CN102677733B - Device and method for improving traveling and operating intuitiveness of excavator - Google Patents
Device and method for improving traveling and operating intuitiveness of excavator Download PDFInfo
- Publication number
- CN102677733B CN102677733B CN201210161592.6A CN201210161592A CN102677733B CN 102677733 B CN102677733 B CN 102677733B CN 201210161592 A CN201210161592 A CN 201210161592A CN 102677733 B CN102677733 B CN 102677733B
- Authority
- CN
- China
- Prior art keywords
- running motor
- motor control
- valve
- excavator
- control valve
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Operation Control Of Excavators (AREA)
Abstract
The invention discloses a device and a method for improving traveling and operating intuitiveness of an excavator. Solenoid valves are arranged in pilot oil ways of a traveling pilot valve and a traveling motor control valve; a position sensor is arranged on a lower frame of the excavator; a trigger matched with the position sensor is arranged on an upper frame; on/off of the trigger is controlled by a button in a cab in an intelligent traveling mode; an output signal of the trigger is converted into a signal which can be identified by the solenoid valves through a converter; and the solenoid valves are controlled to reverse. By reversing of the solenoid valves, the original flow direction of the pilot oil ways is changed, so that when a driver operates the excavator to travel, a normal operating mode is always met, namely when a traveling push rod is pushed forward, the excavator advances, and when the traveling push rod is pulled backward, the excavator retreats, and the trouble that the driver is required to judge the traveling direction during operating to travel is avoided; the potential safety hazard caused by trial operation is avoided; and the operating intuitiveness and working efficiency are improved.
Description
Technical field
The present invention relates to a kind of using method of control device and this device of excavator, specifically a kind of device and using method thereof that improves excavator walking operation intuitive.
Background technology
Hydraulic crawler excavator is a kind of main Types of engineering machinery, is the main mechanical of earthwork evacuation, is widely used in the departments such as industry and civilian construction, road and bridge, municipal engineering, irrigation and water conservancy.Hydraulic crawler excavator is generally partly comprised of equipment, slewing equipment, running gear and hydraulic control device etc.Conventionally, equipment and hydraulic control device are arranged on vehicle frame, are called upper body, and running gear is arranged on lower vehicle frame and is called lower body, and upper body is connected by slewing equipment with lower body, can be around fixing axis of rotation rotating 360 degrees.When equipment and running motor are during in centre of gyration both sides, be called positive direction.Now driver promotes forward the push rod of walking, and excavator advances, and pulls back walking push rod, and excavator retreats, and should be positive operation mode; When equipment and running motor are during at centre of gyration homonymy, be called in the other direction.Now driver promotes forward the push rod of walking, and excavator retreats, and pulls back walking push rod, and excavator advances, and should be reverse operating mode.
Because excavator can turn round by 360 degree, so excavator may be walked forward when promoting forward walking push rod, also may walk backward.Conventionally, driver observes the position of running motor by cab window, also there are a lot of producers on guide wheel interior plate, to post direction prompting symbol, but for mini-excavator, because the relative driver's cabin overhang of side bar of both sides, chassis is shorter, driver is sitting in position that can't see running motor in driver's cabin.For medium-and-large-sized excavator, due to swing arm position, also may have influence on the visual angle that driver observes running motor, and excavator works in operating mode rugged environment conventionally, lower vehicle frame is usually covered by mud and the position that cannot tell running motor.At present, in a lot of situations, driver takes tentative operation walking push rod to judge direction of travel conventionally, so not only for driver's operation makes troubles, affects comfort level, loses time, also for operation has brought certain potential safety hazard.
Summary of the invention
The problem existing for above-mentioned prior art, the invention provides a kind of device and method that improves excavator walking operation intuitive, more directly perceived during driver's operation excavator, avoid need to first judging that because revolution reason causes driver direction of travel operates or attempt the potential safety hazard that operation may bring again.
To achieve these goals, the technical solution used in the present invention is: a kind of device that improves excavator walking operation intuitive, comprise that left lateral is walked pilot valve, right lateral is walked pilot valve, left running motor control valve and right running motor control valve, left lateral is walked pilot valve and left running motor control valve and right lateral and is walked pilot valve and by guide's oil circuit, be connected respectively with right running motor control valve, also comprises that being installed on left lateral walks the left electromagnetic valve on guide's oil circuit between pilot valve and left running motor control valve; Be installed on right lateral and walk the right electromagnetic valve on guide's oil circuit between pilot valve and right running motor control valve; Be fixed on the position sensor on lower vehicle frame; The intelligent walking pattern control button that is installed on driver's cabin that is arranged on the trigger coordinating with position sensor on vehicle frame and is electrically connected on trigger, is electrically connected with converter between trigger and left electromagnetic valve and right electromagnetic valve.
When driver wishes that excavator is walked forward with respect to driver's cabin, step is:
Start intelligent walking pattern control button, promote forward walking push rod simultaneously; Trigger detection position sensor signal, when excavator is during in positive direction, trigger and position sensor are positioned at centre of gyration both sides, and trigger does not send signal, and the left electromagnetic valve in guide's oil circuit and right electromagnetic valve are in original position; Connect left lateral simultaneously and walk the part of advancing that pilot valve and right lateral are walked pilot valve, pioneer pump output guide oil, one road guide oil promotes left running motor control valve by left electromagnetic valve and moves right, and working oil promotes left running motor via left running motor control valve and is rotated counterclockwise; Another road guide oil promotes right running motor control valve by right electromagnetic valve and moves right, and working oil promotes right running motor via right running motor control valve and is rotated counterclockwise, and the relative driver's cabin of excavator is walked forward;
When excavator is during in opposite direction; Trigger detects position sensor signal, and signal is input in converter, and converter output signal controls left electromagnetic valve and right electromagnetic valve commutates simultaneously; Pioneer pump output guide oil, enters respectively that left lateral is walked pilot valve and right lateral is walked pilot valve, and a road guide oil promotes left running motor control valve to moving to left by left electromagnetic valve, and working oil promotes left running motor via left running motor control valve and turns clockwise; Another road guide oil promotes right running motor control valve to moving to left by right electromagnetic valve, and working oil promotes right running motor via right running motor control valve and turns clockwise, and the relative driver's cabin of excavator is walked forward;
When driver wishes that excavator is walked backward with respect to driver's cabin, step is:
Start intelligent walking pattern control button, pull backward walking push rod simultaneously; Trigger detection position sensor signal, when excavator is during in positive direction, trigger and position sensor are positioned at centre of gyration both sides, and trigger does not send signal, and the left electromagnetic valve in guide's oil circuit and right electromagnetic valve are in original position; (3) connect left lateral simultaneously walk the part that retreats that pilot valve and right lateral are walked pilot valve, pioneer pump output guide oil, one road guide oil promotes left running motor control valve to moving to left by left electromagnetic valve, and working oil promotes left running motor via left running motor control valve and turns clockwise; Another road guide oil promotes right running motor control valve to moving to left by right electromagnetic valve, and working oil promotes right running motor via right running motor control valve and turns clockwise, and the relative driver's cabin of excavator is walked backward;
When excavator is during in opposite direction; Trigger detects position sensor signal, and signal is input in converter, and converter output signal controls left electromagnetic valve and right electromagnetic valve commutates simultaneously; Pioneer pump output guide oil, enters respectively that left lateral is walked pilot valve and right lateral is walked pilot valve, and a road guide oil promotes left running motor control valve by left electromagnetic valve and moves right, and working oil promotes left running motor via left running motor control valve and is rotated counterclockwise; Another road guide oil promotes right running motor control valve by right electromagnetic valve and moves right, and working oil promotes right running motor via right running motor control valve and is rotated counterclockwise, and the relative driver's cabin of excavator is walked backward.
The invention has the beneficial effects as follows: avoided driver will first judge the trouble of direction of travel when operation walking; Avoided the potential safety hazard causing due to tentative operation; Comfortableness and the operating efficiency of operation have been improved.
Accompanying drawing explanation
Hydraulic schematic diagram when Fig. 1 is meta state of the present invention;
During Fig. 2 positive direction, operate the excavator hydraulic schematic diagram that advances;
Fig. 3 operates the excavator hydraulic schematic diagram that advances in the other direction time;
During Fig. 4 positive direction, operate excavator and retreat hydraulic schematic diagram;
During Fig. 5 opposite direction, operate excavator and retreat hydraulic schematic diagram;
Fig. 6 is the frame position sensor layout enlarged drawing of getting off;
Fig. 7 is trigger and position sensor relative position figure.
In figure: 1, the first main pump, 2, pioneer pump, the 3, second main pump, 4, left running motor control valve, 5, left electromagnetic valve, 6, left lateral walks pilot valve, 7, right lateral is walked pilot valve, and 8, right electromagnetic valve, 9, right running motor control valve, 10, left running motor, 11, right running motor, 12, centre of gyration seat ring, 13, lower vehicle frame, 14, position sensor, 15, trigger, 16, upper vehicle frame.
The specific embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in Fig. 1, Fig. 6 and Fig. 7: the present invention includes that left lateral is walked pilot valve 6, right lateral is walked pilot valve 7, left running motor control valve 4 and right running motor control valve 9, left lateral is walked pilot valve 6 and left running motor control valve 4 and right lateral and is walked pilot valve 7 and by guide's oil circuit, be connected respectively with right running motor control valve 9, also comprises that being installed on left lateral walks the left electromagnetic valve 5 on guide's oil circuit between pilot valve 6 and left running motor control valve 4; Be installed on right lateral and walk the right electromagnetic valve 8 on guide's oil circuit between pilot valve 7 and right running motor control valve 9; Be fixed on the semicircle position sensor 14 of lower vehicle frame 13 upper rotary central race 12 1 sides; The intelligent walking pattern control button that is installed on driver's cabin that is arranged on the trigger 15 coordinating with position sensor 14 on vehicle frame 16 and is electrically connected on trigger 15, is electrically connected with converter between trigger 15 and left electromagnetic valve 5 and right electromagnetic valve 8.
When driver wishes that excavator is walked forward with respect to driver's cabin, step is:
Start intelligent walking pattern control button, promote forward walking push rod simultaneously, trigger 15 detection position sensor 14 signals, as shown in Figure 2, when excavator is during in positive direction, trigger 15 is positioned at centre of gyration both sides with position sensor 14, trigger 15 does not send signal, left electromagnetic valve 5 in guide's oil circuit and right electromagnetic valve 8 are in original position, connect left lateral simultaneously and walk the part of advancing that pilot valve 6 and right lateral are walked pilot valve 7, pioneer pump 2 output guide oils, one road guide oil promotes left running motor control valve 4 by left electromagnetic valve 5 and moves right, the first main pump 1 output services oil promotes left running motor 10 via left running motor control valve 4 and is rotated counterclockwise, another road guide oil promotes right running motor control valve 9 by right electromagnetic valve 8 and moves right, and the second main pump 3 output services oil promote right running motor 11 via right running motor control valve 9 and are rotated counterclockwise, and excavator is walked forward with respect to driver's cabin,
When excavator is during in opposite direction; As shown in Figure 3, trigger 15 detects position sensor 14 signals, and signal is input in converter, and converter output signal controls left electromagnetic valve 5 and right electromagnetic valve 8 commutates simultaneously; Pioneer pump 2 output guide oils, enter respectively that left lateral is walked pilot valve 6 and right lateral is walked pilot valve 7, one road guide oil promotes left running motor control valve 4 to moving to left by left electromagnetic valve 5, and the first main pump 1 output services oil promotes left running motor 10 via left running motor control valve 4 and turns clockwise; Another road guide oil promotes right running motor control valve 9 to moving to left by right electromagnetic valve 8, and the second main pump 3 output services oil promote right running motor 11 via right running motor control valve 9 and turn clockwise, and excavator is walked forward with respect to driver's cabin;
When driver wishes that excavator is walked backward with respect to driver's cabin, step is:
Start intelligent walking pattern control button, pull backward walking push rod simultaneously, trigger 15 detection position sensor 14 signals, as shown in Figure 4, when excavator is during in positive direction, trigger 15 is positioned at centre of gyration both sides with position sensor 14, trigger 15 does not send signal, left electromagnetic valve 5 in guide's oil circuit and right electromagnetic valve 8 are in original position, connect left lateral simultaneously and walk the part that retreats that pilot valve 6 and right lateral are walked pilot valve 7, pioneer pump 2 output guide oils, one road guide oil promotes left running motor control valve 4 to moving to left by left electromagnetic valve 5, the first main pump 1 output services oil promotes left running motor 10 via left running motor control valve 4 and turns clockwise, another road guide oil promotes right running motor control valve 9 to moving to left by right electromagnetic valve 8, and the second main pump 3 output services oil promote right running motor 11 via right running motor control valve 9 and turn clockwise, and excavator is walked backward with respect to driver's cabin,
When excavator is during in opposite direction, as shown in Figure 5, trigger 15 detects position sensor 14 signals, and signal is input in converter, and converter output signal controls left electromagnetic valve 5 and right electromagnetic valve 8 commutates simultaneously; Pioneer pump 2 output guide oils, enter respectively that left lateral is walked pilot valve 6 and right lateral is walked pilot valve 7, one road guide oil promotes left running motor control valve 4 by left electromagnetic valve 5 and moves right, and the first main pump 1 output services oil promotes left running motor 10 via left running motor control valve 4 and is rotated counterclockwise; Another road guide oil promotes right running motor control valve 9 by right electromagnetic valve 8 and moves right, and the second main pump 3 output services oil promote right running motor 11 via right running motor control valve 9 and are rotated counterclockwise, and excavator is walked backward with respect to driver's cabin.
The invention enables driver's operation more to there is intuitive, and then while having improved complete machine operation, operator judge the inconvenience that direction of travel brings.
Claims (1)
1. one kind is improved the device that excavator walking operates intuitive, comprise that left lateral is walked pilot valve (6), right lateral is walked pilot valve (7), left running motor control valve (4) and right running motor control valve (9), left lateral is walked pilot valve (6) and left running motor control valve (4) and right lateral and is walked pilot valve (7) and by guide's oil circuit, be connected respectively with right running motor control valve (9), also comprises that being installed on left lateral walks the left electromagnetic valve (5) on guide's oil circuit between pilot valve (6) and left running motor control valve (4); Be installed on right lateral and walk the right electromagnetic valve (8) on guide's oil circuit between pilot valve (7) and right running motor control valve (9); Be fixed on the semicircle position sensor (14) of lower vehicle frame (13) upper rotary central race (12) one sides; The intelligent walking pattern control button that is installed on driver's cabin that is arranged on the trigger (15) coordinating with position sensor (14) on vehicle frame (16) and is electrically connected on trigger (15), is electrically connected with converter between trigger (15) and left electromagnetic valve (5) and right electromagnetic valve (8); It is characterized in that:
When driver wishes that excavator is walked forward with respect to driver's cabin, start intelligent walking pattern control button, promote forward walking push rod simultaneously, trigger (15) detection position sensor (14) signal, when excavator is during in positive direction, trigger (15) is positioned at centre of gyration both sides with position sensor (14), trigger (15) does not send signal, left electromagnetic valve (5) in guide's oil circuit and right electromagnetic valve (8) are in original position, connect left lateral simultaneously and walk the part of advancing that pilot valve (6) and right lateral are walked pilot valve (7), pioneer pump (2) output guide oil, one road guide oil promotes left running motor control valve (4) by left electromagnetic valve (5) and moves right, the first main pump (1) output services oil promotes left running motor via left running motor control valve (4) and is rotated counterclockwise, another road guide oil promotes right running motor control valve (9) by right electromagnetic valve (8) and moves right, the second main pump (3) output services oil promotes right running motor (11) via right running motor control valve (9) and is rotated counterclockwise, and excavator is realized and being walked forward with respect to driver's cabin,
When excavator is during in opposite direction, trigger (15) detects position sensor (14) signal, signal is input in converter, converter output signal controls left electromagnetic valve (5) and right electromagnetic valve (8) commutates simultaneously, pioneer pump (2) output guide oil, enter respectively that left lateral is walked pilot valve (6) and right lateral is walked pilot valve (7), one road guide oil promotes left running motor control valve (4) to moving to left by left electromagnetic valve (5), and the first main pump (1) output services oil promotes left running motor (10) via left running motor control valve (4) and turns clockwise; Another road guide oil promotes right running motor control valve (9) to moving to left by right electromagnetic valve (8), the second main pump (3) output services oil promotes right running motor (11) via right running motor control valve (9) and turns clockwise, and excavator is walked forward with respect to driver's cabin;
When driver wishes that excavator is walked backward with respect to driver's cabin, start intelligent walking pattern control button, pull backward walking push rod simultaneously, trigger (15) detection position sensor (14) signal, when excavator is during in positive direction, trigger (15) is positioned at centre of gyration both sides with position sensor (14), trigger (15) does not send signal, left electromagnetic valve (5) in guide's oil circuit and right electromagnetic valve (8) are in original position, connect left lateral simultaneously and walk the part that retreats that pilot valve (6) and right lateral are walked pilot valve (7), pioneer pump output guide oil, one road guide oil promotes left running motor control valve (4) to moving to left by left electromagnetic valve (5), the first main pump (1) output services oil promotes left running motor (10) via left running motor control valve (4) and turns clockwise, another road guide oil promotes right running motor control valve (9) to moving to left by right electromagnetic valve (8), the second main pump (3) output services oil promotes right running motor via right running motor control valve (9) and turns clockwise, and excavator is walked backward with respect to driver's cabin,
When excavator is during in opposite direction, trigger (15) detects position sensor (14) signal, and signal is input in converter, and converter output signal controls left electromagnetic valve (5) and right electromagnetic valve (8) commutates simultaneously; Pioneer pump (2) output guide oil, enter respectively that left lateral is walked pilot valve (6) and right lateral is walked pilot valve (7), one road guide oil promotes left running motor control valve (4) by left electromagnetic valve (5) and moves right, and the first main pump (1) output services oil promotes left running motor (10) via left running motor control valve (4) and is rotated counterclockwise; Another road guide oil promotes right running motor control valve (9) by right electromagnetic valve (8) and moves right, the second main pump (3) output services oil promotes right running motor (11) via right running motor control valve (9) and is rotated counterclockwise, and excavator is walked backward with respect to driver's cabin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210161592.6A CN102677733B (en) | 2012-05-23 | 2012-05-23 | Device and method for improving traveling and operating intuitiveness of excavator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210161592.6A CN102677733B (en) | 2012-05-23 | 2012-05-23 | Device and method for improving traveling and operating intuitiveness of excavator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102677733A CN102677733A (en) | 2012-09-19 |
| CN102677733B true CN102677733B (en) | 2014-12-03 |
Family
ID=46810253
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210161592.6A Active CN102677733B (en) | 2012-05-23 | 2012-05-23 | Device and method for improving traveling and operating intuitiveness of excavator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102677733B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102862605B (en) * | 2012-10-24 | 2016-01-20 | 三一重机有限公司 | A kind of automatic reversing apparatus and apply the excavating machine of this device of walking |
| US11371209B2 (en) * | 2019-06-24 | 2022-06-28 | Deere & Company | Work vehicle with switchable propulsion control system |
| CN111021464B (en) * | 2019-12-26 | 2023-07-28 | 三一重机有限公司 | Excavator direction control system, excavator and control method thereof |
| CN113983226B (en) * | 2021-10-26 | 2023-08-22 | 三一重机有限公司 | Excavator walking control method and device and excavator |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10059663A1 (en) * | 1999-12-16 | 2001-07-05 | Caterpillar Inc | Appliance and method for operating hydraulic excavator fitted with position sensor for purpose of sensing position of idler wheels provides variable track tension control |
| KR20030004695A (en) * | 2001-07-06 | 2003-01-15 | 대우종합기계 주식회사 | Hydraulic control apparatus for excavator in idling |
| JP3739509B2 (en) * | 1997-02-06 | 2006-01-25 | 日立建機株式会社 | Hydraulic excavator control device |
| US7017289B2 (en) * | 2002-12-20 | 2006-03-28 | Cnh America Llc | Earth-moving vehicle with device for configuration of profile for circulation on road |
| CN101003977A (en) * | 2006-01-20 | 2007-07-25 | 神钢建设机械株式会社 | Hydraulic control device for working machine |
| EP1820909A2 (en) * | 2006-02-20 | 2007-08-22 | Kobelco Construction Machinery Co., Ltd. | Hydraulic controlling device of working machine |
| CN102051895A (en) * | 2009-11-05 | 2011-05-11 | 北汽福田汽车股份有限公司 | Travelling control device and method for excavator |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07246961A (en) * | 1994-03-10 | 1995-09-26 | Yutani Heavy Ind Ltd | Control circuit for traveling device of hydraulic shovel |
-
2012
- 2012-05-23 CN CN201210161592.6A patent/CN102677733B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3739509B2 (en) * | 1997-02-06 | 2006-01-25 | 日立建機株式会社 | Hydraulic excavator control device |
| DE10059663A1 (en) * | 1999-12-16 | 2001-07-05 | Caterpillar Inc | Appliance and method for operating hydraulic excavator fitted with position sensor for purpose of sensing position of idler wheels provides variable track tension control |
| KR20030004695A (en) * | 2001-07-06 | 2003-01-15 | 대우종합기계 주식회사 | Hydraulic control apparatus for excavator in idling |
| US7017289B2 (en) * | 2002-12-20 | 2006-03-28 | Cnh America Llc | Earth-moving vehicle with device for configuration of profile for circulation on road |
| CN101003977A (en) * | 2006-01-20 | 2007-07-25 | 神钢建设机械株式会社 | Hydraulic control device for working machine |
| EP1820909A2 (en) * | 2006-02-20 | 2007-08-22 | Kobelco Construction Machinery Co., Ltd. | Hydraulic controlling device of working machine |
| CN102051895A (en) * | 2009-11-05 | 2011-05-11 | 北汽福田汽车股份有限公司 | Travelling control device and method for excavator |
Non-Patent Citations (1)
| Title |
|---|
| JP特开平7-246961A 1995.09.26 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102677733A (en) | 2012-09-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102677733B (en) | Device and method for improving traveling and operating intuitiveness of excavator | |
| CN202644628U (en) | Device capable of improving operation intuitiveness of walk of excavator | |
| CN102803685B (en) | The prime mover control device of working truck | |
| WO2011025197A3 (en) | Automatic operation control device and method for wheel loader work equipment | |
| JP5705755B2 (en) | Hydraulic control device for work machine | |
| CN102826118A (en) | Front wheel steering hydraulic system for land scraper with composite operation and land scraper | |
| CN102030033A (en) | Electronic control engineering vehicle power steering system with adjustable steering sensitivity | |
| CN104812967A (en) | Construction machine | |
| CN103112487A (en) | Vehicle steering-by-wire steering wheel device | |
| CN103359164B (en) | For the steering wheel arrangement of steering-by-wire vehicle | |
| KR101491942B1 (en) | Apparatus and method for controlling transmission cut-off of heavy construction equipment | |
| EP2762645A2 (en) | Mobile machine, braking system and method of controlling mobile machine | |
| CN109515537B (en) | Control method and system for crawler vehicle travelling mechanism and crawler vehicle | |
| CN202215727U (en) | Manual and automatic integrated transmission system for wheel type hydraulic excavator | |
| CN206971304U (en) | A kind of full hydraulic drive wheel excavator walking and gearshift protection device | |
| CN202954397U (en) | Wireless visual range control system for small-size underground trackless scraper | |
| CN103046610A (en) | Traveling signal detection device and traveling machinery | |
| CN213861857U (en) | Automatically controlled running gear of crawler tractor | |
| KR20150105752A (en) | Apparatus and method for controlling transmission cut-off of heavy construction equipment | |
| CN106968287A (en) | Improve the control device and control method of wheeled hydraulic excavator mode of operation security | |
| CN208393459U (en) | A kind of vehicle wire-controlled steering system | |
| CN108049450B (en) | Excavator walking pilot control hydraulic system | |
| CN102359587A (en) | Manual and automatic integrated speed change system for wheel type hydraulic excavator | |
| CN202243415U (en) | Anti-misstep accelerator | |
| CN215630320U (en) | Steering control device of agricultural excavator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |