CN109469137B - Swing arm deceleration control device and method of excavator and excavator - Google Patents
Swing arm deceleration control device and method of excavator and excavator Download PDFInfo
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- CN109469137B CN109469137B CN201811652955.XA CN201811652955A CN109469137B CN 109469137 B CN109469137 B CN 109469137B CN 201811652955 A CN201811652955 A CN 201811652955A CN 109469137 B CN109469137 B CN 109469137B
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- 238000000034 method Methods 0.000 title claims abstract description 40
- 238000006073 displacement reaction Methods 0.000 claims abstract description 79
- 230000008569 process Effects 0.000 claims abstract description 17
- 230000008859 change Effects 0.000 claims description 4
- 230000009467 reduction Effects 0.000 abstract description 6
- 238000004891 communication Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000008602 contraction Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention provides a movable arm speed reduction control device and method of an excavator and the excavator, and relates to the technical field of engineering machinery, wherein the movable arm speed reduction control device comprises: the system comprises a controller, a movable arm driving assembly and an angular displacement collector arranged on a working device of the excavator, wherein the angular displacement collector is connected with the controller, and the controller is connected with the movable arm driving assembly; the angular displacement collector is used for collecting angular displacement information of the working device in the descending process and sending the angular displacement information to the controller; the controller is used for obtaining the working state information of the working device according to the angular displacement information, and sending a control signal to the movable arm driving assembly when the working state information reaches a set state; the boom drive assembly is configured to adjust a boom-down speed of the work implement based on the control signal. The invention can control the descending speed of the movable arm of the working device in the descending process, thereby avoiding the potential safety hazard problem caused by overspeed.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a movable arm speed reduction control device and method of an excavator and the excavator.
Background
Engineering machinery, especially large-scale excavator equipment, its working device includes swing arm and dipper, when working device carries out the decline operation, because self weight for decline speed is difficult for control, overspeed easily, leads to taking place working device to pound ground, automobile body unbalance even the safety problem such as tipping.
At present, a hydraulic control system is generally adopted in an excavator, and the actions of a working device are controlled by an operator, so that the hydraulic control system has a great relation with the personal control capability, and the control safety of the working device cannot be guaranteed. In addition, because of factors such as operator's driving fatigue, misoperation, etc., the potential safety hazard problem that leads to because of working device overspeed easily takes place.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a boom-down control device and method for an excavator, and an excavator, which can alleviate a technical problem that safety hazards due to overspeed of a working device are easily caused because the safety of the operation of the working device of the existing excavator is not ensured.
In a first aspect, an embodiment of the present invention provides a boom-down control apparatus for an excavator, including: the system comprises a controller, a movable arm driving assembly and an angular displacement collector, wherein the angular displacement collector is arranged on a working device of the excavator and is connected with the controller;
the angular displacement collector is used for collecting angular displacement information of the working device in the descending process and sending the angular displacement information to the controller;
The controller is used for obtaining the working state information of the working device according to the angular displacement information, and sending a control signal to the movable arm driving assembly when the working state information reaches a set state;
The movable arm driving assembly is used for adjusting the movable arm descending speed of the working device according to the control signal.
With reference to the first aspect, the embodiment of the present invention provides a first possible implementation manner of the first aspect, where the angular displacement collector includes angle sensors disposed on a boom and an arm of the working device, and the angular displacement information includes a boom angular displacement and an arm angular displacement;
The controller obtains an extended state and a boom lowering speed of the working device according to the boom angular displacement and the arm angular displacement.
With reference to the first aspect, the embodiment of the present invention provides a second possible implementation manner of the first aspect, wherein the controller is further configured to send the control signal to the boom drive assembly when the extended state of the working device reaches a maximum and the boom-down speed reaches a set value.
With reference to the first aspect, the embodiment of the present invention provides a third possible implementation manner of the first aspect, wherein the boom driving assembly includes an electrohydraulic proportional valve and a boom cylinder that are connected to each other, the electrohydraulic proportional valve is connected to the controller, and the boom cylinder is connected to a boom of the working device;
And the electro-hydraulic proportional valve is used for adjusting the extension and retraction of the movable arm oil cylinder according to the control signal so as to reduce the descending speed of the movable arm.
With reference to the first aspect, the embodiment of the present invention provides a fourth possible implementation manner of the first aspect, wherein the electro-hydraulic proportional valve includes a boom spool and a proportional electromagnet;
the proportional electromagnet is used for driving the movable arm valve core to change the throttle orifice under the control of the control signal so as to adjust the oil return quantity of the movable arm oil cylinder.
In a second aspect, an embodiment of the present invention further provides a boom deceleration control method for an excavator, including:
acquiring angular displacement information of a working device of the excavator in the descending process;
Obtaining working state information of the working device according to the angular displacement information;
judging whether the working state information reaches a set state or not;
if so, the boom-down speed of the work device is reduced.
With reference to the second aspect, an embodiment of the present invention provides a first possible implementation manner of the second aspect, where the step of collecting angular displacement information of a working device of the excavator during a descent includes:
respectively acquiring the angular displacement of a movable arm and the angular displacement of a bucket rod of the working device in the descending process;
The step of obtaining the working state information of the working device according to the angular displacement information comprises the following steps:
and obtaining the extension state and the boom lowering speed of the working device according to the boom angular displacement and the bucket rod angular displacement.
With reference to the second aspect, an embodiment of the present invention provides a second possible implementation manner of the second aspect, where the step of determining whether the working state information reaches a set state includes:
and judging whether the extension state of the working device reaches the maximum and the movable arm descending speed reaches a set value.
With reference to the second aspect, an embodiment of the present invention provides a third possible implementation manner of the second aspect, where the step of reducing the boom-down speed of the working device if it is, includes:
and if so, adjusting the extension and retraction of the movable arm oil cylinder to reduce the movable arm descending speed of the working device.
In a third aspect, an embodiment of the present invention further provides an excavator, including the boom-down control device of an excavator according to the first aspect.
The invention has the following beneficial effects:
The invention provides a swing arm speed reduction control device and method of an excavator and the excavator, wherein the swing arm speed reduction control device comprises the following components: the system comprises a controller, a movable arm driving assembly and an angular displacement collector arranged on a working device of the excavator, wherein the angular displacement collector is connected with the controller, and the controller is connected with the movable arm driving assembly; the angular displacement collector is used for collecting angular displacement information of the working device in the descending process and sending the angular displacement information to the controller; the controller is used for obtaining the working state information of the working device according to the angular displacement information, and sending a control signal to the movable arm driving assembly when the working state information reaches a set state; the boom drive assembly is configured to adjust a boom-down speed of the work implement based on the control signal. Therefore, the descending speed of the movable arm is controllable, and potential safety hazards such as forward tilting and backward tilting of the excavator body, rapid hitting of the working device and the like caused by rapid descending of the movable arm of the working device are avoided.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic view of a boom-down control apparatus for an excavator according to an embodiment of the present invention;
Fig. 2 is an installation schematic diagram of a boom-down control device for an excavator according to an embodiment of the present invention;
fig. 3 is a flowchart of a boom-down control method for an excavator according to an embodiment of the present invention.
Icon: 10-an angular displacement collector; 11-an angle sensor; 20-a controller; 30-a boom drive assembly; 31-an electrohydraulic proportional valve; 32-a movable arm oil cylinder.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
At present, a hydraulic control system is generally adopted in an excavator, and the actions of a working device are controlled by an operator, so that the hydraulic control system has a great relation with the personal control capability, and the control safety of the working device cannot be guaranteed. In addition, because of factors such as operator's driving fatigue, misoperation, etc., the potential safety hazard problem that leads to because of working device overspeed easily takes place. Based on the above, the boom lowering control device and method for the excavator and the excavator provided by the embodiment of the invention can control the lowering speed of the boom of the working device in the lowering process, so that the potential safety hazard problem caused by overspeed is avoided.
For the convenience of understanding the present embodiment, a boom-down control apparatus for an excavator according to an embodiment of the present invention will be described in detail.
Fig. 1 shows a schematic diagram of a boom-down control apparatus for an excavator according to an embodiment of the present invention.
As shown in fig. 1, a boom-down control device for an excavator according to an embodiment of the present invention includes: a controller 20, a boom drive assembly 30, and an angular displacement collector 10 provided on a work implement of the excavator, the angular displacement collector 10 being connected to the controller 20, the controller 20 being connected to the boom drive assembly 30;
The angular displacement collector 10 is used for collecting angular displacement information of the working device in the descending process and sending the angular displacement information to the controller 20;
specifically, the angular displacement collector 10 may be connected to the controller 20 of the excavator through a data line, and transmit an electrical signal of the collected angular displacement information to the controller 20.
A controller 20 for obtaining the working state information of the working device according to the angular displacement information, and transmitting a control signal to the boom driving assembly 30 when the working state information reaches a set state;
the boom drive assembly 30 is used for adjusting the boom-down speed of the work implement according to the control signal.
In the embodiment of the invention, the working device comprises a movable arm and a bucket rod, and the angular displacement collector 10 comprises an angle sensor 11 arranged on the movable arm and an angle sensor 11 arranged on the bucket rod, so that the angular displacement of the movable arm and the angular displacement of the bucket rod can be respectively collected, and therefore, the angular displacement information comprises the angular displacement of the movable arm and the angular displacement of the bucket rod; the descending state of the working device in the descending process can be calculated by the angular displacement of the movable arm and the angular displacement of the bucket rod.
Further, the controller 20 obtains the extension state and the boom lowering speed (angular velocity) of the working device from the boom angular displacement and the arm angular displacement, specifically, the angular velocity of the boom from the boom angular displacement, and the extension angle, i.e., the extension state, of the working device from the boom angular displacement and the arm angular displacement can be calculated. Therefore, the operating state information of the above-described working device includes the extension state of the working device and the boom-down speed.
Further, the setting state reached by the working state information may be that the extending state of the working device reaches the maximum and the lowering speed of the movable arm reaches the set value, at this time, the lowering speed of the movable arm needs to be controlled to prevent the working device from generating an excessive tilting moment in the lowering process, wherein the lowering speed of the movable arm corresponds to an inertial force, the extending state of the working device corresponds to a moment arm, and the lowering speed of the movable arm is controlled to effectively control the tilting moment of the working device when the working device tilts forward, so that the problems of potential safety hazards such as tilting forward and backward of the excavator body, rapid ground smashing of the working device and the like are prevented. Specifically, the maximum extension state of the working device refers to the state that the arm cylinder is fully contracted, i.e., the working device extends outwards furthest.
Thus, the controller 20 may send a control signal to the boom drive assembly 30 when the extension state of the work implement reaches a maximum and the boom-down speed reaches a set point.
In practical application, as shown in fig. 2, the boom driving assembly 30 includes an electro-hydraulic proportional valve 31 and a boom cylinder 32 that are connected to each other, the electro-hydraulic proportional valve 31 is connected to the controller 20, and the boom cylinder 32 is connected to a boom of the working device; the electro-hydraulic proportional valve 31 adjusts the extension and retraction of the boom cylinder 32 to reduce the boom lowering speed after receiving the control signal transmitted from the controller 20.
Specifically, the electro-hydraulic proportional valve 31 includes a boom spool and a proportional electromagnet; the proportional electromagnet is used as a pilot component of the movable arm valve core and used for driving the movable arm valve core to change a throttle orifice under the control of a control signal so as to adjust the oil return quantity of the movable arm oil cylinder 32; specifically, reducing the throttle area of the return oil of the boom cylinder 32 may reduce the return oil amount of the boom cylinder 32 to slow down the extension and retraction of the boom cylinder 32, thereby reducing the lowering speed of the boom.
The movable arm speed-reducing control device of the excavator can solve the problem of out-of-control speed in the descending process of the movable arm of the excavator; by controlling the descending speed of the movable arm, the problems of potential safety hazards such as forward tilting, backward tilting, rapid smashing of the working device and the like of the excavator body caused by rapid descending of the movable arm can be avoided. In addition, an electric proportion control system is adopted, so that the control performance of the excavator is improved.
As shown in fig. 3, the embodiment of the invention further provides a boom deceleration control method of an excavator, which comprises the following steps:
step S101, acquiring angular displacement information of a working device of the excavator in the descending process;
In this step, the boom angular displacement and the arm angular displacement of the working device during the lowering process are collected by the angle sensors provided on the boom and the arm of the working device, respectively.
Step S102, working state information of a working device is obtained according to the angular displacement information;
specifically, since the angular displacement information includes the boom angular displacement and the arm angular displacement, the controller obtains the extension state of the working device and the boom lowering speed from the boom angular displacement and the arm angular displacement.
Step S103, judging whether the working state information reaches a set state;
In this step, the working state information includes an extended state of the working device and a boom lowering speed, and the set state may be that the extended state of the working device reaches a maximum and the boom lowering speed reaches a set value. Specifically, the maximum extension state of the working device refers to the state that the arm cylinder is fully contracted, i.e., the working device extends outwards furthest.
Step S104, if yes, reduces the boom-down speed of the working device.
In this step, the boom drive unit reduces the boom lowering speed of the working device by adjusting the extension and contraction of the boom cylinder. The movable arm driving assembly comprises an electrohydraulic proportional valve and a movable arm oil cylinder which are connected with each other, and the electrohydraulic proportional valve comprises a movable arm valve core and a proportional electromagnet; the proportional electromagnet is used as a guide component of the movable arm valve core and used for driving the movable arm valve core to change a throttle orifice under the control of a control signal so as to adjust the oil return amount of the movable arm oil cylinder; specifically, the throttle area of the oil return of the movable arm oil cylinder is reduced, so that the oil return amount of the movable arm oil cylinder can be reduced, the expansion and contraction of the movable arm oil cylinder are slowed down, and the descending speed of the movable arm is reduced.
The embodiment of the invention also provides an excavator, which comprises the movable arm speed reduction control device of the excavator.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described system and apparatus may refer to corresponding procedures in the foregoing method embodiments, which are not described herein again.
The method provided by the embodiment of the present invention has the same implementation principle and technical effects as those of the embodiment of the device, and for the sake of brief description, reference may be made to the corresponding content in the embodiment of the device where the embodiment of the method is not mentioned.
The boom-down control method for the excavator provided by the embodiment of the invention has the same technical characteristics as the boom-down control device for the excavator provided by the embodiment, so that the same technical problems can be solved, and the same technical effects can be achieved.
In addition, in the description of embodiments of the present invention, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.
In the several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer readable storage medium executable by a processor. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. A boom-down control device for an excavator, comprising: the system comprises a controller, a movable arm driving assembly and an angular displacement collector, wherein the angular displacement collector is arranged on a working device of the excavator and is connected with the controller;
the angular displacement collector comprises angle sensors respectively arranged on a movable arm and a bucket rod of the working device, and is used for collecting angular displacement information of the working device in the descending process and sending the angular displacement information to the controller, wherein the angular displacement information comprises the angular displacement of the movable arm and the angular displacement of the bucket rod;
the controller is further used for sending a control signal to the movable arm driving assembly when the extending state of the working device reaches the maximum and the movable arm descending speed reaches a set value;
the boom drive assembly is configured to reduce a boom lowering speed of the work implement based on the control signal.
2. The apparatus of claim 1 wherein the boom drive assembly comprises an electro-hydraulic proportional valve and a boom cylinder connected to each other, the electro-hydraulic proportional valve being connected to the controller, the boom cylinder being connected to a boom of the work device;
And the electro-hydraulic proportional valve is used for adjusting the extension and retraction of the movable arm oil cylinder according to the control signal so as to reduce the descending speed of the movable arm.
3. The apparatus of claim 2, wherein the electro-hydraulic proportional valve comprises a boom spool and a proportional solenoid;
the proportional electromagnet is used for driving the movable arm valve core to change the throttle orifice under the control of the control signal so as to adjust the oil return quantity of the movable arm oil cylinder.
4. A boom-down control method of an excavator, applied to the boom-down control device of an excavator according to any one of the preceding claims 1 to 3, characterized by comprising:
acquiring angular displacement information of a working device of the excavator in the descending process;
Obtaining working state information of the working device according to the angular displacement information;
judging whether the working state information reaches a set state or not;
if so, reducing the boom-down speed of the work device;
Wherein, the step of gathering the angular displacement information of the working device of the excavator in the descending process comprises the following steps:
respectively acquiring the angular displacement of a movable arm and the angular displacement of a bucket rod of the working device in the descending process;
The step of obtaining the working state information of the working device according to the angular displacement information comprises the following steps:
obtaining the extending state and the moving arm descending speed of the working device according to the moving arm angular displacement and the bucket rod angular displacement;
the step of judging whether the working state information reaches a set state or not includes:
and judging whether the extension state of the working device reaches the maximum and the movable arm descending speed reaches a set value.
5. The method of claim 4, wherein the step of reducing the boom-down speed of the work device if so comprises:
and if so, adjusting the extension and retraction of the movable arm oil cylinder to reduce the movable arm descending speed of the working device.
6. An excavator comprising the boom-down control device of an excavator according to any one of claims 1 to 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811652955.XA CN109469137B (en) | 2018-12-28 | 2018-12-28 | Swing arm deceleration control device and method of excavator and excavator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811652955.XA CN109469137B (en) | 2018-12-28 | 2018-12-28 | Swing arm deceleration control device and method of excavator and excavator |
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| CN109469137A CN109469137A (en) | 2019-03-15 |
| CN109469137B true CN109469137B (en) | 2024-05-24 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| KR20210068326A (en) * | 2018-10-03 | 2021-06-09 | 스미도모쥬기가이고교 가부시키가이샤 | shovel |
| CN112252387B (en) * | 2020-10-30 | 2023-06-20 | 徐州徐工挖掘机械有限公司 | Swing arm deflection system of excavator, excavator and swing arm deflection control method of excavator |
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| CN101666105A (en) * | 2009-07-08 | 2010-03-10 | 北汽福田汽车股份有限公司 | Method for controlling rising velocity of movable arm of excavator, control system and excavator |
| CN102061714A (en) * | 2010-12-03 | 2011-05-18 | 三一重机有限公司 | Control method for descending movable arm of excavator |
| CN103403271A (en) * | 2011-03-08 | 2013-11-20 | 住友建机株式会社 | Shovel and method for controlling shovel |
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| CN109469137A (en) | 2019-03-15 |
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