CN206232387U - High-altitude operation vehicle with autostabilization system - Google Patents
High-altitude operation vehicle with autostabilization system Download PDFInfo
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- CN206232387U CN206232387U CN201621162679.5U CN201621162679U CN206232387U CN 206232387 U CN206232387 U CN 206232387U CN 201621162679 U CN201621162679 U CN 201621162679U CN 206232387 U CN206232387 U CN 206232387U
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- counterweight
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Abstract
The utility model discloses a kind of high-altitude operation vehicle with autostabilization system, including bodywork assembly, cantilever support, arm support assembly, hydraulic leg and self-stabilization control system；Self-stabilization control system includes balance weight device, control box, the horizontal displacement displacement transducer of hydraulic leg, luffing range of cantilever support angular transducer and boom derricking cylinder pressure sensor, and balance weight device includes counterweight, sliding guide mechanism and counterweight push-and-pull hydraulic cylinder.This is to make it produce stabilizing moment with tilting moment that balanced operation platform is produced to realize automatic stabilisation control by the movement of the feedback control counterweight of each sensor when having high-altitude operation vehicle of autostabilization system in working order, maximum operation height and the operation amplitude under the fully extended state of horizontal support legs can be realized being obtained under different horizontal support legs spans, being particularly well-suited to the narrow place of narrow road surface or space carries out work high above the ground.
Description
Technical field
The utility model is related to a kind of high-altitude operation vehicle, specifically a kind of high-altitude operation vehicle with autostabilization system,
Belong to high-altitude operation vehicle technical field.
Background technology
High-altitude operation vehicle is to transport staff and installed using the equipment that equipment to high-altitude is pointed to high-altitude, tieed up
Shield, the special vehicle of cleaning, with transaction capabilities are good, operation with traditional operating type such as scaffolding, ladder compared with
The advantages of efficiency high, job safety, it is now widely used for the infrastructure industry such as electric power, traffic, petrochemical industry, communication, gardens.
Domestic high-altitude operation vehicle is mainly conducted oneself with dignity to the anti-of supporting leg formation in terms of job stabilization by vehicle body at present
Torque carrys out the torque of balanced operation platform generation to realize the stabilization of its operation, but with big height, large span equipment in industry
Facility is continuously increased, it is desirable to which the operation height and amplitude of high-altitude operation vehicle are also continuously increased, in turn result in high-altitude operation vehicle
Supporting leg span is also increasing, but larger supporting leg span not only needs to take larger Active workings space, and larger
Supporting leg span is also easy to cause frame distortion and then influences operational security.
The span of horizontal support legs is generally carried out classification pipe by existing high-altitude operation vehicle in order to adapt to different operating environments
Reason, is generally divided into the complete of horizontal support legs and stretches out, partly stretches out and do not stretch out three kinds of working conditions, and three kinds of working condition correspondences produce three
Different transaction capabilities curves are planted, this is often to sacrifice the operating environment that operation height and operation amplitude are adapted to, with 18 meters
As a example by high-altitude operation vehicle, under the fully extended state of horizontal support legs maximum operation amplitude be 12 meters, maximum operation height be 18 meters,
Operation height is 12.5 meters when operation amplitude is 9 meters, and when operation amplitude is 6 meters, operation height is 16 meters；Horizontal support legs are partly stretched
Maximum operation amplitude under doing well is 9 meters, and operation height now is only 6 meters；The maximum that horizontal support legs are not stretched out under state
6 meters of operation amplitude, also only 6 meters of operation height now, and can only be worked in rear area, when high-altitude operation vehicle is needed narrow
When the narrow place in narrow road face or space carries out work high above the ground, often horizontal support legs partly stretch out and do not stretch out corresponding under situation
Operation height and amplitude can not meet use requirement, can only complete work high above the ground by step ladder or miscellaneous equipment, and this is serious
High-altitude working safety operational procedure is violated, operation is absolutely unsafe, personal wound occurs with potential safety hazard very high, when serious
Die accident.
The content of the invention
Regarding to the issue above, the utility model provides a kind of high-altitude operation vehicle and its self-stabilization with autostabilization system
Control method, it is fully extended by controlling self-stabilization system to realize to obtain horizontal support legs under different horizontal support legs spans
Maximum operation height and operation amplitude under state, being particularly well-suited to the narrow place of narrow road surface or space carries out high-altitude work
Industry.
To achieve the above object, this high-altitude operation vehicle with autostabilization system includes bodywork assembly, cantilever support, arm
Frame assembly, hydraulic leg and self-stabilization control system；
Described bodywork assembly includes driver's cabin, chassis, subframe and running gear, and subframe is fixedly connected on chassis
On；
Described cantilever support bottom is connected by cantilever support slew gear with subframe, cantilever support slew gear bag
Include pivoting support and revolution driving；
Described arm support assembly is hingedly mounted in cantilever support, including basic arm, boom derricking cylinder and workbench,
Boom derricking cylinder one end is hingedly mounted in cantilever support, the other end is hingedly mounted on the basic arm of arm support assembly, arm support
Amplitude oil cylinder is connected by control valve group with onboard hydraulic system；
Described hydraulic leg is set to four, and four hydraulic leg Central Symmetries are arranged on chassis or subframe, liquid
Pressure supporting leg includes horizontal displacement hydraulic cylinder and vertical loading hydraulic cylinder, and horizontal displacement hydraulic cylinder and vertical loading hydraulic cylinder are by control
Valve group processed is connected with onboard hydraulic system；
Described self-stabilization control system includes balance weight device, control box, the horizontal displacement displacement sensing of hydraulic leg
Device, luffing range of cantilever support angular transducer and boom derricking cylinder pressure sensor；
Balance weight device includes counterweight, sliding guide mechanism and counterweight push-and-pull hydraulic cylinder；Counterweight is led to
Sliding guide mechanism is crossed to be connected with cantilever support, and counterweight and sliding guide mechanism are total positioned at arm support relative to arm support assembly
Into dead astern；Counterweight push-and-pull hydraulic cylinder one end is articulated and connected with counterweight, the other end and cantilever support are articulated and connected,
And the telescopic direction of counterweight push-and-pull hydraulic cylinder is consistent with the glide direction of sliding guide mechanism, counterweight push-and-pull hydraulic cylinder
It is connected with onboard hydraulic system by control valve group；
The horizontal displacement displacement transducer of hydraulic leg is arranged on hydraulic leg, and luffing range of cantilever support angular transducer is arranged on arm
The position that is articulated and connected of frame assembly and cantilever support, boom derricking cylinder pressure sensor is arranged on boom derricking cylinder；
Control box includes controller, signal processing module, control module, the horizontal displacement backfeed loop of hydraulic leg, arm support
Change angle backfeed loop, boom derricking cylinder pressure feed back loop, counterweight control loop, numerical value comparison loop；Control
Device is electrically connected with signal processing module and control module respectively；Signal processing module is passed with the horizontal displacement displacement of hydraulic leg respectively
The electrical connection of sensor, luffing range of cantilever support angular transducer and boom derricking cylinder pressure sensor；Control module and counterweight push-and-pull
The control valve group electrical connection of hydraulic cylinder.
Used as preferred scheme of the present utility model, the sliding guide mechanism of described balance weight device is tube-in-tube structure
Translation mechanism, including slide telescopic arm and fixed arm are oriented to, the socket of fixed arm one end fits is installed in one end of slide telescopic arm
The upper, other end is fixedly connected in cantilever support, and the other end of slide telescopic arm is fixedly connected in counterweight.
As further improvement of the utility model scheme, the width of described slide telescopic arm and fixed arm in counterweight
At least left and right Parallel Symmetric is set to two sets on degree direction.
Used as further improvement of the utility model scheme, the sliding guide mechanism level of described balance weight device sets
Put.
Used as further improvement of the utility model scheme, the vertical loading hydraulic cylinder of described hydraulic leg is provided with perpendicular
Straight loading hydraulic cylinder pressure sensor, vertical loading hydraulic cylinder pressure sensor is electric with the signal processing module of balance weight device
Connection.
Compared with prior art, this has the self-stabilization control system of the high-altitude operation vehicle of autostabilization system due to including
The horizontal displacement displacement transducer of balance weight device, control box, hydraulic leg, luffing range of cantilever support angular transducer and luffing range of cantilever support oil
Cylinder pressure transducer, balance weight device includes counterweight, sliding guide mechanism and counterweight push-and-pull hydraulic cylinder, therefore work
When making state, the horizontal displacement displacement transducer of hydraulic leg feedback hydraulic supporting leg horizontal displacement information first to balance weight device
Signal processing module, then luffing range of cantilever support angular transducer and boom derricking cylinder pressure sensor feed back the change of arm support assembly
The signal processing module for carrying pressure information to balance weight device of width angle information and boom derricking cylinder, signal transacting mould
Block counts this after analyzing and calculating the countertorque for needing counterweight to provide according to setting program by this three data messages again
It is compared and select output real-time closer to the stabilizing moment numerical value of this countertorque numerical value according to the stabilizing moment with program setting
Controller is fed back to, controller calculates the stroke of counterweight push-and-pull hydraulic cylinder according to the data that signal processing module is exported
And sending control instruction in real time makes the control valve group action of control module control counterweight push-and-pull hydraulic cylinder push away counterweight
Drawing hydraulic cylinder stretches out with dynamic balance weight or retraction is to change the position of centre of gravity of counterweight and it is produced stabilizing moment with flat
The tilting moment that weighing apparatus job platform is produced, so as to realize making Operation Van all the time under the operating mode of larger job height and operation amplitude
The automatic stabilisation worked under safe operating mode；The setting of balance weight device can improve the overall operation performance of high-altitude operation vehicle,
Span, the feelings of identical hydraulic leg span of hydraulic leg are reduced in the case of realizing identical operation height and operation amplitude
Increase operation height and operation amplitude under condition, this has the high-altitude operation vehicle of autostabilization system by rationally setting counterweight
Collapsing length can realize obtaining the maximum operation under the fully extended state of horizontal support legs under different horizontal support legs spans
Height and operation amplitude, being particularly well-suited to the narrow place of narrow road surface or space carries out work high above the ground.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the A direction views of Fig. 1.
In figure：1st, bodywork assembly, 2, cantilever support, 3, hydraulic leg, 4, balance weight device, 41, counterweight, 42,
Slide telescopic arm, 43, fixed arm, 44, counterweight push-and-pull hydraulic cylinder.
Specific embodiment
The utility model is described further below in conjunction with the accompanying drawings.
As shown in figure 1, this high-altitude operation vehicle with autostabilization system includes bodywork assembly 1, cantilever support 2, arm support
Assembly, hydraulic leg 3 and self-stabilization control system.
Described bodywork assembly 1 includes driver's cabin, chassis, subframe and running gear, and subframe is fixedly connected on chassis
On.
The described bottom of cantilever support 2 is connected by cantilever support slew gear with subframe, cantilever support slew gear
Including pivoting support and revolution driving, revolution driving can drive cantilever support 2 along axially 360 ° of the centre of gyration of pivoting support
Rotation.
Described arm support assembly is hingedly mounted in cantilever support 2, including basic arm, boom derricking cylinder 21 and work are flat
Platform, the one end of boom derricking cylinder 21 is hingedly mounted in cantilever support 2, the other end is hingedly mounted on the basic arm of arm support assembly
On, boom derricking cylinder 21 is connected by control valve group with onboard hydraulic system.
Described hydraulic leg 3 is set to four, and four Central Symmetries of hydraulic leg 3 are arranged on chassis or subframe,
Hydraulic leg 3 includes horizontal displacement hydraulic cylinder and vertical loading hydraulic cylinder, and horizontal displacement hydraulic cylinder and vertical loading hydraulic cylinder are logical
Control valve group is crossed to be connected with onboard hydraulic system.
Described self-stabilization control system includes balance weight device 4, control box, the horizontal displacement displacement sensing of hydraulic leg
Device, luffing range of cantilever support angular transducer and boom derricking cylinder pressure sensor.
As shown in Fig. 2 balance weight device 4 includes counterweight 41, sliding guide mechanism and counterweight push-and-pull hydraulic pressure
Cylinder 44；Counterweight 41 is connected by sliding guide mechanism with cantilever support 2, and counterweight 41 is relative with sliding guide mechanism
The dead astern of arm support assembly is located in arm support assembly；The one end of counterweight push-and-pull hydraulic cylinder 44 and counterweight 41 be articulated and connected,
The other end is articulated and connected with cantilever support 2, and telescopic direction and the sliding guide mechanism of counterweight push-and-pull hydraulic cylinder 44 cunning
Move direction consistent, counterweight push-and-pull hydraulic cylinder 44 is connected by control valve group with onboard hydraulic system, is matched somebody with somebody by controlling balance
The flexible of weight push-and-pull hydraulic cylinder 44 can realize that counterweight 41 is stretched by sliding guide mechanism along the direction away from arm support assembly
Go out or retraction.
The horizontal displacement displacement transducer of hydraulic leg is arranged on hydraulic leg 3, and luffing range of cantilever support angular transducer is arranged on
The position that is articulated and connected of arm support assembly and cantilever support 2, boom derricking cylinder pressure sensor is arranged on boom derricking cylinder 21
On.
Control box includes controller, signal processing module, control module, the horizontal displacement backfeed loop of hydraulic leg, arm support
Change angle backfeed loop, boom derricking cylinder pressure feed back loop, counterweight control loop, numerical value comparison loop；Control
Device is electrically connected with signal processing module and control module respectively；Signal processing module is passed with the horizontal displacement displacement of hydraulic leg respectively
The electrical connection of sensor, luffing range of cantilever support angular transducer and boom derricking cylinder pressure sensor；Control module and counterweight push-and-pull
The control valve group electrical connection of hydraulic cylinder 44.
This has the high-altitude operation vehicle of autostabilization system in normally travel state, and cantilever support is pressed close in counterweight 41
2 are entirely retracted to chassis or subframe in being entirely retracted to state, hydraulic leg 3, do not influence normally travel.
This when having high-altitude operation vehicle of autostabilization system is in working order put down by the feedback control of each sensor
The movement of the counterweight 41 that weighs is realizing automatic stabilisation control：This high-altitude operation vehicle with autostabilization system is positioned at work first
Make place, then needed directly to control the vertical loading hydraulic cylinder of hydraulic leg 3 to stretch out by onboard hydraulic system according to place
Make that hydraulic leg 3 is firm to be supported on ground or first the horizontal displacement hydraulic cylinder of control hydraulic leg 3 makes the level of hydraulic leg 3
Extend out to place permission extension elongation after control again the vertical loading hydraulic cylinder of hydraulic leg 3 stretch out make hydraulic leg 3 consolidate
It is supported on ground, the horizontal displacement displacement transducer feedback hydraulic supporting leg level of hydraulic leg during the action of hydraulic leg 3
Displacement information to balance weight device 4 signal processing module, directly the vertical loading hydraulic cylinder of control hydraulic leg 3 is when stretching out
The hydraulic leg horizontal displacement information of the horizontal displacement displacement transducer feedback of hydraulic leg is zero, and signal processing module is to hydraulic pressure
Supporting leg horizontal displacement information carries out temporary treatment of awaiting orders, then arm support assembly basis after boom derricking cylinder 21 stretches out luffing
Needs continue to stretch out or launch to make workbench rise to working depth and the control revolution driving of cantilever support 2 makes as needed
Cantilever support 2 drives arm support assembly horizontal rotation to operating position, luffing range of cantilever support angle during the expansion of arm support assembly luffing
Sensor and boom derricking cylinder pressure sensor feedback the change angle information of arm support assembly and holding for boom derricking cylinder 21
Carry pressure information to balance weight device 4 signal processing module, signal processing module will hydraulic leg horizontal displacement information,
The change angle information and these three information of the carrying pressure information of boom derricking cylinder 21 of arm support assembly are according to setting program point
Analyse and calculate after the countertorque for needing counterweight 41 to provide the stabilizing moment of this data and program setting is compared and
Selection exports the stabilizing moment numerical value Real-time Feedback closer to this countertorque numerical value to controller, and controller is according to signal transacting mould
The data of block output calculate the stroke of counterweight push-and-pull hydraulic cylinder 44 and send control instruction in real time and make control module control
The control valve group action of counterweight push-and-pull hydraulic cylinder 44 processed makes counterweight push-and-pull hydraulic cylinder 44 stretch, and then realizes that balance is matched somebody with somebody
Weigh 41 stretch out or retraction with change counterweight 41 position of centre of gravity and make its produce stabilizing moment with balanced operation platform produce
Tilting moment so that realize larger job height and operation amplitude operating mode under make Operation Van all the time under safe operating mode
The automatic stabilisation of work.
The sliding guide mechanism of described balance weight device 4 can use the guiding translation mechanism for being oriented to trough body structure,
Can also be using the guiding translation mechanism of tube-in-tube structure, because the former need to set cell body knot more long to ensure enough translational movements
Structure, the extra trough body structure for stretching out take more space, and the latter can without taking more space, therefore preferably the latter,
That is, as preferred scheme of the present utility model, the sliding guide mechanism of described balance weight device 4 is the guiding of tube-in-tube structure
Translation mechanism, including slide telescopic arm 42 and fixed arm 43, the socket of the one end fits of fixed arm 43 is installed in slide telescopic arm 42
On one end, the other end be fixedly connected in cantilever support 2, the other end of slide telescopic arm 42 is fixedly connected on counterweight 41
On.
In order to ensure the firm flexible of counterweight 41, as further improvement of the utility model scheme, described cunning
At least left and right Parallel Symmetric is set to two sets on the width of counterweight 41 for shifting telescopic arm 42 and fixed arm 43.
In order to ensure that counterweight 41 more effectively provides countertorque, as further improvement of the utility model scheme, institute
The sliding guide mechanism of the balance weight device 4 stated is horizontally disposed with.
In order to more accurately make Operation Van be worked under safe operating mode all the time, as further improvement of the utility model side
Case, the vertical loading hydraulic cylinder of described hydraulic leg 3 is provided with vertical loading hydraulic cylinder pressure sensor, and hydraulic pressure is loaded vertically
Cylinder pressure transducer is electrically connected with the signal processing module of balance weight device 4, and arm support assembly luffing is vertical during launching
Loading hydraulic cylinder pressure sensor feeds back the pressure information of vertical loading hydraulic cylinder to signal processing module, signal transacting mould simultaneously
Block pressure value simultaneously according to vertical loading hydraulic cylinder is analyzed according to setting program and calculating needs counterweight 41 to provide
Countertorque.
This have autostabilization system high-altitude operation vehicle self-stabilization control system due to including balance weight device 4,
The horizontal displacement displacement transducer of control box, hydraulic leg, luffing range of cantilever support angular transducer and boom derricking cylinder pressure sensor,
Balance weight device 4 includes counterweight 41, sliding guide mechanism and counterweight push-and-pull hydraulic cylinder 44, therefore working condition
When, the letter of the horizontal displacement displacement transducer of hydraulic leg feedback hydraulic supporting leg horizontal displacement information first to balance weight device 4
Number processing module, then luffing range of cantilever support angular transducer and boom derricking cylinder pressure sensor feed back the variable phase angle of arm support assembly
The signal processing module for carrying pressure information to balance weight device 4 of degree information and boom derricking cylinder 21, signal transacting mould
This three data messages are analyzed and calculated this after the countertorque for needing counterweight 41 to provide by block according to setting program again
Data are compared with the stabilizing moment of program setting and select output closer to the stabilizing moment numerical value reality of this countertorque numerical value
When feed back to controller, controller calculates stretching for counterweight push-and-pull hydraulic cylinder 44 according to the data that signal processing module is exported
Contracting amount and sending control instruction in real time makes control module control the control valve group action of counterweight push-and-pull hydraulic cylinder 44 to make balance
Counterweight push-and-pull hydraulic cylinder 44 stretches out with dynamic balance weight 41 or retraction is to change the position of centre of gravity of counterweight 41 and produce it
The tilting moment that stabilizing moment is produced with balanced operation platform, so as to realize under the operating mode of larger job height and operation amplitude
The automatic stabilisation for making Operation Van be worked under safe operating mode all the time；The setting of balance weight device 4 can improve high-altitude operation vehicle
Overall operation performance, reduces span, the identical liquid of hydraulic leg 3 in the case of realizing identical operation height and operation amplitude
Increase operation height and operation amplitude in the case of the pressure span of supporting leg 3, this high-altitude operation vehicle with autostabilization system passes through
The collapsing length for rationally setting counterweight 41 can realize that obtain horizontal support legs under different horizontal support legs spans stretches completely
Maximum operation height and operation amplitude under doing well, being particularly well-suited to the narrow place of narrow road surface or space carries out high-altitude
Operation.
Claims (5)
1. a kind of high-altitude operation vehicle with autostabilization system, including bodywork assembly (1), cantilever support (2), arm support assembly and
Hydraulic leg (3)；Bodywork assembly (1) includes driver's cabin, chassis, subframe and running gear, and subframe is fixedly connected on chassis
On；Cantilever support (2) bottom is connected by cantilever support slew gear with subframe, and cantilever support slew gear includes revolution branch
Hold and revolution driving；Arm support assembly is hingedly mounted in cantilever support (2), including basic arm, boom derricking cylinder (21) and work
Make platform, boom derricking cylinder (21) one end is hingedly mounted in cantilever support (2), the other end is hingedly mounted on arm support assembly
On basic arm, boom derricking cylinder (21) is connected by control valve group with onboard hydraulic system；Hydraulic leg (3) is set to four
Part, four hydraulic leg (3) Central Symmetries are arranged on chassis or subframe, and hydraulic leg (3) includes horizontal displacement hydraulic cylinder
With vertical loading hydraulic cylinder, horizontal displacement hydraulic cylinder and vertical loading hydraulic cylinder are connected by control valve group with onboard hydraulic system
Connect；
Characterized in that, this high-altitude operation vehicle with autostabilization system also includes self-stabilization control system,
Described self-stabilization control system includes balance weight device (4), control box, the horizontal displacement displacement sensing of hydraulic leg
Device, luffing range of cantilever support angular transducer and boom derricking cylinder pressure sensor；
Balance weight device (4) includes counterweight (41), sliding guide mechanism and counterweight push-and-pull hydraulic cylinder (44)；Balance
Counterweight (41) is connected by sliding guide mechanism with cantilever support (2), and counterweight (41) and sliding guide mechanism relative to
Arm support assembly is located at the dead astern of arm support assembly；Counterweight push-and-pull hydraulic cylinder (44) one end and counterweight (41) company of being hinged
Connect, the other end and cantilever support (2) are articulated and connected, and counterweight push-and-pull hydraulic cylinder (44) telescopic direction with sliding Guiding machine
The glide direction of structure is consistent, and counterweight push-and-pull hydraulic cylinder (44) is connected by control valve group with onboard hydraulic system；
The horizontal displacement displacement transducer of hydraulic leg is arranged on hydraulic leg (3), and luffing range of cantilever support angular transducer is arranged on arm
The position that is articulated and connected of frame assembly and cantilever support (2), boom derricking cylinder pressure sensor is arranged on boom derricking cylinder
(21) on；
Control box includes controller, signal processing module, control module, the horizontal displacement backfeed loop of hydraulic leg, luffing range of cantilever support
Angle feed-back loop, boom derricking cylinder pressure feed back loop, counterweight control loop, numerical value comparison loop；Controller point
Do not electrically connected with signal processing module and control module；Signal processing module respectively with the horizontal displacement displacement sensing of hydraulic leg
The electrical connection of device, luffing range of cantilever support angular transducer and boom derricking cylinder pressure sensor；Control module and counterweight push-and-pull liquid
The control valve group electrical connection of cylinder pressure (44).
2. the high-altitude operation vehicle with autostabilization system according to claim 1, it is characterised in that described balance
The sliding guide mechanism of counter weight device (4) is the guiding translation mechanism of tube-in-tube structure, including slide telescopic arm (42) and fixed arm
(43), the socket of fixed arm (43) one end fits is arranged on one end of slide telescopic arm (42), the other end is fixedly connected on arm support
In support (2), the other end of slide telescopic arm (42) is fixedly connected in counterweight (41).
3. the high-altitude operation vehicle with autostabilization system according to claim 2, it is characterised in that described sliding is stretched
At least left and right Parallel Symmetric is set to two sets on the width of counterweight (41) for contracting arm (42) and fixed arm (43).
4. the high-altitude operation vehicle with autostabilization system according to claim 1 or 2 or 3, it is characterised in that described
The sliding guide mechanism of balance weight device (4) is horizontally disposed with.
5. the high-altitude operation vehicle with autostabilization system according to claim 1 or 2 or 3, it is characterised in that described
The vertical loading hydraulic cylinder of hydraulic leg (3) is provided with vertical loading hydraulic cylinder pressure sensor, vertical loading hydraulic cylinder pressure
Sensor is electrically connected with the signal processing module of balance weight device (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621162679.5U CN206232387U (en) | 2016-10-25 | 2016-10-25 | High-altitude operation vehicle with autostabilization system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621162679.5U CN206232387U (en) | 2016-10-25 | 2016-10-25 | High-altitude operation vehicle with autostabilization system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206232387U true CN206232387U (en) | 2017-06-09 |
Family
ID=58982964
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621162679.5U Withdrawn - After Issue CN206232387U (en) | 2016-10-25 | 2016-10-25 | High-altitude operation vehicle with autostabilization system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106629523A (en) * | 2016-10-25 | 2017-05-10 | 徐州海伦哲专用车辆股份有限公司 | Aerial work vehicle with self-stabilizing system and self-stabilizing control method thereof |
| CN107840286A (en) * | 2017-12-10 | 2018-03-27 | 惠州市梦芭迪工业产品设计中心(普通合伙) | Food warehouse lithium battery operation equipment of ascending a height |
| CN108442249A (en) * | 2018-05-17 | 2018-08-24 | 中交公局第工程有限公司 | High hanging concrete guardrail moves job platform |
| CN109941934A (en) * | 2019-04-24 | 2019-06-28 | 黄建平 | A kind of high-altitude operation vehicle of hydro-cushion lifting |
| CN110897794A (en) * | 2019-12-09 | 2020-03-24 | 池州学院 | Wheelchair capable of assisting getting on and off bed |
-
2016
- 2016-10-25 CN CN201621162679.5U patent/CN206232387U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106629523A (en) * | 2016-10-25 | 2017-05-10 | 徐州海伦哲专用车辆股份有限公司 | Aerial work vehicle with self-stabilizing system and self-stabilizing control method thereof |
| CN107840286A (en) * | 2017-12-10 | 2018-03-27 | 惠州市梦芭迪工业产品设计中心(普通合伙) | Food warehouse lithium battery operation equipment of ascending a height |
| CN108442249A (en) * | 2018-05-17 | 2018-08-24 | 中交公局第工程有限公司 | High hanging concrete guardrail moves job platform |
| CN109941934A (en) * | 2019-04-24 | 2019-06-28 | 黄建平 | A kind of high-altitude operation vehicle of hydro-cushion lifting |
| CN110897794A (en) * | 2019-12-09 | 2020-03-24 | 池州学院 | Wheelchair capable of assisting getting on and off bed |
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Granted publication date: 20170609 Effective date of abandoning: 20180925 |