CN107304027A - The device be easy to observe for bidirectional door machine and operated - Google Patents
The device be easy to observe for bidirectional door machine and operated Download PDFInfo
- Publication number
- CN107304027A CN107304027A CN201610247451.4A CN201610247451A CN107304027A CN 107304027 A CN107304027 A CN 107304027A CN 201610247451 A CN201610247451 A CN 201610247451A CN 107304027 A CN107304027 A CN 107304027A
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- console
- alignment pin
- operated
- observe
- door machine
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/52—Details of compartments for driving engines or motors or of operator's stands or cabins
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Power-Operated Mechanisms For Wings (AREA)
Abstract
The present invention provides a kind of device be easy to observe and operated for bidirectional door machine, the bottom of console is provided with rotating disk in driver's cabin, the sensor of monitor console corner is provided with console side, sensor is electrically connected with PLC, when console is turned to relative direction by its original orientation, then PLC controls the operation handle commutation of console.By the rotatable console of setting, easily two-way observing is allowed the operator to, i.e., is needed according to operation in face of main carriage direction or secondary dolly direction.Using when in face of different directions, the scheme that operation handle is commutated as needed makes to face different directions, can operated according to normal operating habit.
Description
Technical field
The present invention relates to Crane Automation control technology field, particularly a kind of device be easy to observe and operated for bidirectional door machine.
Background technology
With the development of Hydraulic and Hydro-Power Engineering cause, increasing bidirectional door machine using main-secondary dolly structure, main carriage in door main beam across interior operation, for lifting by crane gate and dam facing auxiliary device etc.；Secondary dolly is run in door main beam across outer cantilever segment, for lifting by crane trash rack and grab mechanisms of removing contamination etc., realizes a tractor serves several purposes.The drivers' cab of door machine is located under the girder between main carriage and secondary dolly, is not easy to observe and operates.Or bidirectional door machine only one of which dolly, but dolly needs to run to behind drivers' cab, is also not easy to observe and operates.According to traditional design method, joint action table in drivers' cab and drivers' cab is fixed, joint action table is towards main carriage, the front and rear wallboard of drivers' cab installs glass, so when driver is operating main carriage, it can be sitting on chair and operate, and when operating secondary dolly, can only be stood up observation operation backward, so be operated very inconvenient, and because joint action table is close to front wallboard, away from rear wall plate, easily there is blind area when so observing backward, the operation of machine is unfavorable on the door, there is potential safety hazard during hoisting heavy.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of device be easy to observe and operated for bidirectional door machine, can be easy to operating personnel's two-way observing, and can easily operate main carriage or secondary dolly.
In order to solve the above technical problems, the technical solution adopted in the present invention is：A kind of device be easy to observe and operated for bidirectional door machine, the bottom of console is provided with rotating disk in driver's cabin, the sensor of monitor console corner is provided with console side, sensor is electrically connected with PLC, when console is turned to relative direction by its original orientation, then PLC controls the operation handle commutation of console.
The first alignment pin and the second alignment pin are provided with console both sides, fixed the first positioning hole and the second positioning hole is correspondingly provided with rotating disk side, the reversing switch by the first alignment pin or the triggering of the second alignment pin is additionally provided with.
Frizzen is provided with the top of the first described alignment pin or the second alignment pin, when console is turned to relative direction by its original orientation, frizzen is contacted with reversing switch.
First positioning hole and/or the second positioning hole are provided with protection switch, and when protection switch access failure, the operation handle of console must not electricity.
Angle between first alignment pin and the line in the rotating disk center of circle, with the second alignment pin and the line in the rotating disk center of circle is less than 180 °；
When console is located at its original orientation, the first alignment pin falls into the first positioning hole, and the second alignment pin falls into the second positioning hole；
When console is located at relative direction, the first alignment pin falls into the second positioning hole, and the second alignment pin is contacted with reversing switch.
First positioning hole is provided with protection switch, and when the first alignment pin or the second alignment pin fall into the first positioning hole and then connect protection switch, when protection switch access failure, the operation handle of console must not electricity.
Auxiliary reclay is provided with PLC, normally-closed contact one end of auxiliary reclay is connected with operation handle, the other end is connected with positive output relay, and the normally opened contact of positive output relay is connected with travel driving unit；
Normally opened contact one end of auxiliary reclay is connected with operation handle, and the other end is connected with reverse output relay, and the normally opened contact of reverse output relay connection is connected with travel driving unit.
Frequency converter is provided with described travel driving unit.
Described driver's cabin is located between main carriage and secondary dolly, and main carriage and secondary dolly are slidably mounted at cart top；
The walking of the left and right direction controlling cart of operation handle, the fore-and-aft direction of operation handle controls the walking of main carriage and secondary dolly by switching switch.
Described its original orientation is that, towards main carriage direction, relative direction is towards secondary dolly direction.
A kind of device be easy to observe and operated for bidirectional door machine that the present invention is provided, by the rotatable console of setting, allows the operator to easily two-way observing, i.e., needed according to operation in face of main carriage direction or secondary dolly direction.Using when in face of different directions, the scheme that operation handle is commutated as needed makes to face different directions, can operated according to normal operating habit.It is preferred that scheme in, the protection switch of setting could only be operated, it is to avoid maloperation occur after console is adjusted to precalculated position.
Brief description of the drawings
The invention will be further described with reference to the accompanying drawings and examples：
Fig. 1 is the schematic top plan view of driver's cabin of the present invention.
Fig. 2 is the schematic front view of console in the present invention.
Fig. 3 is operation handle commutating circuit schematic diagram in the present invention.
Fig. 4 is the structural representation of bidirectional door machine in the present invention.
Fig. 5 is the preferred structure schematic top plan view of driver's cabin in the present invention.
Fig. 6 is the schematic front view of another structure of console in the present invention.
In figure：Driver's cabin 1, Electric Appliance Cabinet 2, console 3, console rotational trajectory 4, main carriage direction 5, secondary dolly direction 6; rotating disk 7, the first alignment pin 8, the second alignment pin 9, reversing switch 10, protection switch 11, the first positioning hole 12; second positioning hole 13, PLC14, main carriage 15, secondary dolly 16, cart 17.
Embodiment
As in Fig. 4, driver's cabin 1 is located between main carriage 15 and secondary dolly 16, main carriage 15 and secondary dolly 16 are slidably mounted at the top of cart 17, just can be under drive device driving, along the girder operation at the top of cart 17, lowering or hoisting gear, typically hoisting device are designed with the bottom of main carriage 15 and secondary dolly 16, due to the lifting weight such as gate or trash rack；
The walking of the left and right direction controlling cart 17 of operation handle, the fore-and-aft direction of operation handle controls the walking of main carriage 15 and secondary dolly 16 by switching switch.
Its original orientation in this example is that, towards main carriage direction 5, relative direction is towards secondary dolly direction 6.
As in Fig. 1 ~ 4, a kind of bottom for being used for console 3 in the device that bidirectional door machine is easy to observe and operated, driver's cabin 1 is provided with rotating disk 7, and rotating disk 7 is fixedly mounted on fixed base, and the sensor of the corner of monitor console 3 is provided with the side of console 3,
Sensor can use mechanical type contact switch, photo-electric non-contact switch, giant magnetic resistance non-contact switch.As being to be provided with photo-electric non-contact switch in the left side of rotating disk 7 in Fig. 6.For obtaining the corner of console 3, and send information to PLC14.
In further preferred scheme such as Fig. 6, external toothing is provided with rotating disk 7, the motor for being fixedly mounted on base is connected by decelerator and shaft coupling with gear, gear is engaged with external toothing and is connected, and by the structure, realizes the automatic conversion of console 3.Still more preferably, only on the premise of console 3 is not locked out, for example, lock is not positioned and is determined, motor could be acted, in order to avoid damage equipment.It can judge whether console 3 is not locked out by the protection switch 11 of setting.
Sensor is electrically connected with PLC14, and when console 3 is turned to relative direction by its original orientation, then PLC14 controls the operation handle commutation of console 3.Commutation referred to herein, refers to the commutation of horizontal direction operation.I.e. when console 3 is located at original direction, the control direction of operation handle front, rear, left and right remains unchanged.And when console 3 is located at relative direction, the forward and backward mutual phase transformation of operation handle, the left and right mutual phase transformation of operation handle.I.e. front is exchanged with rear, and left is exchanged with right.
To improve the reliability of door machine operation, in preferred scheme referring in Fig. 1,2, the first alignment pin 8 and the second alignment pin 9 are provided with the both sides of console 3, fixed the first positioning hole 12 and the second positioning hole 13 is correspondingly provided with the side of rotating disk 7, the reversing switch 10 triggered by the first alignment pin 8 or the second alignment pin 9 is additionally provided with.Thus structure, the trigger signal of commutation is controlled as PLC by the make-and-break signal of reversing switch 10.In this example, the top of the first alignment pin 8 and the second alignment pin 9 is provided with draw ring, in order to by the first alignment pin 8 and the pull-up of the second alignment pin 9.
For example, as shown in Figure 5, described the first alignment pin 8 or the top of the second alignment pin 9 is provided with frizzen, and when console 3 is turned to relative direction by its original orientation, frizzen is contacted with reversing switch 10.Thus structure, realizes that reversing switch 10 provides a make-and-break signal.Need explanation, for reduction control difficulty, be normally set up reversing switch 10 it is normally opened when PLC do not commutate, and reversing switch 10 it is normally closed when, PLC control operations handle commutation.To improve reliability, i.e. frizzen continuous contact is kept with reversing switch 10.Maloperation can so be avoided the occurrence of.Frizzen is not shown in figure.
It is preferred that scheme in, the first positioning hole 12 and/or the second positioning hole 13 are provided with protection switch 11, and when the access failure of protection switch 11, the operation handle of console 3 must not electricity.Thus structure, it is to avoid maloperation of the console 3 when not turning to precalculated position, improves security.
In another optional scheme such as Fig. 1,2, the angle between the line in the first alignment pin 8 and the center of circle of rotating disk 7, with the second alignment pin 9 and the line in the center of circle of rotating disk 7 is less than 180 °；It is preferably 160 ° -178 °, more preferably 173 ° ± 5 ° in this example.
When console 3 is located at its original orientation, the first alignment pin 8 falls into the first positioning hole 12, and the second alignment pin 9 falls into the second positioning hole 13；
When console 3 is located at relative direction, the first alignment pin 8 falls into the second positioning hole 13, and the second alignment pin 9 is contacted with reversing switch 10.Thus structure, it is possible to achieve following effect, console 3 goes to its original orientation or relative direction has alignment pin to be attached with positioning hole, to limit the rotation of console 3 in operation.Using the reversing switch 10 of unilateral triggering, so only when console 3 is located at relative direction, reversing switch 10 can just be depressed by the first alignment pin 8, be changed into normally closed from normally opened, so as to provide commutation signal to PLC.And first alignment pin 8 it is identical with the shape and structure of the second alignment pin 9, be easy to exchange and dismantle；The rotary motion trace of first alignment pin 8 and the second alignment pin 9 is on same circle.
First positioning hole 12 is provided with protection switch 11, and when the first alignment pin 8 or the second alignment pin 9 fall into the first positioning hole 12 and then connect protection switch 11, when the access failure of protection switch 11, the operation handle of console 3 must not be electric.Thus structure, it is to avoid maloperation of the console 3 when not turning to precalculated position, improves security.
Auxiliary reclay is provided with PLC14, normally-closed contact one end of auxiliary reclay is connected with operation handle, the other end is connected with positive output relay, and the normally opened contact of positive output relay is connected with travel driving unit；
Normally opened contact one end of auxiliary reclay is connected with operation handle, and the other end is connected with reverse output relay, and the normally opened contact of reverse output relay connection is connected with travel driving unit.Thus structure, is realized according to the commutation signal of triggering using the mode of Control and commutated.
Frequency converter is provided with described travel driving unit.The structure of travel driving unit is that motor is mechanically connected by decelerator and shaft coupling with road wheel, and frequency converter is electrically connected with motor.Not shown in figure
Embodiment：
Illustrated by taking 2 × 1250kN/2 of some hydropower station extension project water inlet × two-way gantry gate hoists of 630kN as an example.Gantry gate hoists, are installed on 233.00m dam crest, height above rail surface 233.30m.Door machine cart is along the traveling of left and right banks direction；2 1250kN main hooks are arranged on the main carriage of downstream, installation and maintenance for the keying of water inlet bulkhead gate, handling and water inlet stop gate and hydraulic headstock gear；2 630kN auxiliary hooks are arranged on the secondary dolly in upstream, for the keying of trash rack for water inlet, handling and are removed contamination；Main carriage is in girder across interior, and secondary dolly is in girder across interior and upstream cantilever segment, and vertically roam all around the would is to traveling.Drivers' cab is in the middle part of the upstream side leg of cart 17, and requirement can be operated to whole mechanisms in drivers' cab.Drivers' cab console 3 should be both easy to operate main carriage, be easy to operate secondary dolly again.
As in Fig. 1, the surrounding of driver's cabin 1 is set and safety glass is installed on window, window, and console 3 is arranged in the middle part of drivers' cab, is connected by cable with Electric Appliance Cabinet 2, the base of console 3 is fixed, console 3 is connected by rotating disk 7 with base.Rotatable about 180 ° of console 3.Door machine primary operational is all concentrated on the console 3 in driver's cabin 1, the operation handle and signal device run on the right case of console 3 equipped with master/slave raising, the operation handle and signal device run on the left case of console 3 equipped with master/slave dolly and cart.Second alignment pin 9 and reversing switch 10 are housed in the right lower box part of console 3.The left lower box part of console 3 is equipped with the first alignment pin 8, is additionally provided with the positioning hole for locking alignment pin.
When needing operation main carriage, console 3 is faced into main carriage, at this moment reversing switch 10 is failure to actuate, its signal sends into the PLC14 control systems of door machine, after PLC14 internal logic calculation process, corresponding signal is exported, the operation handle of cart or dolly is at this moment pulled, the traffic direction and operation handle direction that can make a machine cart or dolly are consistent.When needing to operate secondary dolly, joint action table is rotated about 180 ° or 173 ° in face of secondary dolly, the second alignment pin 9 of the left case of console 3 is at this moment dropped into the first positioning hole 12, the first alignment pin 8 triggering reversing switch 10.The normally closed signal of reversing switch 10 sends into the PLC control system of door machine, after PLC internal logic calculation process, export signal opposite during with towards main carriage, at this moment the operation handle of cart or dolly is pulled, direction is commutated, so that the direction of stirring of the traffic direction and operation handle of door machine cart or dolly is consistent.
The principle of operation handle conversion direction is shown in Fig. 3.Reversing switch 10 switchs for mechanical stroke；1SA, 2SA and 3SA are respectively that the handle orientations of the main carriage, secondary dolly and the cart that indicate in the control switch of main carriage, secondary dolly and cart, figure are towards door machine traffic direction during main carriage；M1 is PLC bosom relays, 1 ~ 6K is output relay, its normally opened contact controls the control direction of the frequency converter of the main carriage, secondary dolly and cart indicated in the left and right walking of main carriage, the front and rear walking of secondary dolly and cart, figure to be consistent with actual direction respectively.
Below just by taking cart as an example, illustrate cart is how to commutate and how to make the operation handle of cart consistent with actual motion direction.Main carriage is identical with the principle of cart with the principle of secondary dolly.
When console 3 operates cart in face of main carriage, protection switch 11 is connected, and reversing switch 10 is normally opened or normally closed.Signal sends into the PLC control system of door machine, PLC bosom relays m1 is failure to actuate, and its normally opened contact disconnects, normally-closed contact closure.At this moment, as the operation handle 3SA for pulling cart to the left, auxiliary reclay 5K actions → 5K normally opened contact is closed → are made to control cart frequency converter left lateral → make cart run to the left by the main contact that makes → m1 normally-closed contact → of 3SA cart left lateral；As the operation handle 3SA for pulling cart to the right, auxiliary reclay 6K actions → 6K normally opened contact is closed → are made to control cart frequency converter right lateral → make cart run to the right by the main contact that makes → m1 normally-closed contact → of 3SA cart right laterals.So door machine cart traffic direction and cart operation handle direction are consistent.
When console 3 faces secondary dolly operation cart; console 3 is faced into secondary dolly for 180 ° or 173 ° in face of rotation; at this moment protection switch 11 is connected; reversing switch 10 is triggered to normally closed or normally opened; signal sends into the PLC control system of door machine; act PLC bosom relays m1, its normally opened contact closure, normally-closed contact disconnects.At this moment, as the operation handle 3SA for pulling cart to the left, pulled to the right equivalent to the operation handle 3SA towards cart during main carriage, auxiliary reclay 5K actions → 5K normally opened contact is closed → is controlled cart frequency converter left lateral → make cart run to the left by the main contact that makes → m1 normally opened contact → of 3SA cart right laterals；As the operation handle 3SA for pulling cart to the right, pulled to the left equivalent to the operation handle 3SA towards cart during main carriage, auxiliary reclay 6K actions → 6K normally opened contact is closed → is controlled cart frequency converter right lateral → make cart run to the right by the main contact that makes → m1 normally opened contact → of 3SA cart left lateral.So door machine cart traffic direction and cart operation handle direction are still consistent.When in a word, no matter towards main carriage or secondary dolly operation cart, as long as big cart handle is pulled to the left, cart is just run to the left；Big cart handle is pulled to the right, and cart is just run to the right, and the handle orientations of such cart are consistent with the traffic direction of cart all the time.
The device of the present invention in running, when driving cart and dolly, passes through the conversion of above method at the scene, not only broad view, and no matter operating main carriage, secondary dolly and cart, the traffic direction of the operation direction of operation handle all the time with door machine is consistent, and is not in misoperation.
Instant invention overcomes in the past by drivers' cab and joint action table be designed to it is fixed caused by observation and unhandy problem, console 3 is designed to mount on the middle part of driver's cabin 1 and about 180 ° can be rotated, no matter operate main carriage or operate secondary dolly can be directly facing, avoid the appearance of blind area, the sensor in recognizable direction is installed additional on console 3 simultaneously, the actuating signal feeding PLC control system of sensor, after PLC internal logic computings, export corresponding signal, it ensure that cart and master, the operation handle direction of secondary dolly is consistent with the actual traffic direction of door machine, avoid the misoperation of operation handle, eliminate potential safety hazard.
The above embodiments are only the preferred technical solution of the present invention, and are not construed as the limitation for the present invention, and the embodiment in the application and the feature in embodiment can be mutually combined in the case where not conflicting.The equivalents of technical characteristic are protection domain in the technical scheme that protection scope of the present invention should be recorded with claim, including the technical scheme of claim record.Equivalent substitution i.e. within this range is improved, also within protection scope of the present invention.
Claims (10)
1. a kind of device be easy to observe and operated for bidirectional door machine, it is characterized in that：Driver's cabin（1）Interior console（3）Bottom be provided with rotating disk（7）, in console（3）Side is provided with monitor console（3）The sensor of corner, sensor and PLC（14）Electrical connection, works as console（3）Relative direction is turned to by its original orientation, then PLC（14）Control console（3）Operation handle commutation.
2. a kind of device be easy to observe and operated for bidirectional door machine according to claim 1, it is characterized in that：In console（3）Both sides are provided with the first alignment pin（8）With the second alignment pin（9）, in rotating disk（7）Side is correspondingly provided with the first fixed positioning hole（12）With the second positioning hole（13）, it is additionally provided with by the first alignment pin（8）Or second alignment pin（9）The reversing switch of triggering（10）.
3. a kind of device be easy to observe and operated for bidirectional door machine according to claim 2, it is characterized in that：The first described alignment pin（8）Or second alignment pin（9）Top is provided with frizzen, works as console（3）Relative direction, frizzen and reversing switch are turned to by its original orientation（10）Contact.
4. a kind of device be easy to observe and operated for bidirectional door machine according to claim 3, it is characterized in that：First positioning hole（12）And/or second positioning hole（13）Provided with protection switch（11）, work as protection switch（11）Access failure, console（3）Operation handle must not electricity.
5. a kind of device be easy to observe and operated for bidirectional door machine according to claim 2, it is characterized in that：First alignment pin（8）And rotating disk（7）The line in the center of circle, with the second alignment pin（9）And rotating disk（7）Angle between the line in the center of circle is less than 180 °；
Work as console（3）Positioned at its original orientation, the first alignment pin（8）Fall into the first positioning hole（12）, the second alignment pin（9）Fall into the second positioning hole（13）；
Work as console（3）Positioned at relative direction, the first alignment pin（8）Fall into the second positioning hole（13）, the second alignment pin（9）With reversing switch（10）Contact.
6. a kind of device be easy to observe and operated for bidirectional door machine according to claim 2, it is characterized in that：First positioning hole（12）Provided with protection switch（11）, when the first alignment pin（8）Or second alignment pin（9）Fall into the first positioning hole（12）Then connect protection switch（11）, work as protection switch（11）Access failure, console（3）Operation handle must not electricity.
7. a kind of device be easy to observe and operated for bidirectional door machine according to claim 1, it is characterized in that：In PLC（14）Interior to be provided with auxiliary reclay, normally-closed contact one end of auxiliary reclay is connected with operation handle, and the other end is connected with positive output relay, and the normally opened contact of positive output relay is connected with travel driving unit；
Normally opened contact one end of auxiliary reclay is connected with operation handle, and the other end is connected with reverse output relay, and the normally opened contact of reverse output relay connection is connected with travel driving unit.
8. a kind of device be easy to observe and operated for bidirectional door machine according to claim 1, it is characterized in that：Frequency converter is provided with described travel driving unit.
9. a kind of device be easy to observe and operated for bidirectional door machine according to claim 1, it is characterized in that：Described driver's cabin（1）Positioned at main carriage（15）With secondary dolly（16）Between, main carriage（15）With secondary dolly（16）It is slidably mounted at cart（17）Top；
The left and right direction controlling cart of operation handle（17）Walking, the fore-and-aft direction of operation handle, which passes through, switches switch control main carriage（15）With secondary dolly（16）Walking.
10. a kind of device be easy to observe and operated for bidirectional door machine according to claim 1, it is characterized in that：Described its original orientation is towards main carriage direction（5）, relative direction is towards secondary dolly direction（6）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610247451.4A CN107304027B (en) | 2016-04-20 | 2016-04-20 | For bidirectional door machine convenient for the device of observation and operation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610247451.4A CN107304027B (en) | 2016-04-20 | 2016-04-20 | For bidirectional door machine convenient for the device of observation and operation |
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| Publication Number | Publication Date |
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| CN107304027A true CN107304027A (en) | 2017-10-31 |
| CN107304027B CN107304027B (en) | 2019-04-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610247451.4A Active CN107304027B (en) | 2016-04-20 | 2016-04-20 | For bidirectional door machine convenient for the device of observation and operation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109095354A (en) * | 2018-09-12 | 2018-12-28 | 北京起重运输机械设计研究院有限公司 | Automatic rotary seat and its method of controlling rotation |
| CN110409543A (en) * | 2019-06-28 | 2019-11-05 | 三一重机有限公司 | Excavator commutation method, processing unit, remote controler and excavator |
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| JP2005335883A (en) * | 2004-05-27 | 2005-12-08 | Tcm Corp | Transfer crane manipulating device |
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| CN110409543A (en) * | 2019-06-28 | 2019-11-05 | 三一重机有限公司 | Excavator commutation method, processing unit, remote controler and excavator |
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| Publication number | Publication date |
|---|---|
| CN107304027B (en) | 2019-04-30 |
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