CN117758820A - Excavator, rotation limiting device thereof and control method - Google Patents
Excavator, rotation limiting device thereof and control method Download PDFInfo
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- CN117758820A CN117758820A CN202311870724.7A CN202311870724A CN117758820A CN 117758820 A CN117758820 A CN 117758820A CN 202311870724 A CN202311870724 A CN 202311870724A CN 117758820 A CN117758820 A CN 117758820A
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Abstract
The application relates to the technical field of engineering machinery and discloses an excavator, a rotation limiting device and a control method thereof, wherein the excavator comprises a rotation platform and a rotation pilot oil path, and the rotation limiting device comprises a rotation limiting assembly, a rotation electromagnetic valve and a limiting relay; the rotation limiting assembly is used for detecting the left-right rotation direction of the rotation platform and sending out corresponding rotation signals; the rotary electromagnetic valve is arranged on the rotary pilot oil path, and the power-on or power-off of the rotary electromagnetic valve can conduct or cut off the rotary pilot oil path so as to drive the rotary platform to rotate or stop rotating; the limiting relay is electrically connected with the rotary limiting assembly, and is used for receiving the rotary signal sent by the rotary limiting assembly and controlling the power on or power off of the rotary electromagnetic valve according to the rotary signal. Compared with the control rotation of the controller, the control logic is simpler, and a special rotation direction detection device is not needed to be selected, so that the whole installation, debugging and maintenance are more convenient.
Description
Technical Field
The application belongs to the technical field of engineering machinery, and particularly relates to an excavator, a rotation limiting device and a control method thereof.
Background
Under certain specific working conditions, the excavator does not need to rotate completely, and for safety reasons, the excavator prevents the internal wires from being wound limitlessly in the working process, and the excavator collides with nearby obstacles in the rotating process and needs to rotate for limiting. Therefore, in some specific operations, the excavator needs to be limited and rotated, and the required limiting angle is formulated according to different requirements, so that the method has important significance for the safety of the whole excavator.
In the prior art, by arranging a rotation angle detection device and a rotation direction detection device to respectively detect the rotation angle and the rotation direction of the turntable, any point in the rotation stroke can be judged by combining the rotation angle and the rotation direction. The technology has higher requirements on the detection device, and the rotation direction detection device is specially selected to judge that the rotation direction is redundant.
Disclosure of Invention
The purpose of the application is to provide an excavator, a rotation limiting device and a control method thereof, so that the rotation direction of a rotation platform can be judged more simply and accurately.
To achieve the above object, an aspect of the present application provides a swing limiting device of an excavator, the excavator including a swing platform and a swing pilot oil path for providing swing power for the swing platform, the swing limiting device including:
the rotation limiting assembly is used for detecting the left-right rotation direction of the rotation platform and sending out corresponding rotation signals;
the rotary electromagnetic valve is arranged on the rotary pilot oil path, and the power-on or power-off of the rotary electromagnetic valve can be used for switching on or switching off the rotary pilot oil path so as to drive the rotary platform to rotate or stop rotating; and
the limiting relay is electrically connected with the rotary limiting assembly and is used for receiving the rotary signal sent by the rotary limiting assembly and controlling the power on or power off of the rotary electromagnetic valve according to the rotary signal.
In some embodiments, the rotation limiting assembly comprises a limiting sensor and a limiting stop, wherein the limiting sensor is installed on the rotation platform and is a normally open sensor, and when the limiting sensor senses a signal of the limiting stop in the rotation process of the rotation platform, an internal circuit of the normally open sensor is conducted.
In some embodiments, the limit sensor comprises a left limit sensor and a right limit sensor, the left limit sensor comprising a first contact that is triggered when the rotating platform rotates to the left to a first limit position;
the right limit sensor comprises a second contact, and when the rotary platform rotates rightwards to a second limit position, the second contact is triggered.
In some embodiments, the limit relay includes a coil terminal and a normally closed contact terminal, one end of the coil terminal is connected to a contact of the limit sensor, the other end is grounded, one end of the normally closed contact terminal is connected to a power supply, the other end is connected to the rotary solenoid valve, and when the coil terminal is powered on, the normally closed contact terminal is switched to a normally open contact terminal.
In some embodiments, the limit relay includes a left limit relay and a right limit relay, the first contact and the second contact are respectively connected with coil terminals of the left limit relay and the right limit relay, the rotary solenoid valve includes a left rotary solenoid valve and a right rotary solenoid valve, and the left rotary solenoid valve and the right rotary solenoid valve are respectively connected with normally closed contact terminals of the left limit relay and the right limit relay.
In some embodiments, the left limit sensor and the right limit sensor each include a first pin and a second pin, and a conducting switch is arranged on a line between the first pin and the second pin, and when the left limit sensor or the right limit sensor acquires a signal of the limit stop, the conducting switch is closed and conducted.
A second aspect of the present invention provides a control method for a swing limiting device of an excavator, which is applied to the swing limiting device as described above, the control method for the swing limiting device including the steps of:
acquiring a rotation signal of the rotation platform through a limit sensor;
when the limit relay detects the rotation signal, the rotation electromagnetic valve is controlled to lose electricity;
and when the limit relay does not detect the revolution signal, controlling the revolution electromagnetic valve to be electrified.
In some embodiments, the step of controlling the swing solenoid valve to lose power when the limit relay detects the swing signal comprises:
when the left limit sensor senses the limit stop, a contact of the left limit sensor is triggered and supplies power to a coil terminal of the left limit relay, and a left rotary electromagnetic valve loses power and cuts off a left rotary pilot oil path;
when the right limit sensor senses the limit stop, the contact of the right limit sensor is triggered and supplies power to the coil terminal of the right limit relay, and the right rotary electromagnetic valve loses power and cuts off the right rotary pilot oil path.
In some embodiments, the step of controlling the rotary solenoid valve to be energized when the limit relay does not detect the rotary signal includes:
when the left limit sensor does not feel the limit stop, the normally closed contact terminal of the left limit relay is controlled to be switched into a normally open contact terminal, and the left rotary electromagnetic valve is electrified and conducts a left rotary pilot oil path;
when the right limit sensor does not feel the limit stop, the normally closed contact terminal of the right limit sensor is controlled to be switched into a normally open contact terminal, and the right rotary electromagnetic valve is electrified and conducts the right rotary pilot oil path.
A third aspect of the present application provides an excavator comprising an upper carriage assembly, a lower carriage assembly and a swing limit device as described above, the swing limit device being capable of performing a control method as described above.
Through the technical scheme, the rotation limiting device of the excavator provided by the embodiment of the invention has the following beneficial effects:
compared with the prior art that the controller is directly adopted to control the rotation of the rotary platform, the rotary electromagnetic valve is arranged on the rotary pilot oil path of the excavator, and the rotary pilot oil path is conducted or cut off through the power supply or the power failure of the rotary electromagnetic valve, so that the rotary platform is driven to rotate or stop rotating. Specifically, in the process of left and right rotation of the rotary platform, the rotation limiting assembly can send out corresponding rotation signals, and the limiting relay receives the rotation signals sent by the rotation limiting assembly and controls power on or power off of the rotation electromagnetic valve according to the rotation signals. The control process can control the rotary platform to perform corresponding rotation in the rotation direction through the cooperation of the rotation limiting assembly, the rotation electromagnetic valve and the limiting relay without arranging a rotation direction detection device, and the control is simpler and more accurate.
Additional features and advantages of embodiments of the present application will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of embodiments of the present application and are incorporated in and constitute a part of this specification, illustrate embodiments of the present application and together with the description serve to explain, without limitation, the embodiments of the present application. Other figures may be made from the structures shown in these figures without inventive effort for a person of ordinary skill in the art. In the drawings:
FIG. 1 is an electrical schematic diagram of a swing limit device of an excavator of the present application;
fig. 2 is a flow chart of a control method of the swing limiting device of the excavator.
Description of the reference numerals
11. Right-turn electromagnetic valve of left limit sensor 32
12. Right limit sensor 40 power supply
21. First pin of left limit relay 1
22. Second pin of right limit relay 2
31. Left rotary electromagnetic valve
Detailed Description
The following detailed description of specific embodiments of the present application refers to the accompanying drawings. It should be understood that the detailed description is presented herein for purposes of illustration and explanation only and is not intended to limit the present application.
The excavator and the rotation limiting device and the control method thereof according to the present application are described below with reference to the accompanying drawings.
As shown in fig. 1, the present application provides a rotation limiting device of an excavator, the excavator includes a rotation platform and a rotation pilot oil path for providing rotation power for the rotation platform, the rotation limiting device includes a rotation limiting assembly, a rotation solenoid valve and a limiting relay; the rotation limiting assembly is used for detecting the left-right rotation direction of the rotation platform and sending out corresponding rotation signals; the rotary electromagnetic valve is arranged on the rotary pilot oil path, and the power-on or power-off of the rotary electromagnetic valve can conduct or cut off the rotary pilot oil path so as to drive the rotary platform to rotate or stop rotating; the limiting relay is electrically connected with the rotary limiting assembly, and is used for receiving the rotary signal sent by the rotary limiting assembly and controlling the power on or power off of the rotary electromagnetic valve according to the rotary signal.
According to the rotary pilot oil way control device, the rotary electromagnetic valve is arranged on the rotary pilot oil way of the excavator, and the on-off of the rotary pilot oil way is controlled through the power supply or the power failure of the rotary electromagnetic valve. Compared with the technical scheme that the controller is adopted to directly control the rotation of the rotary platform in the prior art, the rotary control device is simpler in control logic through the cooperation control of the rotation limiting assembly, the limiting relay and the rotation electromagnetic valve, does not need to select a special rotation direction detection device, can be directly additionally arranged on the original electrical scheme, does not need to change a controller program, does not occupy a controller port, and reduces cost.
In some embodiments, the rotation limiting assembly comprises a limiting sensor and a limiting stop, wherein the limiting sensor is arranged on the rotation platform and is a normally open sensor, and when the limiting sensor senses a signal of the limiting stop in the rotation process of the rotation platform, an internal circuit of the normally open sensor is conducted.
The limit sensor is a photoelectric sensor, and the photoelectric sensor is used for judging the rotation direction of the rotation platform and is matched with the limit stop to limit the rotation angle of the rotation platform. The limit stop is arranged at a place of the excavator except the rotary platform and does not rotate along with the rotary platform, so that the limit sensor can be driven to rotate together with the rotary platform when the rotary platform rotates, the on-off of an internal circuit of the limit sensor is controlled by sensing a signal of the limit stop in the rotating process, the purpose of controlling the on-off of a corresponding rotary pilot oil way is achieved, and finally the effect of controlling the rotation of the rotary platform is achieved.
In some embodiments, the limit sensor comprises a left limit sensor 11 and a right limit sensor 12, the left limit sensor 11 comprising a first contact that is triggered when the rotary platform rotates to the left to a first limit position;
the right limit sensor 12 includes a second contact that is triggered when the rotary platform is rotated to the right to a second limit position.
The rotation limiting angle of the rotation platform is determined by the installation angle between the left limiting sensor 11 and the right limiting sensor 12, for example, the limited rotation angle is 270 degrees, and the installation angle between the left limiting sensor 11 and the right limiting sensor 12 can be set to 90 degrees by taking the rotation center of the rotation platform as the circle center. When the left limit sensor 11 detects a limit stop in the leftward rotation process of the rotary platform, the rotary platform is rotated leftwards to a first limit position, and then the first contact is triggered, so that the left rotation pilot oil path is controlled to be cut off, the rotary platform stops rotating leftwards and can rotate rightwards; in the rightward rotation process of the rotary platform, when the right limit sensor 12 detects the limit stop, it indicates that the rotary platform rotates rightward to the second limit position at this time, and then the second contact is triggered, so as to control the rightward rotation pilot oil path to be cut off, and the rotary platform stops rotating rightward and can rotate leftward.
It should be noted that, because of considering the rotation speed of the rotating platform and the signal transmission time of the limit sensor, the limit stop needs to be made wider, so as to improve the accuracy of rotation control in the whole process.
In some embodiments, the limit relay includes a coil terminal and a normally closed contact terminal, one end of the coil terminal is connected to a contact of the limit sensor, the other end is grounded, one end of the normally closed contact terminal is connected to the power source 40, the other end is connected to the rotary solenoid valve, and when the coil terminal is powered on, the normally closed contact terminal is switched to a normally open contact terminal.
Specifically, the power supply 40 provides a power source for the limit relay and the limit sensor, wherein a pin 86 of a coil terminal of the limit relay is connected to the limit sensor, and a pin 85 of the other end of the coil terminal is grounded; the 30# pin is connected to the power source 40, 87a # is a normally closed contact terminal and is connected to the rotary electromagnetic valve, and 87# pin is a normally open contact and is suspended.
In some embodiments, the limit relay includes a left limit relay 21 and a right limit relay 22, the first contact and the second contact are connected with coil terminals of the left limit relay 21 and the right limit relay 22, respectively, the rotary solenoid valve includes a left rotary solenoid valve 31 and a right rotary solenoid valve 32, and the left rotary solenoid valve 31 and the right rotary solenoid valve 32 are connected with normally closed contact terminals of the left limit relay 21 and the right limit relay 22, respectively. The control circuit of the left-right rotation control is formed by adopting 2 limit sensors, 2 limit relays and 2 rotation solenoid valves, so that the two rotation directions are independently and separately controlled, and the left-right rotation limit control is not affected.
In some embodiments, the left limit sensor 11 and the right limit sensor 12 each include a first pin 1 and a second pin 2, and a conducting switch is arranged on a line between the first pin 1 and the second pin 2, and when the left limit sensor 11 or the right limit sensor 12 acquires a signal of the limit stop, the conducting switch is closed and conducted.
When the rotary limiting device is connected to the whole power supply 40, if the left limiting photoelectric sensor senses a limiting stop, the conducting switch between the first pin 1 and the second pin 2 is closed and conducted, so that the coil terminal of the left limiting relay 21 is powered on; the left limit relay 21 is changed from a normally closed contact terminal to a normally open contact terminal, and at the moment, the left limit electromagnetic valve is powered off, and a left rotation pilot oil path is cut off, so that the rotation platform cannot continue to rotate left, and at the moment, only right rotation operation can be performed. Similarly, if the right limit photoelectric sensor senses a limit stop, the conduction switch between the first pin 1 and the second pin 2 is closed and conducted, so that the coil terminal of the right limit relay 22 is powered on; the right limit relay 22 is changed from a normally closed contact terminal to a normally open contact terminal, and at the moment, the right limit electromagnetic valve is powered off, and a right rotation pilot oil path is cut off, so that the rotation platform cannot continue to rotate right, and at the moment, only left rotation operation can be performed.
As shown in fig. 2, a second aspect of the present application provides a control method of a swing limiting device of an excavator, which is applied to the swing limiting device as described above, and the control method of the swing limiting device includes the steps of:
s10: acquiring a rotation signal of the rotation platform through a limit sensor;
s20: when the limit relay detects the rotation signal, the rotation electromagnetic valve is controlled to lose electricity;
s30: and when the limit relay does not detect the rotation signal, controlling the rotation electromagnetic valve to be electrified.
In the embodiment, a limit sensor, a limit relay and a rotary solenoid valve are directly additionally arranged on an original electrical scheme, a rotary signal of a rotary platform is obtained through the limit sensor, the rotary signal is sent to the limit relay, the limit relay controls power on or power off of the rotary solenoid valve according to the received corresponding rotary signal, and then the on-off of a left rotary pilot oil way and a right rotary oil way can be controlled. In the process, a special rotation direction detection device is not needed, the control logic is simpler, and the universality of the control process is high.
In some embodiments, the step of controlling the swing solenoid valve to lose power when the limit relay detects the swing signal includes:
when the left limit sensor 11 senses a limit stop, the contact of the left limit sensor 11 is triggered and supplies power to the coil terminal of the left limit relay 21, and the left rotary electromagnetic valve 31 is powered off and cuts off a left rotary pilot oil path;
when the right limit sensor 12 senses a limit stop, the contact of the right limit sensor 12 is triggered and power is supplied to the coil terminal of the right limit relay 22, and the right swing solenoid valve 32 is de-energized and cuts off the right swing pilot oil path.
In some embodiments, the step of controlling the rotary solenoid valve to be energized when the limit relay does not detect the rotary signal includes:
when the left limit sensor 11 does not feel the limit stop, the normally closed contact terminal of the left limit relay 21 is controlled to be switched to the normally open contact terminal, and the left rotary electromagnetic valve 31 is electrified and conducts a left rotary pilot oil path;
when the right limit sensor 12 does not feel the limit stop, the normally closed contact terminal of the right limit sensor 12 is controlled to be switched to the normally open contact terminal, and the right rotary electromagnetic valve 32 is electrified and conducts the right rotary pilot oil path.
The control design of the electric system with the independent and separate control of the two rotation directions is adopted, the left rotation limit control system and the right rotation limit control system have no influence on each other, and the overall control cost is reduced.
For further ease of understanding the control logic of the present application, the overall control logic process is described in tabular summary as follows:
(1) Non-trigger state (TRUE is triggered, FALSE is not triggered)
(2) Trigger state
The table shows that the left and right rotation limiting can only be triggered at the same time, namely the rotation platform can only do one-direction limiting, so that the left and right rotation limiting control systems have no influence on each other.
The third aspect of the application provides an excavator, including getting on the bus assembly, get off the bus assembly and as described above gyration stop device, the bus assembly includes the revolving platform, and gyration stop device's left limit sensor 11 and right limit sensor 12 are all installed on the revolving platform, and gyration stop device's limit stop is installed on the bus assembly down, can send corresponding gyration signal when revolving platform gyration in-process, left limit sensor 11 or right limit sensor 12 detects limit stop.
When the rotary platform rotates on the lower vehicle assembly, the position of the limit stop block mounted on the lower vehicle assembly is not changed, signals of the limit stop block are respectively sensed by the left limit sensor 11 and the right limit sensor 12 in the left-right rotation process, so that the rotation direction is judged, and the rotation angle of the rotary platform is controlled by sending corresponding rotation signals. The rotation limiting device with the structure can be used for any type of excavator in common use, and the corresponding rotation direction detection device is prevented from being specially installed due to different types of excavators.
In the description of the present application, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or an implicit indication of the number of technical features being indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless explicitly defined otherwise.
In this application, unless specifically stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Although embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (10)
1. The utility model provides a gyration stop device of excavator, the excavator includes the revolving platform and for the gyration guide's oil circuit of gyration power is provided for the revolving platform, its characterized in that, gyration stop device includes:
the rotation limiting assembly is used for detecting the left-right rotation direction of the rotation platform and sending out corresponding rotation signals;
the rotary electromagnetic valve is arranged on the rotary pilot oil path, and the power-on or power-off of the rotary electromagnetic valve can be used for switching on or switching off the rotary pilot oil path so as to drive the rotary platform to rotate or stop rotating; and
the limiting relay is electrically connected with the rotary limiting assembly and is used for receiving the rotary signal sent by the rotary limiting assembly and controlling the power on or power off of the rotary electromagnetic valve according to the rotary signal.
2. The swing limit apparatus of an excavator of claim 1 wherein the swing limit assembly comprises a limit sensor and a limit stop, the limit sensor being mounted on the swing platform and being a normally open sensor, the internal circuit of the normally open sensor being conductive when the limit sensor senses the limit stop signal during the swing of the swing platform.
3. The swing limit apparatus of an excavator according to claim 2, wherein the limit sensor comprises a left limit sensor (11) and a right limit sensor (12), the left limit sensor (11) comprising a first contact which is triggered when the swing platform is turned to the left to a first limit position;
the right limit sensor (12) includes a second contact that is triggered when the swing platform is rotated to the right to a second limit position.
4. A swing limit apparatus of an excavator according to claim 3, wherein the limit relay comprises a coil terminal and a normally closed contact terminal, one end of the coil terminal is connected to a contact of the limit sensor, the other end is grounded, one end of the normally closed contact terminal is connected to a power source (40), the other end is connected to the swing solenoid valve, and when the coil terminal is energized, the normally closed contact terminal is switched to a normally open contact terminal.
5. The swing limiting device of an excavator according to claim 4, wherein the limiting relay comprises a left limiting relay (21) and a right limiting relay (22), the first contact and the second contact are respectively connected with the coil terminals of the left limiting relay (21) and the right limiting relay (22), the swing solenoid valve comprises a left swing solenoid valve (31) and a right swing solenoid valve (32), and the left swing solenoid valve (31) and the right swing solenoid valve (32) are respectively connected with the normally closed contact terminals of the left limiting relay (21) and the right limiting relay (22).
6. A swing limiting device of an excavator according to claim 3, wherein the left limit sensor (11) and the right limit sensor (12) comprise a first pin (1) and a second pin (2), a conducting switch is arranged on a line between the first pin (1) and the second pin (2), and when the left limit sensor (11) or the right limit sensor (12) acquires a signal of the limit stop, the conducting switch is closed and conducted.
7. A control method of a swing limiting device of an excavator, characterized by being applied to the swing limiting device according to any one of claims 1 to 6, the control method of the swing limiting device comprising the steps of:
acquiring a rotation signal of the rotation platform through a limit sensor;
when the limit relay detects the rotation signal, the rotation electromagnetic valve is controlled to lose electricity;
and when the limit relay does not detect the revolution signal, controlling the revolution electromagnetic valve to be electrified.
8. The method of controlling a swing limit apparatus of an excavator according to claim 7, wherein the step of controlling the swing solenoid valve to be de-energized when the limit relay detects the swing signal comprises:
when the left limit sensor (11) senses the limit stop, a contact of the left limit sensor (11) is triggered and supplies power to a coil terminal of the left limit relay (21), and the left rotary electromagnetic valve (31) is powered off and cuts off a left rotary pilot oil path;
when the right limit sensor (12) senses a limit stop, a contact of the right limit sensor (12) is triggered and supplies power to a coil terminal of the right limit relay (22), and the right rotary electromagnetic valve (32) loses power and cuts off a right rotary pilot oil path.
9. The method of controlling a swing limit apparatus of an excavator according to claim 7, wherein the step of controlling a swing solenoid valve to be energized when the limit relay does not detect the swing signal comprises:
when the left limit sensor (11) does not feel a limit stop, the normally closed contact terminal of the left limit relay (21) is controlled to be switched into a normally open contact terminal, and the left rotary electromagnetic valve (31) is electrified and conducts a left rotary pilot oil path;
when the right limit sensor (12) does not feel the limit stop, the normally closed contact terminal of the right limit sensor (12) is controlled to be switched into a normally open contact terminal, and the right rotary electromagnetic valve (32) is electrified and conducts a right rotary pilot oil path.
10. An excavator comprising an upper carriage assembly, a lower carriage assembly and a swing limit apparatus according to any one of claims 1 to 6, and which is capable of performing the control method according to any one of claims 7 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311870724.7A CN117758820A (en) | 2023-12-29 | 2023-12-29 | Excavator, rotation limiting device thereof and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311870724.7A CN117758820A (en) | 2023-12-29 | 2023-12-29 | Excavator, rotation limiting device thereof and control method |
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| Publication Number | Publication Date |
|---|---|
| CN117758820A true CN117758820A (en) | 2024-03-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311870724.7A Pending CN117758820A (en) | 2023-12-29 | 2023-12-29 | Excavator, rotation limiting device thereof and control method |
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| Country | Link |
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| CN (1) | CN117758820A (en) |
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2023
- 2023-12-29 CN CN202311870724.7A patent/CN117758820A/en active Pending
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