CN103253132B - Crawler vehicle - Google Patents
Crawler vehicle Download PDFInfo
- Publication number
- CN103253132B CN103253132B CN201310177754.XA CN201310177754A CN103253132B CN 103253132 B CN103253132 B CN 103253132B CN 201310177754 A CN201310177754 A CN 201310177754A CN 103253132 B CN103253132 B CN 103253132B
- Authority
- CN
- China
- Prior art keywords
- control
- rod
- free degree
- oscillation
- axis
- 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.)
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/127—Control or measuring arrangements specially adapted for combines
- A01D41/1274—Control or measuring arrangements specially adapted for combines for drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
- B62D11/006—Mechanical control systems
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
- G05G2009/04703—Mounting of controlling member
- G05G2009/04714—Mounting of controlling member with orthogonal axes
- G05G2009/04718—Mounting of controlling member with orthogonal axes with cardan or gimbal type joint
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
A kind of crawler vehicle, especially united reaper, it has the walking mechanism (11) being arranged on the both sides of chassis, and the speed of the walking mechanism is controlled separated from each other by the control-rod (16) that can be moved in two frees degree.
Description
Technical field
The present invention relates to a kind of crawler vehicle for the walking mechanism for having and being arranged on the both sides of chassis.
Background technology
Traditionally, a kind of such crawler vehicle has two power assemblies, and each walking mechanism configures one
Power assembly, the speed of these walking mechanisms can be adjusted separated from each other, so that traveling instrument can be controlled to pass through curved path.
Fig. 1 shows traditional operation structure for described two power assemblies.Two control-rods 1 can be put around common axis 2
Set dynamicly.Cable core 4 is fixed on the arm 3 of control-rod 1 by two Bowden cables 5, and these Bowden cables are by the motion of each control-rod 1
It is delivered on the power assembly controlled by control-rod.When the speed and the control-rod 1 each attached troops to a unit of each walking mechanism are from neutrality
When the deflection of position is proportional, then the radius of the curved path travelled by traveling instrument depends on the deflection of these control-rods 1
Between ratio.Therefore, it is not present and clearly associates between the position of each bar and the radius of the curved path travelled, and
And when after crawler vehicle drives through curved path ought to straight-line travelling again when, driver or must see control-rod
1 or two control-rods 1 are touched with hand simultaneously, with accurately it is placed side by side they.That is, this is without as about in steering wheel
In have one like that clearly fixed neutral position --- a control-rod can be placed in the neutral position straight to travel
Line --- but be defined for the bar position required for straight-line travelling only with respect to corresponding other control-rod.This causes
The active manipulation of traveling instrument becomes difficult and laborious.
The content of the invention
The task of the present invention is, proposes a kind of crawler vehicle, the crawler vehicle is with simple and low
The steering mechanism that cost is constructed make it possible simplification operation.
The task is solved in the following manner, i.e., be arranged on it is on the both sides of chassis, can control separated from each other
In the walking mechanism of speed, the speed of two walking mechanisms is controlled by the control-rod that can be moved in two frees degree.One
Single bar is enough, to control not only speed but also the direction of traveling instrument simultaneously and independently of each other.
Deflection of the control-rod in first free degree should determine the average speed of two walking mechanisms in an appropriate manner
Degree, in contrast to this, the deflection in second free degree should determine the speed difference between these walking mechanisms.Therefore,
Neutral position, speed difference vanishing in the neutral position can be determined in two degrees of freedom, and travels instrument with by same
When the position that is adjusted in first free degree velocity linear traveling that determines.
Specifically, when the handle of control-rod can in first free degree-- pass through free degree control traveling work
Have speed-- on traveling instrument longitudinal direction and can in second free degree-- to pass through free degree control bent
Thread path radius-- on instrument horizontal direction is travelled when moving, then especially draws a kind of direct, easy for operator
Simple steering response, between the motion of control-rod and the reaction of traveling instrument relevance understanding, ensureing traveling instrument.
The speed regulator of two walking mechanisms can be coupled by Bowden cable with control-rod.This especially can be according to this hair
Bright to transform existing traveling instrument, its mode is by substituting two traditional controls according to the single control-rod of the present invention
Bar, as shown in Figure 1.
In the control-rod free degree at least one, especially second free degree, should preferably swing the free degree.Then deposit
In such possibility, i.e., relative to one mirror plane is vertically arranged the axis of oscillation of the free degree, and two Bowden cables are closed
Set with being mutually mirror in the mirror plane, so that the motion in second free degree causes these Bowden cables correspondingly
Opposite displacement.
Because in turning driving, the speed difference between these walking mechanisms is generally significantly less than the speed of these walking mechanisms
Angle value, so being adapted to, if when two frees degree are to swing the free degree, then, these Bowden cables are on first free degree
Axis of oscillation there is the lever arm longer than axis of oscillation on second free degree.
Can simply and the oscillating motion that is achieved at low cost in two frees degree is free, control by cruciform joint
Bar is maintained on traveling instrument by the cruciform joint.Alternately, it is also contemplated that using spherojoint.
When control-rod is not fixed in inflection point by driver, back-moving spring can be set, with towards neutral position
Direction Loading Control bar.Here, if the neutral position of second free degree, then when decontroling control-rod, travel instrument
It is automatically switched to straight-line travelling;If the neutral position of first free degree or two frees degree, then when decontroling control-rod,
Traveling instrument is stopped automatically.
Suitably, it can be provided with while deflection for control-rod in first free degree and control-rod is locked at second
Device in the neutral position of the free degree.The deflection in second free degree is set to become mode as difficulty by these devices,
When speed must be matched, these devices cause driver easily to keep straight-line travelling direction.
Preferably, it is united reaper according to the traveling instrument of the present invention.
Brief description of the drawings
Other features and advantages of the present invention are drawn in the embodiment explanation referring to affiliated accompanying drawing.It shows:
What Fig. 1 had been told about, traditional steering mechanism of crawler vehicle;
Fig. 2 is according to the schematical side view of crawler vehicle of the invention;
Fig. 3 is according to steering mechanism, similar with Fig. 1 explanatory view of the invention;
View in diverse location of Fig. 4 Fig. 3 steering mechanism on traveling instrument horizontal direction;
View in diverse location of Fig. 5 steering mechanism on traveling instrument longitudinal direction;
Fig. 6 according to the present invention improved configuration, cruciform joint crossed body perspective view, and
Fig. 7 by Fig. 6, the schematic cross sectional view of cruciform joint with crossed body.
Embodiment
Fig. 2 diagrammatically illustrates united reaper 10, and the present invention can be applied on the united reaper.Combining
The chassis of machine 10 includes two right crawler type walking mechanisms 11 of a first from left, and the crawler type row in wherein left side can only be seen in figure
Walk mechanism.These walking mechanisms include the front and rear deflecting roller 13 wound respectively by crawler belt 14 and contact ground along crawler belt
The support wheel 15 of circuit distribution.The two walking mechanisms 11 are respectively by hydrodynamics transmission device and united reaper 10
Combustion engine is coupled, wherein, the gearratio of two hydrodynamics transmission devices can pass through a common control in driver's cabin 12
Bar is controlled.Because the internal combustion engine in field work of united reaper 10 is run with constant rotating speed, therefore two hydrodynamics are passed
There is direct and clear and definite relevance in the gearratio of dynamic device and the speed of two walking mechanisms 11.
The part for illustrating control-rod with perspective in figure 3 and being associated with it.Prolonged herein with the control-rod of 16 signs
Extend through the hole 17 in the cover plate on the bottom plate of driver's cabin 12 or on instrument board, and flexible member --- it is by office herein
The bellows 18 that portion is shown with cutting away --- the edge in hole 17 is connected with the shank of control-rod 16.The upper end of control-rod 16 is carried
Handle 19;Lower end is fixed on the bottom plate of driver's cabin 12 or in addition suitable backing plate by cruciform joint 20.Cruciform joint 20 has
There are two axiss of oscillation:Axis of oscillation 21 --- it is fixed on cab position and substantially in the vertical of united reaper 10
Upwardly extended to side --- and second axis of oscillation 22 --- its can be carried out around the first axis of oscillation 21 oscillating motion and
Its figure 3 illustrates neutral position on the horizontal direction of united reaper 10 orient.In order to control speed and traveling
Direction, control-rod 16 can be deflected around two axiss of oscillation 21,22 simultaneously.Back-moving spring can be provided with, be to set herein
Helical spring 29 in hole 17, to make control-rod when control-rod 16 is not maintained in inflection point by driver 16 times
Position is into neutral position and thus stops united reaper.
On the shank of control-rod 16, fork-shaped stretches out two arms 23,24 with having small distance with cruciform joint 20.In arm
23rd, on 24 free end, these ends are fixed by the cable core 25 of two Bowden cables 26,27.Two arms 23,24 are flat on a mirror
Face extends with being mutually mirror, and axis of oscillation 21 extends in the mirror plane and the mirror plane is hung down with axis of oscillation 22
Directly.Figure 3 illustrates neutral position in, the terminal bushing 28 that the position of the sleeve of two Bowden cables 26,27 is fixed also on
This plane is mutually mirror, and cable core 25 prolongs between the free end of arm 23,24 and terminal bushing 28 in parallel to each other
Stretch.
Fig. 4 shows the side view of Fig. 3 steering mechanism, wherein, it is shown in solid lines control-rod 16 and is in neutral position
And correspondingly it is shown in broken lines control-rod 16 and is in two in the opposite direction from the position of neutral location deflection.In control
When bar 16 processed is around axis 22 swing vertical relative to figure plane, the cable core 25 of two Bowden cables 26,27 is with equal extent
It is mobile.Here Bowden cable 26 may only be seen;Another is caught by.Cable core 25 can be made by the counter-clockwise swing of control-rod 16
Retract in sleeve;By the clockwise oscillation motion of control-rod these cable cores can be made to be pulled out from sleeve.In control-rod 16
In vertical position, the pump discharge of two hydrodynamics transmission devices is zero, that is to say, that united reaper is stopped.With control-rod
16 deflection increase, pump discharge increase, wherein, the direction of the conveying direction of pump and the corresponding running movement driven by pump is according to control
The deflection of bar 16 processed and it is different.Because axis of oscillation 22 is orientated and action bars 16 on the horizontal direction of united reaper 10
In neutral position be substantially it is vertical, so, control-rod 16 figure 4 illustrates motion equivalent to handle 19 joint
Displacement on the longitudinal direction of harvester 10.Therefore, by handle traveling instrument longitudinal direction on displacement come control joint
The speed of harvester 10 in the same direction.
Fig. 5 show traveling instrument longitudinal direction, that is looked up in the side of axis of oscillation 21 it is same
Steering mechanism.Neutral position is shown in solid lines again and is shown in broken lines inflection point.As can be seen that control-rod 16 is surrounded
The cable core 25 that the oscillating motion of axis 21 result in two Bowden cables 26,27 is moved towards opposite direction, that is to say, that two walkings
An acceleration in mechanism 11, and another slows down, and united reaper 10 travels curved path, and its curvature passes through these rows
The speed difference walked between mechanism 11 is determined.Suitably, attach troops to a unit in this way herein, i.e., by handle 19 from neutral position
Put to left movement, the walking mechanism 11 on the left side slow down and the right acceleration, and united reaper 10 therefore travel it is curved to the left
Curved path.
As compared as Fig. 4 and Fig. 5 can clearly be seen that, lever arm 122、121(cable core 25 utilizes these lever arms
Coupled with control-rod 16) it is substantially longer than on axis of oscillation 21 on axis of oscillation 22.Therefore, turned over around axis 22 given
Displacement of the swing of angle than causing cable core the last 25 around the oscillating motion of the equal extent of axis 21.This can delicately control speed
Degree difference and thus the travelled radius of turn of control.
As identified in figure 3, cruciform joint 20 includes the first yoke that position is fixed on the car body of united reaper
Portion 30 --- the yoke portion determines the trend of the axis of oscillation 21 oriented on traveling instrument longitudinal direction --- and and control-rod
The yoke portion 31 of 16 connections, these yoke portions are connected with each other by crossed body 32.Fig. 6 is shown according to improved configuration of the invention
The perspective view of crossed body 32.It is that axis of oscillation 21,22 is stretched out by four by matrix 33 and be coupled in the hole in yoke portion 30,31
Axle journal 34,35 determine.Matrix 33 is made up of two semicylinders 36,37, their axis correspondingly with axis of oscillation 21 or
22 is consistent.Semicylinder 36,37 is respectively equipped with recess 38,39 on its periphery, herein with the axle relative to semicylinder
The form for the groove that line is extended parallel to.
In two yoke portions 30,31, stop-motion body 41 or 42 is relative to the axis of oscillation 21 defined by related yoke portion 30,31
Or 22 be directed to and by spring --- being leaf spring 43 herein --- and loaded towards crossed body 32 vertically movablely.Figure
7 show the cruciform joint 20 in the neutral position in two frees degree.Two stop-motion bodies 41,42 are snapped onto towards it herein
Semicylinder 36 or 37 recess 38,39 in.Stop-motion body 41 is coupled in the recess 38 of upper half cylinder 36 and ensure that,
The resting position occupied under the influence of helical spring 29 of control-rod 16 is actually following positions, in the position, joint
The speed of harvester 10 is zero.
When driver promotes handle 16 back and forth, stop-motion body 39 leaves the recess 38 of upper half cylinder 36 and in its periphery
Upper motion.Because this periphery is herein cylindrical on axis 22, leaf spring 43 does not produce support control
The power of the displacement of bar 16 or the power for reacting on its displacement;When the center of curvature of periphery is located at the another side of axis 21,
Reset force can for example be produced.
Meanwhile, stop-motion body 42 is coupled in the recess 39 of lower half cylinder 37 and prevented, driver by handle 16 forward
Or also inadvertently deflected while moving backward to side.In order that united reaper 10 is redirect in a curved path, only
Kinetoplast 42 must also be extruded on lower half cylinder 37 from recess 39.After turning driving is terminated, when the secondary card again of stop-motion body 42
When entering into recess 39, driver can feel.So driver will know that, united reaper linear rows again
Sail, and he need not observe the path passed by for this.This causes steering to be quickly and accurately very easy to.
Reference number table
1. control-rod
2. axle
3. arm
4. cable core
5. Bowden cable
10. united reaper
11. walking mechanism
12. driver's cabin
13. deflecting roller
14. crawler belt
15. support wheel
16. control-rod
17. hole
18. bellows
19. handle
20. cruciform joint
21. the first axis of oscillation
22. the second axis of oscillation
23. arm
24. arm
25. cable core
26. Bowden cable
27. Bowden cable
28. terminal bushing
29. helical spring
30. yoke portion
31. yoke portion
32. crossed body
33. matrix
34. axle journal
35. axle journal
36. upper half cylinder
37. lower half cylinder
38. recess
39. recess
41. stop-motion body
42. stop-motion body
43. leaf spring
Claims (9)
1. crawler vehicle, it, which has, is arranged on vehicle with walking machine on the both sides of chassis, can controlling speed separated from each other
Structure (11), the speed of two walking mechanisms is controlled by the control-rod (16) that can be moved in two frees degree, the control
Bar (16) is maintained on traveling instrument by cruciform joint (20), and cruciform joint (20) is fixed on crawler type traveling work including position
The first yoke portion (30) on the car body of tool, and the yoke portion (31) being connected with control-rod (16), these yoke portions pass through crossed body
(32) it is connected with each other, wherein the cruciform joint (20) has the first and second axiss of oscillation, the first axis of oscillation is on described
The cab position of traveling instrument is fixed and extended substantially on the longitudinal direction of the traveling instrument, the second axis of oscillation
Around the first axis of oscillation carry out oscillating motion and on the horizontal direction of the traveling instrument orient, in order to control speed and
Travel direction, the control-rod (16) can deflect around the first and second axiss of oscillation simultaneously.
2. crawler vehicle according to claim 1, it is characterised in that the control-rod (16) is in first free degree
In deflection determine the average speed of described two walking mechanisms (11), and the control-rod is inclined in second free degree
Turn the speed difference between the degree determination walking mechanism (11).
3. crawler vehicle according to claim 2, it is characterised in that handle (19) energy of the control-rod (16)
It is enough to be transported in first free degree on traveling instrument longitudinal direction and in second free degree on traveling instrument horizontal direction
It is dynamic.
4. crawler vehicle according to claim 1, it is characterised in that the speed of described two walking mechanisms (11)
Adjuster is coupled by Bowden cable (26,27) with the control-rod (16).
5. crawler vehicle according to claim 4, it is characterised in that at least one in the free degree is pendulum
The dynamic free degree, the Bowden cable (26,27) of described two walking mechanisms (11) is acted on being mutually mirror on a mirror plane
On the control-rod (16) and it is described swing the free degree axis of oscillation (21) extend in the mirror plane.
6. the crawler vehicle according to claim 4 or 5, it is characterised in that described two frees degree are to swing certainly
By spending, and the Bowden cable (26,27) has than on second free degree on the axis of oscillation (22) of first free degree
The long lever arm (1 of axis of oscillation (21)22)。
7. the crawler vehicle according to any one of claim 1-5, it is characterised in that also including back-moving spring
(29), the back-moving spring loads the control-rod (16) towards the direction of neutral position.
8. the crawler vehicle according to any one of claim 1-5, it is characterised in that also including for described
Control-rod (16) in first free degree while deflect by the control-rod (16) clamping lock in the neutral position of second free degree
In device.
9. the crawler vehicle according to any one of claim 1-5, it is characterised in that the crawler type travels work
Tool is united reaper (10).
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102012002968.3 | 2012-02-16 | ||
DE201210002968 DE102012002968A1 (en) | 2012-02-16 | 2012-02-16 | Crawler vehicle e.g. combine harvester has control lever that is provided for controlling intermediate speed of speed controllable drive units and degree of displacement in speed difference between speed controllable drive units |
Publications (2)
Publication Number | Publication Date |
---|---|
CN103253132A CN103253132A (en) | 2013-08-21 |
CN103253132B true CN103253132B (en) | 2017-08-29 |
Family
ID=48914890
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201310177754.XA Active CN103253132B (en) | 2012-02-16 | 2013-02-07 | Crawler vehicle |
Country Status (2)
Country | Link |
---|---|
CN (1) | CN103253132B (en) |
DE (1) | DE102012002968A1 (en) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104590422A (en) * | 2014-12-29 | 2015-05-06 | 淮海工学院 | Single motor scooter with automatic differential function |
JP6342933B2 (en) * | 2016-03-14 | 2018-06-13 | 株式会社タダノ | Operation lever |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3541877A (en) * | 1969-01-23 | 1970-11-24 | Richard D Houk | Single lever control for coordinating multiple motion transmitting devices |
US3978738A (en) * | 1973-12-26 | 1976-09-07 | La Telemecanique Electrique | Toggle manipulator |
US4699239A (en) * | 1983-06-24 | 1987-10-13 | Kabushiki Kaisha Komatsu Seisakusho | Driving control device of a crawler type tractor |
US5131483A (en) * | 1991-01-28 | 1992-07-21 | Shivvers, Inc. | Single lever control |
US5497847A (en) * | 1993-10-27 | 1996-03-12 | Kabushiki Kaisha Komatsu Seisakusho | Single lever for controlling multiple functions |
CN2536016Y (en) * | 2001-09-29 | 2003-02-19 | 王砺 | Self-propelled caterpiller combine harvesters |
CN2625191Y (en) * | 2003-07-02 | 2004-07-14 | 阎春刚 | Single lever control mechanism for tracked vehicle |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2109140C3 (en) * | 1971-02-26 | 1983-11-03 | Klöckner-Humboldt-Deutz AG, 5000 Köln | Actuating device with an actuating member for controlling the direction of travel and the speed of motor vehicles that can be used in agriculture and / or construction |
DE2133956B2 (en) * | 1971-07-08 | 1975-02-20 | Demag Baumaschinen Gmbh, 4000 Duesseldorf-Benrath | Single lever control for tracked vehicles - has two valve elements controlling each track through reduction valves to motors |
DE2511176C2 (en) * | 1975-03-14 | 1984-08-30 | Linde Ag, 6200 Wiesbaden | Steering control device for a vehicle with differential speed steering |
JP2001010526A (en) * | 1999-06-28 | 2001-01-16 | Komatsu Ltd | Travel control device for vehicle device |
-
2012
- 2012-02-16 DE DE201210002968 patent/DE102012002968A1/en not_active Ceased
-
2013
- 2013-02-07 CN CN201310177754.XA patent/CN103253132B/en active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3541877A (en) * | 1969-01-23 | 1970-11-24 | Richard D Houk | Single lever control for coordinating multiple motion transmitting devices |
US3978738A (en) * | 1973-12-26 | 1976-09-07 | La Telemecanique Electrique | Toggle manipulator |
US4699239A (en) * | 1983-06-24 | 1987-10-13 | Kabushiki Kaisha Komatsu Seisakusho | Driving control device of a crawler type tractor |
US5131483A (en) * | 1991-01-28 | 1992-07-21 | Shivvers, Inc. | Single lever control |
US5497847A (en) * | 1993-10-27 | 1996-03-12 | Kabushiki Kaisha Komatsu Seisakusho | Single lever for controlling multiple functions |
CN2536016Y (en) * | 2001-09-29 | 2003-02-19 | 王砺 | Self-propelled caterpiller combine harvesters |
CN2625191Y (en) * | 2003-07-02 | 2004-07-14 | 阎春刚 | Single lever control mechanism for tracked vehicle |
Also Published As
Publication number | Publication date |
---|---|
CN103253132A (en) | 2013-08-21 |
DE102012002968A1 (en) | 2013-08-22 |
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