder 5 and a proximity switch are installed on a rotating shaft of the lifting servo motor 4, the encoder 5 and the proximity switch are respectively connected with a lifting main controller, and the lifting servo motor 4 is connected with the lifting main controller through a lifting driver.
Furthermore, in the lodging leveling mechanism 2, the lodging main controller is respectively connected with the position servo motor and the pitching servo motor through the position driver and the pitching driver, and the lock pin motor and the inclinometer are directly connected with the main controller.
The invention also provides a control method of the lifting lodging mechanism device, which comprises the following steps:
taking an azimuth rotating shaft as a Z axis, a pitching rotating shaft as a Y axis, and taking a plane which is orthogonal to the Y axis and the Z axis and is in the same plane with the Y axis as an X axis, and establishing a space coordinate system by XYZ;
acquiring the inclination angle degree of the bearing platform 3, and calculating an azimuth angle required to rotate to reach a leveling state according to a two-degree-of-freedom lodging leveling algorithm;
controlling an azimuth servo motor 6 to rotate the calculated azimuth angle from the current position;
acquiring the inclination angle degree of the bearing platform 3 after the azimuth rotation is in place, and directly acquiring the pitching angle required to rotate in the leveling state;
And controlling the pitching servo motor 7 to rotate the pitching angle, and finishing the leveling.
Further, the specific reference of the azimuth angle required to rotate to reach the leveling state is calculated according to a two-degree-of-freedom lodging leveling algorithm:
according to the currently read 9X-axis vector dip angle theta of the inclinometerXY-axis vector tilt angle thetaYI.e. the degree of tilt, and the vector pitch angle theta derived from the pitch servo motorPitCalculating an azimuth rotation angle ξ required for turning from the current position to the leveling stateYaw =ΦθX，θY，θPit。
Further, the obtaining of the inclination angle of the bearing platform 3 after the azimuth rotation is in place directly obtains the required rotation pitch angle of the leveling state specifically includes:
when the azimuth rotates by the calculated angle, the angle vector data theta of the X axis of the inclinometer 9 is read againXnewCalculating the pitch rotation angle xiPit，ξPit=|θXnew|。
As a preferred embodiment of the present application, the azimuth angle is in the range of [ -182 °]Judging whether the target azimuth is positioned in the range of the azimuth, if so, rotating the minimum rotation angle required by leveling in the range of the motion, otherwise, reversely rotating (180 degrees to xi degrees)YawI) angle.
As a preferred embodiment of the present application, the pitch angle is in the range of [ -91 ° - +33 ° ], and whether the target pitch angle is within the range of the pitch angle is judged, and if so, the minimum rotation angle required for leveling within the rotation movement range is judged; if not, the target azimuth is recalculated.
The invention has the beneficial effects that:
by adopting the mechanism and the algorithm, the high-precision rapid dynamic leveling of the bearing surfaces with different heights can be realized through the lowest degree of freedom. The two-degree-of-freedom lodging leveling mechanism is adopted to simplify the complexity of the multi-degree-of-freedom mechanism, so that the overall economy and practicability of the mechanism are improved, and meanwhile, the two-degree-of-freedom lodging leveling algorithm and the optimal leveling path algorithm are adopted to realize high-precision static leveling of a fixed-height bearing surface and high-precision rapid dynamic leveling in the lifting process.
Drawings
FIG. 1 is a block diagram of the mechanism of the present invention;
FIG. 2 is a schematic structural view of the mechanism of the present invention;
FIG. 3 is a flow chart of algorithm implementation;
in the figure, 1-a vertical lifting mechanism, 2-a lodging leveling mechanism, 3-a bearing platform, 4-a lifting servo motor, 5-an encoder, 6-an azimuth servo motor, 7-a pitching servo motor, 8-a lock pin motor, 9-an inclinometer and 10-a side box.
Detailed Description
The invention will be further explained with reference to the drawings.
Example 1
As shown in figures 1 and 2 of the drawings,
the lifting lodging mechanism device provided by the embodiment comprises the following components: 1) vertical lift mechanism: mechanical module, mechanical body structure, electrical equipment mounted position. 2) Two-degree-of-freedom lodging leveling mechanism: mechanical die block, mechanical body structure, electrical equipment mounted position. Specifically, the lodging leveling mechanism body 2 is arranged at the top of the vertical lifting mechanism body 1, and the vertical lifting mechanism body 1 adopts a motor to drive a screw rod nut to realize vertical lifting and is used for supporting the lodging leveling mechanism body 2 with two degrees of freedom at the upper part of the vertical lifting mechanism body to be lifted in a fixed height;
The two-degree-of-freedom lodging leveling mechanism body 2 adopts a structure that a worm gear serves as a primary speed reducer and a speed reducer serves as a secondary speed reducer, and is used for realizing azimuth and pitching rotation of the upper bearing platform 3.
Further, the vertical lifting mechanism 1 comprises a rod body part, a screw rod and nut module, a speed reducer and a lifting servo motor 4; the output shaft of the lifting servo motor is directly connected with the input shaft of the speed reducer, the output shaft of the speed reducer and the screw rod nut module are driven through straight gear transmission, and the screw rod nut module pushes the rod body to realize the lifting function.
Further, the lodging leveling mechanism 2 comprises an azimuth worm gear, a pitch worm gear, an azimuth reducer, a pitch reducer, an azimuth servo motor 6, a pitch servo motor 7 and an inclinometer 9, wherein the azimuth servo motor 6 is connected with the azimuth worm gear to realize primary speed reduction, and the azimuth worm gear is connected with the azimuth reducer to realize secondary speed reduction to drive azimuth rotation; the pitch servo motor 7 is connected with a pitch worm gear to realize primary speed reduction, and the pitch worm gear is connected with a pitch speed reducer to realize secondary speed reduction to drive pitch rotation; the inclinometer is arranged below the bearing platform 3 and can tilt together with the bearing platform; the locking pin motor 8 and the pitching zero position are coaxially arranged.
Furthermore, in the vertical lifting mechanism 1, a high-precision mechanical end encoder 5 and a proximity switch are installed on a rotating shaft of the lifting servo motor 4, the encoder 5 and the proximity switch are respectively connected with a lifting main controller, and the lifting servo motor 4 is connected with the lifting main controller through a lifting driver.
Furthermore, in the lodging leveling mechanism 2, the lodging main controller is respectively connected with the position servo motor and the pitching servo motor through the position driver and the pitching driver, and the lock pin motor and the inclinometer are directly connected with the main controller.
Example 2
The embodiment provides a control method of the lifting lodging mechanism device, which comprises the following steps:
1) posture acquisition: after the main controller is powered on, reading the X-axis inclination angle vector data and the Y-axis inclination angle vector data of the inclinometer, and obtaining the current attitude of the bearing platform by the X, Y-axis orthogonality; 2) a two-degree-of-freedom lodging leveling algorithm: according to the currently read X-axis vector inclination angle thetaXY-axis vector tilt angle thetaYAnd the current vectorial pitch angle θ obtained from the pitch drivePitCalculating an azimuth rotation angle ξ required for turning from the current position to the leveling stateYaw =Φ（θX，θY，θPit) When the orientation performs a rotation xiYawThen obtaining the X-axis inclination angle again, and obtaining the vector data theta of the X-axis inclination angle XnewCalculating the angle xi of the pitch rotationPitAnd the leveling can be realized by executing pitching. And for the dynamic leveling requirement, the attitude of the bearing platform can be detected in real time, and if the inclination angle data of the X axis and the Y axis cannot meet the requirement of horizontal precision, the attitude can be adjusted through multiple leveling actions until the preset precision is met. 5) And (3) identifying an optimal leveling path: because the leveling algorithm adopts vector data calculation, the calculated xi isYawIs a minimum rotation angle and has direction information, the movement direction is consistent with the calculated vector direction, and after the azimuth rotation angle is calculated, if the absolute target position after the azimuth rotation exceeds [ -182 ° ]]In the range of (180 ° - | xi) the reverse direction is rotated by a large angleYaw|). When the azimuth rotation is finished, the pitch rotation angle is determined by the X-axis absolute inclination angle thetaXnewL determining the size and the direction according to the current depressionAnd determining the return direction of the absolute position to zero.
The control method comprises the following steps:
taking an azimuth rotating shaft as a Z axis, a pitching rotating shaft as a Y axis, and taking a plane which is orthogonal to the Y axis and the Z axis and is in the same plane with the Y axis as an X axis, and establishing a space coordinate system by XYZ;
acquiring the inclination angle degree of the bearing platform 3, and calculating an azimuth angle required to rotate to reach a leveling state according to a two-degree-of-freedom lodging leveling algorithm;
Controlling an azimuth servo motor 6 to rotate the calculated azimuth angle from the current position;
acquiring the inclination angle degree of the bearing platform 3 after the azimuth rotation is in place, and directly acquiring the pitching angle required to rotate in the leveling state;
and controlling the pitching servo motor 7 to rotate the pitching angle, and finishing the leveling.
Further, the specific reference of the azimuth angle required to rotate to reach the leveling state is calculated according to a two-degree-of-freedom lodging leveling algorithm:
according to the currently read 9X-axis vector dip angle theta of the inclinometerXY-axis vector tilt angle thetaYI.e. the degree of tilt, and the vector pitch angle theta derived from the pitch servo motorPitCalculating an azimuth rotation angle ξ required for turning from the current position to the leveling stateYaw =ΦθX，θY，θPit。
Further, the obtaining of the inclination angle of the bearing platform 3 after the azimuth rotation is in place directly obtains the required rotation pitch angle of the leveling state specifically includes:
when the azimuth rotates by the calculated angle, the angle vector data theta of the X axis of the inclinometer 9 is read againXnewCalculating the pitch rotation angle xiPit，ξPit=|θXnew|。
As a preferred embodiment of the present application, the azimuth angle is in the range of [ -182 °]Judging whether the target azimuth is positioned in the range of the azimuth, if so, rotating the minimum rotation angle required by leveling in the range of the motion, otherwise, reversely rotating (180 degrees to xi degrees) YawI) angle。
As a preferred embodiment of the present application, the pitch angle is in the range of [ -91 ° - +33 ° ], and whether the target pitch angle is within the range of the pitch angle is judged, and if so, the minimum rotation angle required for leveling within the rotation movement range is judged; if not, the target azimuth is recalculated.
The mechanism of the invention is composed as shown in figure 1, a vertical lifting mechanism is arranged at the lower part, and a two-degree-of-freedom lodging leveling mechanism is arranged at the upper part. The vertical lifting mechanism drives a screw rod and a nut to realize vertical lifting by a motor, can realize large-torque transmission and can realize self-locking of a structure. The position and pitching transmission parts of the two-degree-of-freedom lodging leveling mechanism are both structures of worm and gear primary speed reduction and speed reducer secondary speed reduction, the structure can realize high-torque high-precision transmission of a transmission system, and the positioning precision can reach 1.5'.
The algorithm implementation flow of the invention is shown in figure 2, after the leveling algorithm is started, the inclination angle theta of the X axis is read from the inclinometerXY-axis inclination angle thetaYObtaining an initial pitch angle θ from the pitch drivePitAccording to thetaX、θY、θPitInformation calculation leveling azimuth angle xiYawAnd determining whether the target azimuth position exceeds [ -182 ° ]]Range, if within range, directly rotates xi YawOtherwise, the rotation is reversed by 180 degrees to xiYawAnd | the above azimuth is the optimum rotation angle. After the azimuth is rotated to the position, the inclination angle data theta of the X axis of the inclinometer is readXnewRotating xi according to pitch return-to-zero directionPit=|θXnewAnd finishing one-time leveling. However, considering the existence of installation errors, the accuracy requirement cannot be met by one-time leveling, and multiple times of leveling can be performed to converge into the preset accuracy.
By adopting the mechanism and the algorithm, the high-precision rapid dynamic leveling of the bearing surfaces with different heights can be realized through the lowest degree of freedom. The two-degree-of-freedom lodging leveling mechanism is adopted to simplify the complexity of the multi-degree-of-freedom mechanism, so that the overall economy and practicability of the mechanism are improved, and meanwhile, the two-degree-of-freedom lodging leveling algorithm and the optimal leveling path algorithm are adopted to realize high-precision static leveling of a fixed-height bearing surface and high-precision rapid dynamic leveling in the lifting process.
While the invention has been described in terms of its preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
Claims (10)
1. The utility model provides a lift lodging mechanism device which characterized in that: the device comprises a vertical lifting mechanism body (1) and a lodging leveling mechanism body (2);
The top of the vertical lifting mechanism body (1) is provided with the lodging leveling mechanism body (2), and the vertical lifting mechanism body (1) adopts a motor to drive a screw rod nut to realize vertical lifting and is used for supporting the lodging leveling mechanism body (2) with two degrees of freedom at the upper part to lift constantly;
the two-degree-of-freedom lodging leveling mechanism body (2) adopts a worm gear as a primary speed reducer and a speed reducer as a secondary speed reducer, and is used for realizing the azimuth and pitching rotation of the upper bearing platform (3).
2. A lift-lodging mechanism device as claimed in claim 1, wherein: the vertical lifting mechanism (1) comprises a rod body part, a screw rod and nut module, a speed reducer and a lifting servo motor (4); the output shaft of the lifting servo motor is directly connected with the input shaft of the speed reducer, the output shaft of the speed reducer and the screw rod nut module are driven through straight gear transmission, and the screw rod nut module pushes the rod body to realize the lifting function.
3. A lift-lodging mechanism device as claimed in claim 1, wherein: the lodging leveling mechanism (2) comprises an azimuth worm gear, a pitching worm gear, an azimuth reducer, a pitching reducer, an azimuth servo motor (6), a pitching servo motor (7) and an inclinometer (9), wherein the azimuth servo motor (6) is connected with the azimuth worm gear to realize primary speed reduction, and the azimuth worm gear is connected with the azimuth reducer to realize secondary speed reduction to drive azimuth rotation; the pitch servo motor (7) is connected with the pitch worm gear to realize primary speed reduction, and the pitch worm gear is connected with the pitch speed reducer to realize secondary speed reduction to drive the pitch rotation; the inclinometer is arranged below the bearing platform (3) and can tilt with the bearing platform; the locking pin motor (8) and the pitching zero position are coaxially arranged.
4. A lift-lodging mechanism device as claimed in claim 2, wherein: in vertical lift mechanism (1), install high accuracy machinery end encoder (5), proximity switch on the axis of rotation of lift servo motor (4), encoder (5), proximity switch link to each other with the lift master controller respectively, lift servo motor (4) link to each other with the lift master controller through the lift driver.
5. A lift-lodging mechanism device as claimed in claim 1, wherein: in the lodging leveling mechanism (2), a lodging main controller is respectively connected with an azimuth servo motor and a pitching servo motor through an azimuth driver and a pitching driver, and a lock pin motor and an inclinometer are directly connected with the main controller.
6. The control method of a lift-and-fall mechanism device according to claim 1, characterized in that: the control method comprises the following steps:
taking an azimuth rotating shaft as a Z axis, a pitching rotating shaft as a Y axis, and taking a plane which is orthogonal to the Y axis and the Z axis and is in the same plane with the Y axis as an X axis, and establishing a space coordinate system by XYZ;
acquiring the inclination angle degree of the bearing platform (3), and calculating an azimuth angle required to rotate to reach a leveling state according to a two-degree-of-freedom lodging leveling algorithm;
Controlling an azimuth servo motor (6) to rotate the calculated azimuth angle from the current position;
acquiring the inclination angle degree of the bearing platform (3) after the azimuth rotation is in place, and directly acquiring the rotating pitch angle required by the leveling state;
and controlling the pitching servo motor (7) to rotate the pitching angle, and finishing the leveling.
7. The control method of the lift-and-fall mechanism device according to claim 6, characterized in that: the specific reference of the azimuth angle required to rotate to reach the leveling state is calculated according to the two-degree-of-freedom lodging leveling algorithm:
according to the currently read X-axis vector dip angle theta of the inclinometer (9)XY-axis vector tilt angle thetaYI.e. the degree of tilt, and the vector pitch angle theta derived from the pitch servo motorPitCalculating an azimuth rotation angle ξ required for turning from the current position to the leveling stateYaw =Φ（θX，θY，θPit）。
8. The control method of the lift-and-fall mechanism device according to claim 6, characterized in that: the method is characterized in that the inclination angle degree of the bearing platform (3) after the azimuth rotation is in place is obtained, and the specific rotating pitch angle required by the leveling state is directly obtained:
when the azimuth rotates by the calculated angle, the X-axis inclination angle vector data theta of the inclinometer (9) is read again XnewCalculating the pitch rotation angle xiPit，ξPit=|θXnew|。
9. The control method of the lift-and-fall mechanism device according to claim 7, characterized in that: the azimuth angle is in the range of [ -182 °]Judging whether the target azimuth is positioned in the range of the azimuth, if so, rotating the minimum rotation angle required by leveling in the range of the motion, otherwise, reversely rotating (180 degrees to xi degrees)YawI) angle.
10. The control method of the lift-and-fall mechanism device according to claim 8, characterized in that: the range of the pitch angle is [ -91 ° - +33 ° ], whether the target pitch angle is located in the range of the pitch angle or not is judged, and if yes, the minimum rotation angle required by leveling in the rotation movement range is judged; if not, the target azimuth is recalculated.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115265582A (en) * | 2022-06-09 | 2022-11-01 | 南京智真电子科技股份有限公司 | Quick leveling system and method for mast type lodging platform |
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