CN114753433A - Novel excavator single-handle control system and control method thereof - Google Patents
Novel excavator single-handle control system and control method thereof Download PDFInfo
- Publication number
- CN114753433A CN114753433A CN202210600434.XA CN202210600434A CN114753433A CN 114753433 A CN114753433 A CN 114753433A CN 202210600434 A CN202210600434 A CN 202210600434A CN 114753433 A CN114753433 A CN 114753433A
- Authority
- CN
- China
- Prior art keywords
- control
- handle
- ecu
- pilot
- proportional valve
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2004—Control mechanisms, e.g. control levers
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2037—Coordinating the movements of the implement and of the frame
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
- E02F9/2267—Valves or distributors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention provides a novel excavator single-handle control system and a control method thereof, and relates to the technical field of excavators. This novel excavator single handle control system, control the handle including controlling, control the handle and be connected with controlling means ECU about, controlling means CEU is connected with the pilot control and compares the valve. The invention provides a novel excavator single-handle control system and a control method thereof, the novel excavator single-handle control system and the control method thereof have higher sensitivity when controlling an excavator, and can quickly judge the reason of failure, so that the excavator has high working efficiency and is more durable.
Description
Technical Field
The invention relates to the technical field of excavators, in particular to a novel single-handle control system of an excavator and a control method thereof.
Background
An excavator, also called excavating machine (excavating excavator), is an earth moving machine that excavates materials above or below a bearing surface by a bucket and loads the materials into a transport vehicle or unloads the materials to a stockyard, the materials excavated by the excavator mainly comprise soil, coal, silt and soil and rock after pre-loosening, and from the development of engineering machines in recent years, the development of the excavator is relatively fast, the excavator becomes one of the most important engineering machines in engineering construction, and the excavator has three most important parameters: operating weight (mass), engine power and bucket capacity.
The prior patent (CN 203514390U) discloses a single-handle control system for an excavator, which utilizes the forward and backward movements of a single handle to control the extension and retraction movements of a boom cylinder respectively; the left and right movements of the single handle are used for respectively controlling the hydraulic motor to rotate left and right; the single handle is provided with a handle sleeve and can axially slide and rotate, and the handle sleeve moves upwards and downwards to respectively control the extension and retraction of the bucket rod; the left-handed and right-handed motions of the handle sleeve are used for respectively controlling a reversing valve of the bucket cylinder to enable the bucket cylinder to extend and retract. The utility model discloses a can operate the whole excavation actions of excavator through the one-hand, compound human engineering principle, one-hand operation is favorable to mastering the skill fast, and it is very simple and convenient to operate, compound human psychology and physiology law. The structure is simple, the cost is low, the manufacture or the transformation is easy, and the popularization and the implementation are very facilitated. Although this system can be used, it is less sensitive and is prone to failure.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a novel excavator single-handle control system and a control method thereof, and solves the problems of low sensitivity and high possibility of failure.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides a novel excavator single handle control system, includes controls the handle about, control the handle and be connected with controlling means ECU about, controlling means CEU is connected with the pilot control and compares the valve.
Preferably, the control method of the novel excavator single-handle control system specifically comprises the following steps:
s1. middle position inversion operation
The signal sent by the position sensor of the operating handle changes along with the change of the operating position, when the handle is in a neutral position or a reverse position, the output signal is between 0.6 and 2.8V, the ECU controls the current of a corresponding proportional valve to be about 90mA, the proportional valve is in a closed state, and the corresponding pilot control oil pressure is zero;
s2, when operating the control position
When the operation position is operated, the output signal is between 3.0 and 4.4V and is increased along with the increase of the operation amplitude, the ECU controls the current of the corresponding proportional valve to change within 300 to 1000mA in proportion, and the corresponding pilot control oil pressure is changed within 0.5 to 2.9MPa, so that the opening of the corresponding action reversing valve is controlled;
s3. handle X-axis Y-axis
The output signal voltage of the positive and negative 2 position sensors of the X axis or the Y axis of the control handle is in the range of 0.4-4.6V, the relation of U positive =5-U negative exists, the relation error is in the range of 0.3V, otherwise, the sensor of the axis is determined to be faulty, the controller ECU carries out safe locking on the current of the 2 control proportional valves of the action mechanism, so that the action mechanism cannot work, and fault alarm is carried out;
s4. safety guarantee operation
In order to ensure safety, before a power supply is turned on and the engine is started, the control device ECU needs to confirm that the sensing signal voltage of 8 positions of each operating position is 2.5 +/-0.3V, otherwise, the operating handle is not in the middle position, so that the control proportional valve current of all actions of a movable arm, an arm, a bucket and rotation is locked and protected, and the work of the control proportional valve is forbidden;
s5, adjusting a functional system
The system adjustment mainly includes the adjustment of a control handle position sensor and the adjustment of pilot oil pressure.
Preferably, the step S5 includes the step S of providing a potential type position sensor, providing a 5V power supply, rotating the shaft 360 °, providing 4 position sensors for each control handle, positioning the handle in the middle position during adjustment, adjusting the distance between the handle disc and the plunger by 1-2 mm, and adjusting the voltage of the output signal of each position sensor to be within the range of 2.5 ± 0.2V.
Preferably, the method further comprises the step that the fault diagnosis system enters the system through a display and is divided into a service program and a fault diagnosis program, the service program can detect output voltage signal parameters and electromagnetic valve control current parameters of all sensors of the system, and the fault diagnosis program can inquire past faults or fault codes of the existing faults.
Preferably, the control device ECU is specifically a control device ECU which receives 8 operating position command signals of the left and right control handles, acquires running state information of the engine and the pump from the power control ECU, transmits system control and fault information to a display, and controls 8 action pilot control proportional valves of 4 action mechanisms of the rotation mechanism, the movable arm, the arm and the bucket by utilizing the control information.
Preferably, the pilot-controlled proportional valve is specifically of an electromagnetic control type, and the opening and the direction change of each direction change valve are controlled by controlling the pilot turbid pressure of each operation under the control of the control unit ECU current.
Preferably, the control and steering handle is specifically X, Y, each axis has 2 coaxially connected potential sensors, each coaxially connected potential sensor is respectively used as a position signal for forward and reverse operation of each axis, each handle has 4 paths of analog signal output, and position command signals of 4 operation positions of the steering handle are mainly output to the control ECU.
(III) advantageous effects
The invention provides a novel excavator single-handle control system and a control method thereof. The method has the following beneficial effects:
the invention provides a novel excavator single-handle control system and a control method thereof, the method can efficiently detect faults generated in the operation process and quickly determine the fault reasons, and the sensitivity is high in the operation process, so that the faults are not easy to occur, and the control method has higher working efficiency when controlling an excavator.
Drawings
FIG. 1 is a schematic flow chart of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example (b):
as shown in fig. 1, an embodiment of the present invention provides a novel excavator single-handle control system, which includes left and right control handles, the left and right control handles are connected to a control device ECU, and a control device CEU is connected to a pilot control proportional valve.
A control method of a novel excavator single-handle control system is characterized by comprising the following steps:
s1. middle position inversion operation
The signal sent by the position sensor of the operating handle changes along with the change of the operating position, when the handle is in a neutral position or a reverse position, the output signal is between 0.6 and 2.8V, the ECU controls the current of a corresponding proportional valve to be about 90mA, the proportional valve is in a closed state, and the corresponding pilot control oil pressure is zero;
s2, when operating the control position
When the operation position is operated, the output signal is between 3.0 and 4.4V and is increased along with the increase of the operation amplitude, the ECU controls the current of the corresponding proportional valve to change within 300 to 1000mA in proportion, and the corresponding pilot control oil pressure is changed within 0.5 to 2.9MPa, so that the opening of the corresponding action reversing valve is controlled;
s3. handle X-axis Y-axis
The output signal voltage of the positive and negative 2 position sensors of the X axis or the Y axis of the control handle is in the range of 0.4-4.6V, the relation of U positive =5-U negative exists, the relation error is in the range of 0.3V, otherwise, the sensor of the axis is determined to be faulty, the controller ECU carries out safe locking on the current of the 2 control proportional valves of the action mechanism, so that the action mechanism cannot work, and fault alarm is carried out;
s4. safety guarantee operation
In order to ensure safety, before a power supply is turned on and the engine is started, a control device ECU needs to confirm that the sensing signal voltage of 8 positions of each operating position is 2.5 +/-0.3V, otherwise, the operating handle is not in the middle position, the control proportional valve current of all actions of a movable arm, an arm, a bucket and a rotation is locked and protected, the work of the control proportional valve is forbidden, common faults include that the bucket, the arm, the movable arm and the rotation cannot be operated, a fault alarm is given, individual actions cannot be operated, a fault alarm is given, actions of the bucket, the arm, the rotation and the like are slow, and individual actions are slow;
s5, adjusting a functional system
The system adjustment mainly includes the adjustment of a control handle position sensor and the adjustment of pilot oil pressure.
S5 further comprises a position sensor which is potential type, the power supply is 5V, the shaft can rotate 360 degrees, each control handle is provided with 4 position sensors, the handle is positioned in the middle position during adjustment, the distance between the handle disc and the plunger is adjusted to be 1-2 mm, then the output signal voltage of each position of the sensor is adjusted to be within the range of 2.5 +/-0.2V, each position is operated to be the maximum, the output signal voltage of the sensor is detected to be larger than 4.2V, otherwise, the distance between the handle disc and the plunger and the abrasion degree of the handle universal joint are checked again and repaired.
The method also comprises the steps that the fault diagnosis system enters the system through a display and is divided into a service program and a fault diagnosis program, the service program can detect output voltage signal parameters and electromagnetic valve control current parameters of all sensors of the system, and the fault diagnosis program can inquire past faults or fault codes of the existing faults.
The control device ECU is specifically characterized in that the control device ECU receives 8 operating position command signals of the left and right control handles, acquires running state information of an engine and a pump from the power control ECU, transmits system control and fault information to a display, and controls 8 action pilot control proportional valves of 4 action mechanisms of a rotary mechanism, a movable arm, an arm and a bucket by utilizing the control information.
The pilot control proportional valve is specifically of an electromagnetic control type, and the opening and the direction change of each direction change valve are controlled by controlling the pilot turbid pressure of each operation under the control of the current of the control unit ECU.
The control handle is specifically X, Y, each shaft is provided with 2 coaxially connected potential sensors which are respectively used as position signals of forward and reverse operation of each shaft, each handle has 4 paths of analog signal output, position command signals of 4 operation positions of the control handle are mainly output to the control ECU, the voltage of each sensor is 2.5 +/-0.2V when the control handle is positioned at the middle position, the sensor output of the operated position is 2.5-4.6V during operation, the sensor output of the opposite position is 2.5-0.6V, and the output signals of the sensors change along with the change of the operation position.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The utility model provides a novel excavator single handle control system, controls the handle including controlling, its characterized in that: the left and right control handles are connected with a control device ECU, and the control device CEU is connected with a pilot control proportional valve.
2. The control method of the novel excavator single-handle control system as claimed in claim 1, is characterized by comprising the following steps:
s1. middle position inversion operation
The signal sent by the position sensor of the operating handle changes along with the change of the operating position, when the handle is in a neutral position or a reverse position, the output signal is between 0.6 and 2.8V, the ECU controls the current of a corresponding proportional valve to be about 90mA, the proportional valve is in a closed state, and the corresponding pilot control oil pressure is zero;
s2, when operating the control position
When the operation position is operated, the output signal is between 3.0 and 4.4V and is increased along with the increase of the operation amplitude, the ECU controls the current of the corresponding proportional valve to change within 300 to 1000mA in proportion, and the corresponding pilot control oil pressure is changed within 0.5 to 2.9MPa, so that the opening of the corresponding action reversing valve is controlled;
s3. handle X-axis Y-axis
The output signal voltage of the positive and negative 2 position sensors of the X axis or the Y axis of the control handle is in the range of 0.4-4.6V, the relation of U positive =5-U negative exists, the relation error is in the range of 0.3V, otherwise, the sensor of the axis is determined to be faulty, the controller ECU carries out safe locking on the current of the 2 control proportional valves of the action mechanism, so that the action mechanism cannot work, and fault alarm is carried out;
s4. safety guarantee operation
In order to ensure safety, before a power supply is turned on and the engine is started, the control device ECU needs to confirm that the sensing signal voltage of 8 positions of each operating position is 2.5 +/-0.3V, otherwise, the operating handle is not in the middle position, so that the control proportional valve current of all actions of a movable arm, an arm, a bucket and rotation is locked and protected, and the work of the control proportional valve is forbidden;
s5, adjusting a functional system
The system adjustment mainly includes the adjustment of a control handle position sensor and the adjustment of pilot oil pressure.
3. The novel excavator single-handle control system and the control method thereof as claimed in claim 2, wherein: the S5 method specifically comprises the steps that the position sensors are potential type, the power supply is 5V, the shaft can rotate 360 degrees, each control handle is provided with 4 position sensors, the control handle is located in the middle position during adjustment, firstly, the distance between a handle disc and a plunger is adjusted to be 1-2 mm, and then, the output signal voltage of each position of the sensor is respectively adjusted to be within the range of 2.5 +/-0.2V.
4. The novel excavator single-handle control system and the control method thereof as claimed in claim 2, wherein: the method also comprises the step that the fault diagnosis system enters the system through a display and is divided into a service program and a fault diagnosis program, the service program can detect output voltage signal parameters and electromagnetic valve control current parameters of all sensors of the system, and the fault diagnosis program can inquire past faults or fault codes of the existing faults.
5. The control method of the novel excavator single-handle control system according to claim 2, characterized in that: the control device ECU is specifically characterized in that the control device ECU receives 8 operating position command signals of the left and right control handles, acquires running state information of an engine and a pump from the power control ECU, transmits system control and fault information to a display, and controls 8 action pilot control proportional valves of 4 action mechanisms of a rotation mechanism, a movable arm, an arm and a bucket by utilizing the control information.
6. The novel excavator single-handle control system and the control method thereof as claimed in claim 2, wherein: the pilot control proportional valve is specifically of an electromagnetic control type, and the opening and the direction change of each direction change valve are controlled by controlling the pilot turbid pressure of each action under the control of the current of the control device ECU.
7. The control method of the novel excavator single-handle control system according to claim 2, characterized in that: the control and control handle is specifically X, Y, each shaft is respectively provided with 2 coaxially connected potential sensors which are respectively used as position signals of forward and reverse operations of each shaft, each handle has 4 paths of analog signal outputs, and the control and control handle mainly outputs position instruction signals of 4 operation positions of the control handle to the control ECU.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210600434.XA CN114753433B (en) | 2022-05-30 | 2022-05-30 | Control method of novel excavator single-handle control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210600434.XA CN114753433B (en) | 2022-05-30 | 2022-05-30 | Control method of novel excavator single-handle control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114753433A true CN114753433A (en) | 2022-07-15 |
| CN114753433B CN114753433B (en) | 2023-06-06 |
Family
ID=82336160
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210600434.XA Active CN114753433B (en) | 2022-05-30 | 2022-05-30 | Control method of novel excavator single-handle control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114753433B (en) |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3737830A (en) * | 1972-02-01 | 1973-06-05 | Int Harvester Co | One handle control for loaders |
| US4321980A (en) * | 1980-07-14 | 1982-03-30 | J. I. Case Company | Mono stick assembly with adjustable creep control |
| DE19642385A1 (en) * | 1995-10-23 | 1997-04-24 | Caterpillar Inc | Electronic control for hydraulic equipment |
| JP2000303498A (en) * | 1999-04-21 | 2000-10-31 | Hitachi Constr Mach Co Ltd | Construction machinery |
| JP2004137818A (en) * | 2002-10-18 | 2004-05-13 | Shin Caterpillar Mitsubishi Ltd | Controller of working machine |
| CN2797453Y (en) * | 2005-05-20 | 2006-07-19 | 徐州徐工特种工程机械有限公司 | Hydraulic guiding controller for loader |
| CN201258502Y (en) * | 2008-05-26 | 2009-06-17 | 徐州徐工筑路机械有限公司 | Mono-lever control system for leveler |
| JP2012072636A (en) * | 2010-09-30 | 2012-04-12 | Hitachi Constr Mach Co Ltd | Operation system of hydraulic shovel |
| US20130218423A1 (en) * | 2011-04-29 | 2013-08-22 | Harnischfeger Technologies, Inc. | Controlling a digging operation of an industrial machine |
| CN203514390U (en) * | 2013-09-25 | 2014-04-02 | 于进策 | Single handle control system of excavator |
| CN203654362U (en) * | 2013-12-30 | 2014-06-18 | 青岛雷沃挖掘机有限公司 | Pilot handle control function switching apparatus for excavator |
| CN205116261U (en) * | 2015-08-27 | 2016-03-30 | 中国航空工业集团公司西安飞行自动控制研究所 | Excavator controlling device based on position control |
| WO2016174905A1 (en) * | 2015-04-28 | 2016-11-03 | 日立建機株式会社 | Control device for construction machinery |
| US20170058488A1 (en) * | 2015-08-28 | 2017-03-02 | Caterpillar Inc. | Implement system control device |
| CN108425389A (en) * | 2012-06-08 | 2018-08-21 | 住友重机械工业株式会社 | The control method and control device of excavator |
| CN108589822A (en) * | 2018-05-31 | 2018-09-28 | 山东临工工程机械有限公司 | Excavate Electrical Control inverted flux control system |
-
2022
- 2022-05-30 CN CN202210600434.XA patent/CN114753433B/en active Active
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3737830A (en) * | 1972-02-01 | 1973-06-05 | Int Harvester Co | One handle control for loaders |
| US4321980A (en) * | 1980-07-14 | 1982-03-30 | J. I. Case Company | Mono stick assembly with adjustable creep control |
| DE19642385A1 (en) * | 1995-10-23 | 1997-04-24 | Caterpillar Inc | Electronic control for hydraulic equipment |
| JP2000303498A (en) * | 1999-04-21 | 2000-10-31 | Hitachi Constr Mach Co Ltd | Construction machinery |
| JP2004137818A (en) * | 2002-10-18 | 2004-05-13 | Shin Caterpillar Mitsubishi Ltd | Controller of working machine |
| CN2797453Y (en) * | 2005-05-20 | 2006-07-19 | 徐州徐工特种工程机械有限公司 | Hydraulic guiding controller for loader |
| CN201258502Y (en) * | 2008-05-26 | 2009-06-17 | 徐州徐工筑路机械有限公司 | Mono-lever control system for leveler |
| JP2012072636A (en) * | 2010-09-30 | 2012-04-12 | Hitachi Constr Mach Co Ltd | Operation system of hydraulic shovel |
| US20130218423A1 (en) * | 2011-04-29 | 2013-08-22 | Harnischfeger Technologies, Inc. | Controlling a digging operation of an industrial machine |
| CN108425389A (en) * | 2012-06-08 | 2018-08-21 | 住友重机械工业株式会社 | The control method and control device of excavator |
| CN203514390U (en) * | 2013-09-25 | 2014-04-02 | 于进策 | Single handle control system of excavator |
| CN203654362U (en) * | 2013-12-30 | 2014-06-18 | 青岛雷沃挖掘机有限公司 | Pilot handle control function switching apparatus for excavator |
| WO2016174905A1 (en) * | 2015-04-28 | 2016-11-03 | 日立建機株式会社 | Control device for construction machinery |
| CN205116261U (en) * | 2015-08-27 | 2016-03-30 | 中国航空工业集团公司西安飞行自动控制研究所 | Excavator controlling device based on position control |
| US20170058488A1 (en) * | 2015-08-28 | 2017-03-02 | Caterpillar Inc. | Implement system control device |
| CN108589822A (en) * | 2018-05-31 | 2018-09-28 | 山东临工工程机械有限公司 | Excavate Electrical Control inverted flux control system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114753433B (en) | 2023-06-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1950614B (en) | Hydraulic drive apparatus of work machine | |
| US8024095B2 (en) | Adaptive work cycle control system | |
| US8311710B2 (en) | Linkage control system with position estimator backup | |
| CN101960075B (en) | Adaptive payload monitoring system | |
| CN104234116B (en) | For excavating the system and method for detection | |
| WO2018168062A1 (en) | Work machinery | |
| JP2011043002A (en) | Excavation support device | |
| CN108678049A (en) | Excavator boom excavating resistance optimal control method and control system | |
| CN103924628B (en) | Swinging engineering machinery | |
| CN108643275A (en) | A kind of excavator trajectory planning and control system | |
| CN110144985B (en) | Excavator working device control system | |
| EP3763884B1 (en) | Auto track alignment and undercarriage swing | |
| CN114753433A (en) | Novel excavator single-handle control system and control method thereof | |
| CN112411663B (en) | Control method and control device for excavator and excavator | |
| CN105074175A (en) | Engine speed controller of work machine | |
| CN214784343U (en) | Wheel-leg combined type excavator autonomous displacement control system | |
| JPH083187B2 (en) | Power shovel bucket angle controller | |
| JP4034898B2 (en) | Self-driving construction machinery | |
| US10273654B2 (en) | Control system to adjust applied slewing power | |
| CN117435853B (en) | Calculation method for coordinates of broken earth points | |
| JP3422032B2 (en) | Automatic excavation control device for construction machinery | |
| JPS6337211B2 (en) | ||
| JP2010106512A (en) | Swing control device of working machine | |
| CN113152549B (en) | Control method of wheel-leg combined type excavator autonomous displacement control system | |
| JPS6337210B2 (en) |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |