WO2012036163A1 - フォークリフトのエンジン制御装置 - Google Patents
フォークリフトのエンジン制御装置 Download PDFInfo
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- WO2012036163A1 WO2012036163A1 PCT/JP2011/070881 JP2011070881W WO2012036163A1 WO 2012036163 A1 WO2012036163 A1 WO 2012036163A1 JP 2011070881 W JP2011070881 W JP 2011070881W WO 2012036163 A1 WO2012036163 A1 WO 2012036163A1
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- Prior art keywords
- maximum torque
- maximum
- load
- engine
- weight
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07572—Propulsion arrangements
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
Definitions
- the present invention relates to an engine control device for a forklift.
- Attachments such as a mast and a fork as work machines are provided in front of the forklift body.
- the work implement is driven according to the operation of the work implement control lever, the mast is tilted, and the fork as an attachment is lifted to change the position and posture of the load placed on the fork to a desired position and posture.
- Forklifts have a vehicle weight ratio of about 1.8 times with no load and maximum load, and the vehicle weight ratio is very large.
- FIG. 1 is a torque diagram showing engine output characteristics of a conventional forklift.
- the horizontal axis indicates the engine speed N, and the vertical axis indicates the engine torque T.
- L is the maximum torque line of the engine, and is fixed to one type.
- the engine speed N corresponds to the accelerator opening.
- the maximum torque line L is set so that the forklift can secure the maximum ascent speed at the maximum load and can secure the maximum climbing ability at the maximum load (maximum load and maximum travel load).
- a regulation line LL ... Li ... LH is determined for each engine speed, that is, for each accelerator opening, and when the accelerator opening (engine speed Ni) is determined, the engine is set according to the load. While the rotation speed N is decreasing, the matching point between the engine absorption torque and the load moves on the corresponding regulation line Li. At a certain engine speed Ni, the matching point is located at a point where the maximum torque is reached on the regulation line Li, that is, at a point P on the maximum torque line L.
- Such control for increasing the engine output torque T while the engine speed N decreases is realized by mechanical control or electronic control by an all-speed control type governor.
- Patent Document 1 as a problem to be solved, the power output capability of the engine is automatically controlled according to the working state of the wheel loader. An invention is described in which the state of work is detected based on this and the maximum torque line of the engine is automatically selected.
- Patent Document 2 in a forklift that uses a battery as a drive source, a problem to be solved is to obtain a necessary acceleration characteristic according to the use situation, and a traveling motor is used according to the weight of the load loaded on the fork.
- An invention of variably setting an initial current value to be supplied is described.
- a load measuring device for measuring the load of a load loaded on the fork is provided in the forklift, and the load measured by the load measuring device is displayed on the display, or the measured load is set to a set value.
- An invention is described in which a warning is issued when the value is exceeded, or the mast's forward tilt angle and travel speed are limited in accordance with the measured load.
- the maximum torque line L is set so as to ensure the maximum ascent speed and the maximum climbing ability at the maximum loading load.
- the matching point transitions along this maximum torque line regardless of the magnitude of the load. It is passing through the maximum fuel consumption area.
- the load in a forklift, once a heavy load is loaded, the load can be lifted at the maximum climbing speed, and it is possible to travel without acceleration failure with the maximum traveling performance in order to ensure workability. Is required.
- the present invention has been made in view of such circumstances, and suppresses fuel consumption when the accelerator pedal is fully depressed in the state of no load or light load (light load load, light travel load).
- the load can be lifted at the maximum climbing speed, and it is possible to travel without acceleration failure with the maximum traveling performance. To do.
- the first invention is A torque diagram of an engine having a working device including a traveling device driven by an engine and an attachment driven and lifted by the engine, the engine having an engine speed axis and a torque axis by engine control
- Maximum torque line setting means for presetting at least two maximum torque lines having different maximum torque values on the torque diagram
- a weight measuring means for measuring the weight of the attachment and the load loaded on the attachment; When a threshold value for selecting the at least two maximum torque lines is determined with respect to the weight measured by the weight measuring means, and the weight measured by the weight measuring means is smaller than the threshold value Selects the maximum torque line with the smaller maximum torque value, and selects the maximum torque line with the larger maximum torque value when the weight measured by the weight measuring means is equal to or greater than the threshold value.
- Maximum torque line selection means An engine control device for a forklift comprising engine control means for controlling the engine using the maximum torque line selected by the maximum torque line selection means.
- the second invention is the first invention,
- the maximum torque line setting means two maximum torque lines having different maximum torque values are set in advance, and the maximum torque line having a larger maximum torque value indicates that the forklift has a maximum load speed and a maximum ascent speed. It is characterized by being set to a maximum torque value that can be secured and that can secure a maximum climbing ability at a maximum load.
- the third invention is the first invention or the second invention
- a threshold value used when shifting from a state in which the maximum torque line having a smaller maximum torque value is selected to a state in which the maximum torque line having a larger maximum torque value is selected.
- the engine when the forklift is in a non-loading state or a light load (light load load, light travel load), the engine is controlled using the maximum torque line with the smaller maximum torque value. When fully depressed, fuel consumption can be kept low.
- FIG. 7 is a side view of the vehicle body 3 of the forklift 1.
- FIG. 2 shows the structure of the working machine 2 of the forklift 1.
- a mast 4 and a fork 5 as a work machine 2 are provided in front of the vehicle body 3 of the forklift 1.
- the outer mast 4A is supported on the vehicle body 3 via a pair of left and right tilt cylinders 8.
- the work implement 2 is driven in response to the operation of the work implement control lever 6 and the mast 4 is tilted or the fork 5 as an attachment is lifted, so that the position and posture of the load placed on the fork 5 can be set to a desired position, It can be changed to posture.
- the mast 4 includes an outer mast 4A and an inner mast 4B.
- the outer mast 4A is provided with an inner mast 4B that is movable up and down.
- a fork 5 as an attachment is attached to the inner mast 4B so as to be movable up and down.
- the body 10b of the pair of left and right lift cylinders 10 is fixed to the outer mast 4A so that the rod 10a faces upward.
- the tip of the rod 10 a of the lift cylinder 10 is fixed to the pulley 11.
- the shaft of the pulley 11 is attached to the inner mast 4B.
- a chain 12 is wound around the pulley 11.
- One end of the chain 12 is fixed to the outer mast 4 ⁇ / b> A, and the other end of the chain 12 is fixed to the fork 5.
- FIG. 3 shows the configuration of the power transmission system of the forklift 1.
- the driving force of the engine 13 is transmitted to the work machine hydraulic pump 15 and the HST hydraulic pump 16 via the PTO shaft 14.
- the power transmission system from the HST hydraulic pump 16 to the drive wheel 24 constitutes the traveling device 7.
- a hydrostatic transmission (HST) 17 includes an HST hydraulic pump 16, an HST hydraulic motor 18, inlet / outlet ports 16 a and 16 b of the HST hydraulic pump 16, and inlet / outlet ports 18 a of the HST hydraulic motor 18. , 18b and an oil passage 19 communicating with each other, and adjusting the tilt angles of the swash plate 16c of the HST hydraulic pump 16 and the swash plate 18c of the HST hydraulic motor 18 to change the capacity, thereby changing the speed.
- HST hydrostatic transmission
- the driving force of the HST hydraulic motor 18 is transmitted to the axle 21 via the differential gear 20.
- the axle 21 is provided with a brake device 22 and a final gear 23.
- the output shaft of the final gear 23 is connected to the drive wheel 24. Therefore, when the engine 13 is operating, the accelerator pedal 25 is depressed, and the travel direction lever 26 (not shown) is selected in the forward direction or the reverse direction, the drive wheels 24 are rotationally driven to move forward or reverse. To do.
- the work implement operation lever 6 is a lever made of, for example, a joystick, and performs a lift up or down operation or a tilt operation according to the operation direction.
- the pressure oil discharged from the discharge port 15 a of the work implement hydraulic pump 15 is supplied to the oil chamber 8 c of the tilt cylinder 8 through the control valve 27.
- the tilt cylinder 8 is operated, and the mast 4 shown in FIG. 2 or FIG. 7 is tilted.
- a pressure sensor 30 is provided in an oil passage 29 that communicates between the oil chamber 10 c of the lift cylinder 10 and the control valve 27.
- the hydraulic oil in the oil passage 29 has a holding pressure corresponding to the weight of the fork 5 as an attachment and the load loaded on the fork 5.
- FIG. 4 shows the configuration of the controller 31 that controls the engine 13.
- the controller 31 includes weight measurement means 32, maximum torque line setting means 33, maximum torque line selection means 34, and engine control means 35.
- a detection signal of the pressure sensor 30 is input to the controller 31 and a signal indicating an operation amount of the accelerator pedal 25 is input to the controller 31.
- the holding pressure of the lift cylinder 10 detected by the pressure sensor 30 is sampled a plurality of times and averaged to calculate the average holding pressure. For example, an average holding pressure of 100 times (1 sec) is calculated using 10 msec as a sampling time.
- the calculated average holding pressure corresponds to a weight M that is the sum of the weight of the fork 5 as an attachment and the weight of the load.
- the weight M may be accurately measured by the weight measuring means 32. That is, based on the holding pressure of the lift cylinder 10 detected by the pressure sensor 30 and the correction coefficient, the weight M that is the sum of the weight of the fork 5 as an attachment and the weight of the load can be calculated.
- the correction coefficient is obtained in advance based on the known weight of the fork 5, the weight of the lift bracket 9, and the weight of the inner mast 4B.
- the maximum torque line setting means 33 two maximum torque lines having different maximum torque values on the torque diagram are set in advance.
- FIG. 5 is a torque diagram corresponding to FIG. 1 and shows the output characteristics of the engine 13 of the forklift 1 of the embodiment.
- the horizontal axis indicates the engine speed N, and the vertical axis indicates the engine torque T.
- L1 is a maximum torque line having a larger maximum torque value
- L2 is a maximum torque line having a smaller maximum torque value.
- the maximum torque line L1 is set to a maximum torque value at which the forklift 1 can secure the maximum ascent speed at the maximum load and can secure the maximum climbing ability at the maximum load.
- the maximum torque value can be set so that the load can be lifted at the maximum climbing speed and can be driven with the maximum driving performance without acceleration failure. Has been.
- the maximum torque line L2 can keep fuel consumption low when the accelerator pedal 25 is fully depressed when there is no load or light load (light load, light travel load), and no load is applied.
- the fork 5 can be lifted at the maximum ascent speed in a light load (light load load, light travel load) state, and the maximum torque that can ensure the workability by allowing the vehicle to travel without acceleration failure with the maximum travel performance. Is set to a value.
- the maximum torque line selection means 34 of the controller 31 includes a load determination unit 41, a time determination unit 42, and a selection unit 43.
- a threshold value Mth for selecting two maximum torque lines L1 and L2 with respect to the weight M measured by the weight measuring unit 32 is set.
- two types of threshold values Mth are set to provide hysteresis.
- the threshold value Mth1 used when shifting from the state in which the maximum torque line L2 having the smaller maximum torque value is selected to the state in which the maximum torque line L1 having the larger maximum torque value is selected is the maximum
- the threshold value is set to a value larger than the threshold value Mth2 used when shifting from the state in which the maximum torque line L1 having the larger torque value is selected to the state in which the maximum torque line L2 having the smaller maximum torque value is selected. It has been.
- the load determination unit 41 compares and determines the magnitude of the weight M measured by the weight measuring unit 32 and the threshold values Mth1 and Mth2 (step 101).
- the time determination unit 42 determines whether or not the determination result of the load determination unit 41 is the same determination result continuously for a predetermined time (step 102).
- the determination result of the load determination unit 41 is the same determination result continuously for a predetermined time (for example, 1 second) (determination Y in step 102)
- the determination result of the load determination unit 41 is output to the selection unit 43 ( Step 103).
- the time determination is provided in consideration of the fact that the holding pressure of the lift cylinder 10 fluctuates due to bouncing or the like while the forklift 1 is traveling.
- the selection unit 43 selects the maximum torque line based on the determination result of the load determination unit 41. That is, when the determination result that the weight M measured by the weight measuring unit 32 is smaller than the threshold value Mth2 is input, the maximum torque line L2 having the smaller maximum torque value is selected and the weight measuring unit is selected. When the determination result that the weight M measured at 32 is greater than or equal to the threshold value Mth1 is input, the maximum torque line L1 having the larger maximum torque value is selected.
- the engine 13 is controlled by an engine control means 35, a governor 36 and a fuel injection pump 37.
- the engine control means 35 controls the engine output torque to be equal to or less than the maximum torque value defined by the selected maximum torque line, and obtains an engine speed N corresponding to the amount of depression of the accelerator pedal 25. And output to the governor 36.
- the governor 36 generates the fuel injection amount command for limiting the engine output torque T to the maximum torque value defined by the selected maximum torque line, and the engine rotation speed N given as the control command.
- the fuel injection pump 37 injects fuel into the engine 13 so as to obtain the fuel injection amount given as the fuel injection amount command.
- the governor 36 is an all speed control type governor and performs mechanical control or electronic control.
- a regulation line LL ... Li ... LH is defined for each engine speed N, that is, for each accelerator opening.
- the accelerator opening engine speed Ni
- the matching point is located at a point P2 that gives the maximum torque on the regulation line Li, that is, a point P2 on the maximum torque line L2.
- the maximum torque point P2 on the maximum torque line L2 is a point where the torque value is smaller than the corresponding maximum torque point P1 on the maximum torque line L1 having the same engine speed Ni and the engine torque value being larger.
- FIG. 6 shows the maximum torque lines L and L2 on the torque diagram of the engine 13 having the engine speed N axis and the torque T axis, as well as FIG. 5, and the equal fuel consumption lines F1, F2,. ... is also shown.
- the equal fuel consumption lines F1, F2,... Fi are characteristics on the torque diagram in which the fuel consumption of the engine 13 becomes equal according to the engine speed N and the engine torque T.
- the maximum torque line L is the maximum torque line fixed to one type as shown in FIG. 1, and the magnitude of the torque value corresponds to the maximum torque line L1.
- A1 schematically shows an acceleration path of the engine 13 when the control of the prior art is performed.
- A2 schematically shows the acceleration path of the engine 13 when the control of this embodiment is performed.
- the accelerator pedal 25 is fully depressed when there is no load or a light load (light load load, light travel load).
- a light load light load load, light travel load.
- fuel consumption can be kept low.
- the fuel consumption evaluation pattern of the forklift 1 which is one of the fuel consumption evaluation patterns, a fuel consumption suppression effect of about 4% was obtained.
- the fork 5 can be raised at the maximum ascent speed when there is no load or light load (light load load, light travel load), and it can travel without acceleration failure with the maximum travel performance, thus ensuring workability. it can.
- the maximum torque line L1 shown in FIG. 5 is selected. For this reason, a heavy load can be lifted at the maximum rising speed, and can be traveled without acceleration failure with the maximum travel performance, and workability at high loads can be ensured.
- the forklift 1 once loads a load the load is constant unless the load is removed from the fork 5, and therefore the maximum torque line L1 cannot be switched to the maximum torque line L2 unintentionally during loading and loading. Absent.
- the engine torque value can be suppressed to a low level as a whole of the work, which contributes to the improvement of the heat balance.
- the present invention can be similarly applied when an attachment other than the fork 5 is attached to the forklift 1. Since the weight measuring means 32 can measure not only the weight of the load loaded on the attachment but also the weight M taking into account the weight of the attachment, the threshold Mth (threshold Mth1, Mth2) is set to the attachment. By changing depending on the type, it is possible to suppress fuel consumption and improve workability in all work forms.
- FIG. 1 is a conventional torque diagram.
- FIG. 2 is a diagram showing the structure of a working machine for a forklift.
- FIG. 3 is a diagram showing the configuration of the power transmission system of the forklift.
- FIG. 4 is a diagram showing a configuration of a controller that controls the engine.
- FIG. 5 is a torque diagram of the embodiment.
- FIG. 6 is a diagram comparing the acceleration path of the conventional engine used to explain the effects of the embodiment and the acceleration path of the engine of the embodiment.
- FIG. 7 is a side view of the vehicle body of the forklift.
- FIG. 8 is a flowchart showing a procedure for determining the weight of the load.
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Abstract
Description
エンジンによって駆動される走行装置と前記エンジンによって駆動されてリフトされるアタッチメントを含む作業機を備えたフォークリフトであって、エンジンの制御によってエンジン回転数の軸とトルクの軸を持つエンジンのトルク線図上で、エンジン吸収トルクと負荷とのマッチングが行われるようにしたフォークリフトのエンジン制御装置において、
前記トルク線図上で最大トルク値の大きさが異なる複数の最大トルク線を少なくとも2つ予め設定する最大トルク線設定手段と、
前記アタッチメントおよび当該アタッチメントに積載された荷物の重量を計測する重量計測手段と、
前記重量計測手段で計測された重量に対して、前記少なくとも2つの最大トルク線を選択するためのしきい値を定め、前記重量計測手段で計測された重量が前記しきい値よりも小さい場合には、最大トルク値が小さい方の最大トルク線を選択するとともに、前記重量計測手段で計測された重量が前記しきい値以上の場合には、最大トルク値が大きい方の最大トルク線を選択する最大トルク線選択手段と、
前記最大トルク線選択手段で選択された最大トルク線を用いてエンジンを制御するエンジン制御手段と
を備えたことを特徴とするフォークリフトのエンジン制御装置。
前記最大トルク線設定手段では、最大トルク値の大きさが異なる2つの最大トルク線が予め設定されており、最大トルク値が大きい方の最大トルク線は、フォークリフトが最大積載負荷で最大上昇速度を確保でき、かつ最大負荷で最大登坂能力を確保できる最大トルク値に設定されていること
を特徴とする。
前記最大トルク線選択手段では、最大トルク値が小さい方の最大トルク線が選択されている状態から最大トルク値が大きい方の最大トルク線を選択する状態に移行するときに使用されるしきい値は、最大トルク値が大きい方の最大トルク線が選択されている状態から最大トルク値が小さい方の最大トルク線を選択する状態に移行するときに使用されるしきい値よりも大きい値に定められていること
を特徴とする。
(発明の効果)
図4は、エンジン13を制御するコントローラ31の構成を示している。
Claims (3)
- エンジンによって駆動される走行装置と前記エンジンによって駆動されてリフトされるアタッチメントを含む作業機を備えたフォークリフトであって、エンジンの制御によってエンジン回転数の軸とトルクの軸を持つエンジンのトルク線図上で、エンジン吸収トルクと負荷とのマッチングが行われるようにしたフォークリフトのエンジン制御装置において、
前記トルク線図上で最大トルク値の大きさが異なる複数の最大トルク線を少なくとも2つ予め設定する最大トルク線設定手段と、
前記アタッチメントおよび当該アタッチメントに積載された荷物の重量を計測する重量計測手段と、
前記重量計測手段で計測された重量に対して、前記少なくとも2つの最大トルク線を選択するためのしきい値を定め、前記重量計測手段で計測された重量が前記しきい値よりも小さい場合には、最大トルク値が小さい方の最大トルク線を選択するとともに、前記重量計測手段で計測された重量が前記しきい値以上の場合には、最大トルク値が大きい方の最大トルク線を選択する最大トルク線選択手段と、
前記最大トルク線選択手段で選択された最大トルク線を用いてエンジンを制御するエンジン制御手段と
を備えたことを特徴とするフォークリフトのエンジン制御装置。 - 前記最大トルク線設定手段では、最大トルク値の大きさが異なる2つの最大トルク線が予め設定されており、最大トルク値が大きい方の最大トルク線は、フォークリフトが最大積載負荷で最大上昇速度を確保でき、かつ最大負荷で最大登坂能力を確保できる最大トルク値に設定されていること
を特徴とする請求項1記載のフォークリフトのエンジン制御装置。 - 前記最大トルク線選択手段では、最大トルク値が小さい方の最大トルク線が選択されている状態から最大トルク値が大きい方の最大トルク線を選択する状態に移行するときに使用されるしきい値は、最大トルク値が大きい方の最大トルク線が選択されている状態から最大トルク値が小さい方の最大トルク線を選択する状態に移行するときに使用されるしきい値よりも大きい値に定められていること
を特徴とする請求項1記載のフォークリフトのエンジン制御装置。
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US13/640,247 US8447477B2 (en) | 2010-09-13 | 2011-09-13 | Forklift engine control device |
CN201180019254.2A CN102858678B (zh) | 2010-09-13 | 2011-09-13 | 叉车的发动机控制装置 |
DE112011103062T DE112011103062T5 (de) | 2010-09-13 | 2011-09-13 | Motorsteuerung für Gabelstapler |
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JP2010204846A JP5119487B2 (ja) | 2010-09-13 | 2010-09-13 | フォークリフトのエンジン制御装置 |
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US8649945B2 (en) * | 2012-03-30 | 2014-02-11 | Komatsu Ltd. | Wheel loader and wheel loader control method |
CN103429935B (zh) * | 2012-03-30 | 2014-09-24 | 株式会社小松制作所 | 轮式装载机及轮式装载机的控制方法 |
JP5092069B1 (ja) * | 2012-03-30 | 2012-12-05 | 株式会社小松製作所 | ホイールローダ及びホイールローダの制御方法 |
JP6098456B2 (ja) * | 2013-09-18 | 2017-03-22 | 株式会社豊田自動織機 | 産業車両 |
CA2838639C (en) * | 2013-10-23 | 2016-07-19 | Ms Gregson | A method and system for controlling an inclination of a boom carried by a vehicle |
JP6225779B2 (ja) | 2014-03-24 | 2017-11-08 | 株式会社豊田自動織機 | 荷役車両の動力制御装置 |
US9643826B2 (en) | 2014-09-18 | 2017-05-09 | Komatsu Ltd. | Forklift and method for controlling forklift |
JP7026484B2 (ja) * | 2017-10-30 | 2022-02-28 | 三菱重工業株式会社 | 上陸可否判定装置及び水陸両用車 |
CN109665468B (zh) * | 2018-12-26 | 2020-08-07 | 苏州罗伯特木牛流马物流技术有限公司 | 叉车式agv货叉升降速度控制方法和装置 |
CN112160840B (zh) * | 2020-09-29 | 2022-04-26 | 潍柴动力股份有限公司 | 一种发动机控制方法、装置及工程机械车辆 |
IT202100026666A1 (it) * | 2021-10-18 | 2023-04-18 | Cnh Ind Italia Spa | Metodo e sistema di controllo di una trasmissione elettrica di una pala meccanica |
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-
2011
- 2011-09-13 WO PCT/JP2011/070881 patent/WO2012036163A1/ja active Application Filing
- 2011-09-13 CN CN201180019254.2A patent/CN102858678B/zh not_active Expired - Fee Related
- 2011-09-13 US US13/640,247 patent/US8447477B2/en not_active Expired - Fee Related
- 2011-09-13 DE DE112011103062T patent/DE112011103062T5/de not_active Withdrawn
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JP2010174972A (ja) * | 2009-01-29 | 2010-08-12 | Iseki & Co Ltd | トラクタ |
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DE112011103062T5 (de) | 2013-06-20 |
CN102858678A (zh) | 2013-01-02 |
JP5119487B2 (ja) | 2013-01-16 |
CN102858678B (zh) | 2014-02-12 |
US20130073152A1 (en) | 2013-03-21 |
JP2012056763A (ja) | 2012-03-22 |
US8447477B2 (en) | 2013-05-21 |
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