JP2682925B2 - Hydraulic actuator control device for earth moving machine - Google Patents
Hydraulic actuator control device for earth moving machineInfo
- Publication number
- JP2682925B2 JP2682925B2 JP712992A JP712992A JP2682925B2 JP 2682925 B2 JP2682925 B2 JP 2682925B2 JP 712992 A JP712992 A JP 712992A JP 712992 A JP712992 A JP 712992A JP 2682925 B2 JP2682925 B2 JP 2682925B2
- Authority
- JP
- Japan
- Prior art keywords
- lever
- hydraulic actuator
- current
- flow rate
- control device
- 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.)
- Expired - Fee Related
Links
Landscapes
- Operation Control Of Excavators (AREA)
- Control Of Positive-Displacement Pumps (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本発明は、例えばバックホー等の
土工機における油圧アクチュエータ制御装置に関し、詳
しくは、作業装置を油圧アクチュエータにより駆動する
よう構成するとともに、前記油圧アクチュエータの電磁
式比例流量制御弁の開度を、操作レバーの操作量に応じ
た電流を供給して比例制御する流量制御手段を備えてあ
る土工機における油圧アクチュエータ制御装置に関す
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hydraulic actuator control device for an earth-moving machine such as a backhoe, and more particularly, to a hydraulic actuator for driving a working device and an electromagnetic proportional flow control valve of the hydraulic actuator. The present invention relates to a hydraulic actuator control device for an earthmoving machine having flow control means for proportionally controlling the opening degree of an operation lever by supplying a current according to the operation amount of an operation lever.
【０００２】[0002]
【従来の技術】上記土工機における油圧アクチュエータ
制御装置において、従来では、前記操作レバーの全操作
領域に亘りその操作量に応じた電流を前記電磁式比例流
量制御弁に供給するよう構成してあった。2. Description of the Related Art Conventionally, a hydraulic actuator control device for an earth moving machine is constructed so that a current corresponding to the operation amount of the operation lever is supplied to the electromagnetic proportional flow control valve over the entire operation range of the operation lever. Was.
【０００３】[0003]
【発明が解決しようとする課題】前記制御装置は、油圧
アクチュエータの制御のための油圧制御弁のスプールを
人為的に操作するのは、操作が重く、行い難い欠点があ
るために、このレバー操作を軽快に行えるようにするた
めに、操作レバーの操作量を電気信号に変換して、供給
電流に対応した開度に比例制御される電磁式比例流量制
御弁を用いて油圧アクチュエータを操作するよう構成し
たものである。ところが、上記従来構造においては、操
作レバーの操作領域の全域に亘り、操作量に応じた電流
を供給して前記電磁式比例流量制御弁を駆動制御するよ
う構成したものであるから、レバー操作を所定位置で停
止させて作業を行う操作の途中においては、操作位置に
対応する電流量、即ちそれに対応する弁開度に設定さ
れ、所望の作業速度を得ることができるけれども、操作
レバーを加速作動側や減速作動側に切り換え操作した場
合には、電磁式比例流量制御弁のスプールの応答遅れや
起動タイミングのずれが発生したり、又、制御弁の固体
差に起因して、この応答遅れに機種毎に差が生じること
がある。その結果、操縦者の操作レバーの操作感覚と作
業装置の実際の作動状態との間に差異が発生し、操縦操
作性が低下する欠点があった。本発明は上記不具合点を
解消することを目的としている。In the above-mentioned control device, the operation of the spool of the hydraulic control valve for controlling the hydraulic actuator is disadvantageously heavy and difficult to operate. In order to make the operation easier, the operation amount of the operation lever is converted into an electric signal, and the hydraulic actuator is operated using an electromagnetic proportional flow control valve that is proportionally controlled to the opening corresponding to the supply current. It is composed. However, in the above-mentioned conventional structure, a current is supplied according to the operation amount over the entire operation area of the operation lever to drive and control the electromagnetic proportional flow control valve, so that the lever operation is performed. In the middle of the operation of stopping the work at a predetermined position, the amount of current corresponding to the operating position, that is, the valve opening corresponding to that, is set to obtain the desired working speed, but the operating lever is accelerated. When the switch is operated to the side of the solenoid valve or to the deceleration operation side, the response delay of the spool of the electromagnetic proportional flow control valve and the deviation of the start timing occur, and this response delay is caused by the individual difference of the control valve. There may be differences between models. As a result, a difference occurs between the operator's operation feeling of the operation lever and the actual operation state of the work device, and there is a disadvantage that the steering operability is reduced. An object of the present invention is to eliminate the above disadvantages.
【０００４】[0004]
【課題を解決するための手段】本第１発明の特徴構成
は、冒頭に記載した土工機における油圧アクチュエータ
制御装置において、前記操作レバーの現操作位置とその
位置での操作速度を検出する操作状態検出手段と、この
操作状態検出手段の検出結果に基づいて、現操作位置よ
りも所定時間後のレバー操作位置を予測演算する演算手
段とを備え、前記流量制御手段が、演算された前記予測
位置における制御目標電流を前記電磁式比例流量制御弁
に供給するよう構成してある点にある。第２発明の特徴
構成は、前記操作レバーの現操作域が全操作領域のうち
どの域にあるかを判別する判別手段を備え、この判別結
果に基づいて、前記演算手段における前記所定時間を変
更させる予測経過時間変更手段を備えてある点にある。According to a first aspect of the present invention, in a hydraulic actuator control device for an earthmoving machine described at the beginning, an operation state for detecting a current operation position of the operation lever and an operation speed at that position. The flow rate control means includes a detection means and a calculation means for predictively calculating a lever operation position after a predetermined time from the current operation position based on the detection result of the operation state detection means. The control target current in is supplied to the electromagnetic proportional flow rate control valve. According to a second aspect of the present invention, there is provided a discriminating means for discriminating which region of the total operating region the current operating region of the operating lever is located, and the predetermined time in the computing device is changed based on the result of the determination. The point is that the means for changing the estimated elapsed time is provided.
【０００５】[0005]
【作用】第１発明の特徴構成によると、操作レバーが所
定の速度で例えば加速側あるいは減速側に操作されてい
る場合には、操作位置の変化速度より現実の操作位置か
ら所定時間経過後のレバー操作位置を予測して、その操
作位置に対応する制御目標電流を電磁式比例流量制御弁
に供給するので、油圧アクチュエータに対する圧油供給
が現実のレバー操作よりも所定時間だけ先行した状態で
流量制御することになり、制御弁の応答遅れを解消し
て、操縦者のレバー操作感覚に適応した油圧流量制御を
行えるものとなる。第２発明の特徴構成によると、操作
レバーの現操作域の差異、つまり、作業装置の実作動速
度の差異に応じて前記予測時間を変更させるので、作業
装置の慣性力の差を加味して、更にレバー操作感覚に適
合できる油圧流量制御が可能となる。According to the characteristic construction of the first invention, when the operating lever is operated at a predetermined speed, for example, on the acceleration side or the deceleration side, a predetermined time elapses from the actual operating position after the changing speed of the operating position. The lever operation position is predicted and the control target current corresponding to that operation position is supplied to the electromagnetic proportional flow rate control valve.Therefore, the pressure oil supply to the hydraulic actuator precedes the actual lever operation by a predetermined amount of time As a result, the response delay of the control valve is eliminated, and the hydraulic flow rate control adapted to the operator's feeling of lever operation can be performed. According to the characteristic configuration of the second aspect of the invention, the predicted time is changed according to the difference in the current operation range of the operating lever, that is, the difference in the actual operating speed of the work device, so that the difference in inertial force of the work device is taken into consideration. Further, it becomes possible to control the hydraulic flow rate which can be adapted to the feeling of lever operation.
【０００６】[0006]
【発明の効果】従って、電気制御式油圧制御弁を用いて
レバー操作が軽快に行える利点を有しながら、操作レバ
ーの素早い操作に対する制御弁の応答遅れを有効に阻止
して操作レバーの操作感覚と作業装置の作動状況とを極
力一致させて、操縦操作性を向上させることができた。Therefore, while the lever operation can be performed lightly by using the electrically controlled hydraulic control valve, the response delay of the control valve to the quick operation of the operation lever can be effectively prevented and the operation feeling of the operation lever can be effectively prevented. It was possible to improve the maneuverability by making the operating conditions of the working device and the working condition coincide with each other as much as possible.
【０００７】[0007]
【実施例】以下、実施例を図面に基いて説明する。図５
に土工機の一例としてのバックホーを示している。この
バックホーは、クローラ走行装置１を備えた走行機台２
に旋回用油圧モータＭの駆動により縦軸芯周りで全旋回
自在に旋回台３を搭載するとともに、旋回台３にバック
ホー装置４〔作業装置の一例〕を連結し、走行機台２に
ドーザ装置５を備えて構成してある。前記バックホー装
置４は、旋回台３に横軸芯周りで上下揺動自在に枢支さ
れるブーム６にアーム７、バケット８を枢支連結すると
ともに、夫々をブームシリンダＣ１、アームシリンダＣ
２、バケットシリンダＣ３により駆動揺動して掘削作業
を行えるよう構成してある。又、ブーム６は、基端部６
ａ、中間部６ｂ及び先端部６ｃに３分割され、夫々を縦
軸芯周りで枢支連結するとともに、基端部６ａと先端部
６ｃとを中間部６ｂと平行なリンク９を介して枢支連結
し、オフセットシリンダＣ４により中間部６ｂを揺動駆
動することでバケット８が平行姿勢を維持しながら左右
方向に移動できるよう構成し、バケット８をブーム基端
部６ａに対して横方向にオフセットして旋回台３上に格
納することで最大旋回径を小さくした状態で旋回作動で
きるよう構成してある。Embodiments will be described below with reference to the drawings. FIG.
Fig. 2 shows a backhoe as an example of an earth moving machine. The backhoe includes a traveling machine base 2 having a crawler traveling device 1.
The swivel 3 is mounted so as to be freely swivelable around the longitudinal axis by driving a hydraulic motor M for swivel, and a backhoe device 4 [an example of a working device] is connected to the swivel 3. 5 is provided. The backhoe device 4 pivotally connects an arm 7 and a bucket 8 to a boom 6 pivotally supported on a swivel 3 so as to be vertically swingable about a horizontal axis, and respectively connects a boom cylinder C1 and an arm cylinder C to each other.
2. It is configured so that the excavation work can be performed by swinging the drive by the bucket cylinder C3. Also, the boom 6 has a base end 6.
a, an intermediate portion 6b and a distal end portion 6c, each of which is pivotally connected around a vertical axis, and the base end portion 6a and the distal end portion 6c are pivotally connected via a link 9 parallel to the intermediate portion 6b. The bucket 8 is configured to be able to move in the left-right direction while maintaining the parallel posture by swinging and driving the intermediate portion 6b by the offset cylinder C4, and the bucket 8 is offset laterally with respect to the boom base end 6a. By being stored on the swivel table 3, the swing operation can be performed with the maximum swing diameter reduced.
【０００８】油圧アクチュエータとしての前記ブームシ
リンダＣ１、アームシリンダＣ２、バケットシリンダＣ
３及び旋回油圧モータＭの夫々は、旋回台３上に設けら
れた操縦部１０に配設した十字揺動操作自在な左右一対
の操作レバー１１により制御操作されるよう構成してあ
る。詳述すると、図１に示すように、前記各シリンダＣ
１，Ｃ２，Ｃ３及び旋回モータＭは、夫々電磁式比例流
量制御弁Ｖにより油圧流量を制御するよう構成し、各操
作レバー１１の夫々の操作方向における操作量を４個の
ポテンショメータＰＭにより検出して、この検出操作量
に基づいて制御装置１２が各電磁式比例流量制御弁Ｖに
対する電流供給量を制御するよう構成してある。又、前
記オフセットシリンダＣ４は操作スイッチＳＷの操作に
より予め設定される流量を供給するよう構成されてい
る。前記制御装置１２は、操作レバー１１の操作量に応
じた電流を供給して電磁式比例流量制御弁Ｖの開度を制
御する流量制御手段Ａと、前記操作レバーの現操作位置
とその位置での操作速度に基づいて、現操作位置よりも
所定時間後のレバー操作位置を予測演算する演算手段Ｂ
と、操作レバー１１の現操作域が全操作領域のうちどの
域にあるかを判別する判別手段Ｃと、この判別結果に基
づいて、前記演算手段Ｂにおける前記所定時間を変更さ
せる予測経過時間変更手段Ｄとを制御プログラム形式で
備えるとともに、前記流量制御手段Ａが、演算された前
記予測位置における制御目標電流を前記電磁式比例流量
制御弁Ｖに供給するよう構成してある。つまり、制御装
置１２は、以下のように制御を実行する。図２に流量制
御のフローチャートを示す。操作レバー１１の操作量を
検出する前記ポテンショメータＰＭ〔操作状態検出手段
の一例〕の出力Ｘ１を読み込み、この出力Ｘ１の変化よ
りレバー操作速度Ｘ２を演算する〔ステップ１，２〕。
そして、レバー操作が加速側操作であれば、ポテンショ
メータＰＭの出力値Ｘ１より操作レバー１１の現操作域
が全操作領域のうちどの域にあるかを判別する〔ステッ
プ３，４〕。その判別された操作域に対応するよう、例
えば図３に示すようなレバー操作位置に応じて異なる予
め定められる予測時間の特性データに基づいて、予測時
間Δｔ１を決定し〔ステップ５〕、予め定まるレバー操
作位置と電磁式比例流量制御弁Ｖに対する供給電流との
変化特性マップデータに基づいて、現操作位置Ｘ１から
前記予測時間Δｔ１経過後のレバー操作位置Ｘ３を予測
演算する〔ステップ６〕。そして、このように予測演算
された後のレバー操作予測位置Ｘ３に対応する供給電流
を電磁式比例流量制御弁Ｖに供給する〔ステップ７〕
（図４の破線参照）。又、減速操作が行われていれば、
ポテンショメータＰＭの出力値Ｘ１より操作レバー１１
の現操作域が全操作領域のうちどの域にあるかを判別す
る〔ステップ９〕。その判別された操作域に対応するよ
う、上記したような加速側操作における特性データとは
異なる、レバー操作位置に応じて異なる予め定められる
予測時間の特性データに基づいて、予測時間Δｔ２を決
定し〔ステップ１０〕、予め定まるレバー操作位置と電
磁式比例流量制御弁Ｖに対する供給電流との変化特性デ
ータに基づいて、現操作位置Ｘ１から前記予測時間Δｔ
２経過後のレバー操作位置Ｘ４を予測演算し、このよう
に予測演算された後のレバー操作予測位置Ｘ４に対応す
る供給電流を電磁式比例流量制御弁Ｖに供給する〔ステ
ップ１１，１２〕。そして、レバー操作が加速側あるい
は減速側いずれの操作でもない場合、例えば固定速度状
態に設定されている場合には、現操作位置Ｘ１の出力デ
ータに基づいて、現レバー操作位置Ｘ１に対応する供給
電流を電磁式比例流量制御弁Ｖに供給する〔ステップ１
３〕。前記ステップ７，１２，１３により流量制御手段
Ａを構成し、前記ステップ６により前記演算手段Ｂを構
成し、前記ステップ４により前記判別手段Ｃを構成し、
前記ステップ５により前記予測経過時間変更手段Ｄを構
成する。The boom cylinder C1, the arm cylinder C2, and the bucket cylinder C as hydraulic actuators
Each of the turning hydraulic motor 3 and the turning hydraulic motor M is configured to be controlled and operated by a pair of left and right operation levers 11 arranged on a control unit 10 provided on the turning table 3 and capable of performing a cross swing operation. More specifically, as shown in FIG.
1, C2, C3 and the swing motor M are each configured to control the hydraulic flow rate by an electromagnetic proportional flow control valve V, and the operation amount of each operation lever 11 in each operation direction is detected by four potentiometers PM. The control device 12 controls the amount of current supplied to each of the electromagnetic proportional flow control valves V based on the detected operation amount. The offset cylinder C4 is configured to supply a flow rate set in advance by operating the operation switch SW. The control device 12 supplies a current according to the operation amount of the operation lever 11 to control the opening of the electromagnetic proportional flow control valve V, a current operation position of the operation lever, and the current operation position of the operation lever. Calculating means B for predicting and calculating the lever operation position after a predetermined time from the current operation position based on the operation speed of
And a determination unit C that determines which region of the entire operation region the current operation region of the operation lever 11 is in, and an estimated elapsed time change that changes the predetermined time in the calculation unit B based on the determination result. Means D in the form of a control program, and the flow rate control means A is configured to supply the calculated control target current at the predicted position to the electromagnetic proportional flow rate control valve V. That is, the control device 12 executes the control as follows. FIG. 2 shows a flowchart of flow rate control. The output X1 of the potentiometer PM [an example of operation state detecting means] for detecting the operation amount of the operation lever 11 is read, and the lever operation speed X2 is calculated from the change of the output X1 [steps 1 and 2].
Then, if the lever operation is the acceleration side operation, it is determined from the output value X1 of the potentiometer PM which of the entire operation areas the current operation area of the operation lever 11 is [steps 3 and 4]. The predicted time Δt1 is determined [step 5] based on the characteristic data of the predetermined predicted time that differs depending on the lever operation position as shown in FIG. Based on the change characteristic map data of the lever operating position and the supply current to the electromagnetic proportional flow rate control valve V, the lever operating position X3 after the elapse of the predicted time Δt1 from the current operating position X1 is predicted and calculated [step 6]. Then, the supply current corresponding to the predicted lever operation position X3 after the predictive calculation is supplied to the electromagnetic proportional flow rate control valve V [Step 7].
(See dashed line in FIG. 4). If the deceleration operation is being performed,
Operation lever 11 from the output value X1 of potentiometer PM
It is determined which of the entire operation areas the current operation area of is in [step 9]. The predicted time Δt2 is determined based on the characteristic data of the predetermined predicted time that differs from the characteristic data in the acceleration side operation as described above and that differs depending on the lever operation position so as to correspond to the determined operation range. [Step 10] Based on the change characteristic data of the predetermined lever operation position and the supply current to the electromagnetic proportional flow rate control valve V, the predicted time Δt from the current operation position X1.
The lever operation position X4 after two lapses is predicted and calculated, and the supply current corresponding to the predicted lever operation position X4 after the prediction calculation is supplied to the electromagnetic proportional flow control valve V [steps 11 and 12]. When the lever operation is neither the acceleration side operation nor the deceleration side operation, for example, when the fixed speed state is set, the supply corresponding to the current lever operation position X1 is performed based on the output data of the current operation position X1. Supply current to electromagnetic proportional flow control valve V [Step 1
3]. The steps 7, 12, 13 constitute the flow rate control means A, the step 6 constitutes the calculation means B, the step 4 constitutes the discrimination means C,
The predicted elapsed time changing means D is constituted by the step 5.
【０００９】前記予測時間は、レバー操作位置の全域に
亘り一定時間に設定するものでもよい。The predicted time may be set to a constant time over the entire lever operating position.
【００１０】尚、特許請求の範囲の項に図面との対照を
容易にするために符号を記すが、該記入により本発明は
添付図面の構成に限定されるものではない。[0010] In the claims, reference numerals are provided to facilitate comparison with the drawings, but the present invention is not limited to the configuration of the attached drawings by the entry.
【図１】制御ブロック図FIG. 1 is a control block diagram.
【図２】制御フローチャートFIG. 2 is a control flowchart.
【図３】予測時間特性図[Figure 3] Prediction time characteristic diagram
【図４】制御特性図FIG. 4 is a control characteristic diagram.
【図５】バックホーの側面図FIG. 5 is a side view of the backhoe.
４ 作業装置 １１ 操作レバー Ａ 流量制御手段 Ｂ 演算手段 Ｃ 判別手段 Ｄ 予測経過変更手段 ＰＭ 操作状態検出手段 Ｖ 電磁式比例流量制御弁 4 Working Device 11 Operation Lever A Flow Control Means B Calculation Means C Discrimination Means D Prediction Progress Change Means PM Operation State Detection Means V Electromagnetic Proportional Flow Control Valves
───────────────────────────────────────────────────── フロントページの続き (72)発明者 森下 勇太郎 大阪府堺市石津北町64番地 株式会社ク ボタ 堺製造所内 (56)参考文献 特開 平５−1434（ＪＰ，Ａ) 特開 平５−195551（ＪＰ，Ａ) 特開 平３−157503（ＪＰ，Ａ) 特開 平２−232430（ＪＰ，Ａ) 特開 昭63−138025（ＪＰ，Ａ) ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Yutarou Morishita 64 Ishizukita-machi, Sakai City, Osaka Prefecture Kubota Corporation Sakai Factory (56) References JP-A-5434 (JP, A) JP-A-5- 195551 (JP, A) JP-A-3-157503 (JP, A) JP-A-2-232430 (JP, A) JP-A-63-138025 (JP, A)
Claims (2)
より駆動するよう構成するとともに、前記油圧アクチュ
エータの電磁式比例流量制御弁（Ｖ）の開度を、操作レ
バー（１１）の操作量に応じた電流を供給して比例制御
する流量制御手段（Ａ）を備えてある土工機における油
圧アクチュエータ制御装置であって、前記操作レバー
（１１）の現操作位置とその位置での操作速度を検出す
る操作状態検出手段（ＰＭ）と、この操作状態検出手段
（ＰＭ）の検出結果に基づいて、現操作位置よりも所定
時間後のレバー操作位置を予測演算する演算手段（Ｂ）
とを備え、前記流量制御手段（Ａ）が、演算された前記
予測位置における制御目標電流を前記電磁式比例流量制
御弁（Ｖ）に供給するよう構成してある土工機における
油圧アクチュエータ制御装置。1. A working device (4) is configured to be driven by a hydraulic actuator, and an opening of an electromagnetic proportional flow rate control valve (V) of the hydraulic actuator is set according to an operation amount of an operating lever (11). A hydraulic actuator control device in an earthmoving machine equipped with a flow rate control means (A) for supplying an electric current and performing proportional control, wherein an operation for detecting a current operation position of the operation lever (11) and an operation speed at that position. Based on the state detection means (PM) and the detection result of the operation state detection means (PM), a calculation means (B) for predictively calculating the lever operation position after a predetermined time from the current operation position.
And a hydraulic actuator control device for an earthmoving machine, wherein the flow rate control means (A) is configured to supply the calculated control target current at the predicted position to the electromagnetic proportional flow rate control valve (V).
操作領域のうちどの域にあるかを判別する判別手段
（Ｃ）を備え、この判別結果に基づいて、前記演算手段
（Ｂ）における前記所定時間を変更させる予測経過時間
変更手段（Ｄ）を備えてある請求項１に記載の土工機に
おける油圧アクチュエータ制御装置。2. A discriminating means (C) for discriminating which region of the entire operating region the current operating region of the operating lever (11) is, and based on the result of the discrimination, the computing device (B). 2. The hydraulic actuator control device for an earthmoving machine according to claim 1, further comprising a predicted elapsed time changing means (D) for changing the predetermined time in.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP712992A JP2682925B2 (en) | 1992-01-20 | 1992-01-20 | Hydraulic actuator control device for earth moving machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP712992A JP2682925B2 (en) | 1992-01-20 | 1992-01-20 | Hydraulic actuator control device for earth moving machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH05195557A JPH05195557A (en) | 1993-08-03 |
| JP2682925B2 true JP2682925B2 (en) | 1997-11-26 |
Family
ID=11657473
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP712992A Expired - Fee Related JP2682925B2 (en) | 1992-01-20 | 1992-01-20 | Hydraulic actuator control device for earth moving machine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2682925B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000127779A (en) * | 1998-10-27 | 2000-05-09 | Yanmar Diesel Engine Co Ltd | Feeling improvement method for electronically controlled operation lever |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3940242B2 (en) | 1999-07-29 | 2007-07-04 | 日立建機株式会社 | Hydraulic circuit controller for construction machinery |
-
1992
- 1992-01-20 JP JP712992A patent/JP2682925B2/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000127779A (en) * | 1998-10-27 | 2000-05-09 | Yanmar Diesel Engine Co Ltd | Feeling improvement method for electronically controlled operation lever |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH05195557A (en) | 1993-08-03 |
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