CN1181140A - Operational reaction force control device for operation lever of working machine - Google Patents
Operational reaction force control device for operation lever of working machine Download PDFInfo
- Publication number
- CN1181140A CN1181140A CN96193201A CN96193201A CN1181140A CN 1181140 A CN1181140 A CN 1181140A CN 96193201 A CN96193201 A CN 96193201A CN 96193201 A CN96193201 A CN 96193201A CN 1181140 A CN1181140 A CN 1181140A
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- China
- Prior art keywords
- working rig
- control lever
- acceleration
- detection means
- jib
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/52—Details of compartments for driving engines or motors or of operator's stands or cabins
- B66C13/54—Operator's stands or cabins
- B66C13/56—Arrangements of handles or pedals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G7/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with one single controlled member; Details thereof
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
- G05G2009/04766—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks providing feel, e.g. indexing means, means to create counterforce
Abstract
An operation for effectively preventing the swing of load is made possible by imparting to an operating lever (1) an operational reaction force F that becomes greater as an acceleration alpha detected by an acceleration detecting means (14) becomes greater, and moreover the operator can be relieved of fatigue.
Description
The present invention relates to the Work machine of crane etc., relate in particular to the control device of the operation reacting force of giving the operation control lever of handling working rigs such as jib.
In the winch operation of crane, be purpose with the operating performance that improves the operation control lever of handling winch, give the operation reaction force control apparatus of operation control lever operation reacting force, known by the public.
For example, real public clear 62-14077 communique discloses the control device that the operation reacting force with the proportional size of weight of suspended load weight changes.
Also have, in the fair 5-5755 communique of spy, not only according to the weight of suspended load, and the operation of corresponding generation with control lever operational ton (lifting-speed of winch) reacting force, give winch operation control lever with this, wish further to improve the operating performance of control lever.
But,, also may not be applicable to the revolution operation of crane and the luffing operation of working rig (jib) even described prior art is effective aspect the winch operation.
That is to say, as shown in Figure 5, the jib 21 of crane 20 is when arrow A, the action of B direction luffing, the operator can not hold the trend of jib 21 owing to do not know the acceleration of jib 21, therefore be difficult to delicate motion by control lever control jib 21, the load runout takes place, and the load 22 of suspension is done the relative motion of pendulum-type swing to arrow C, D direction.
And during the 23 revolution actions of top solid of revolution, the load 22 of suspension is equally to gyratory directions load runout.
So, the operation reacting force of the load runout that is necessary effectively to suppress such is given the operation control lever, still, and only according to the weight of suspended load and the information of so-called control lever operational ton, so-called prior art with the operation reacting force is given the operation control lever does not reach above-mentioned purpose.
And, when being suitable for the prior art give with the proportional operation reacting force of the weight of suspended load, for when handling the heavy load working rig for a long time, when handling working rig for a long time with big constant speed, because big operation reacting force long duration of action is in the operation control lever, the problem that therefore, operator's fatigue also arranged.
The present invention is in view of this actual state, and its purpose is to provide a kind of load runout that suppresses effectively, can easily operate, and can alleviate the operation reaction force control apparatus of operator's fatigue.
So, the present invention gives the operation reaction force control apparatus of operation control lever of the working rig of the operation reacting force opposite with direction of operating to the operation control lever of handling working rig, have the acceleration detection means that detect described working rig acceleration, with along with becoming big with the detected acceleration of these acceleration detection means, the means of giving of described operation control lever being given the operation reacting force of the operation reacting force that becomes big.
By this formation,, will give the operation reacting force that becomes big to described operation control lever along with becoming big with the detected acceleration of acceleration detection means.
That is to say, during working rig generation load runout, as shown in Figure 5, the load 22 that on working rig 21, hangs, during along working rig direction of operating (the revolution operation is the sense of rotation along working rig 23, and the luffing operation is the direction along C or D) generation load runout, need be with working rig 21 or 23, quicken or deceleration-operation, to suppress the load runout.
Along with the acceleration change of working rig is big, the change of operation reacting force changes greatly and thereupon, according to the operation reacting force, can hold acceleration, the deceleration regime of working rig.Its result quickens working rig or deceleration, and operation suppresses load runout (controlling the motion relative to working rig load), can easily be started with by the operation reacting force, can suppress the load runout effectively.
Also have, except acceleration mode or deceleration regime, when constant speed, owing to do not have big operation reaction force acts in the operation control lever, even so when the working rig of long-time manipulation heavy load, with when handling working rig for a long time,, can alleviate operator's fatigue significantly owing to solved the problem of big operation reacting force long duration of action in the operation control lever with big constant speed.
Below accompanying drawing is done simple declaration.
Fig. 1 is the pie graph of the operation control lever reaction force control apparatus embodiment of the relevant working rig of the present invention of expression.
Fig. 2 is the control characteristic figure of the relation of expression working rig acceleration and operation reacting force.
Fig. 3 is the synoptic diagram of expression another embodiment of the present invention.
Fig. 4 is the synoptic diagram of expression another embodiment of the present invention.
Fig. 5 is the side view of automobile (formula) crane that is applicable to embodiment.
Below, with reference to accompanying drawing, the embodiment of operation reaction force control apparatus of the operation control lever of relevant working rig of the present invention is described.
As shown in Figure 3, in an embodiment, the situation of giving the operation reacting force to the operation control lever of the luffing of the working rig jib 21 of manipulating crane 20 is described.
Fig. 1 is the pie graph of the control operation counter-force device of the operation control lever 1 in the pilothouse that is provided in crane 20 shown in the presentation graphs 3.
That is to say, when to the direction of arrow (direction that jib 21 is raise) manipulation operations control lever 1, use between the piston 4 with piston 3 and working rig decline, depress the piston 3 of respective operations direction by operation panel 1a in the working rig rising of remote-controlled valve 2.Also have, when to opposite direction (direction that jib 21 is descended) manipulation operations control lever 1, depress piston 4 equally.
Below two pistons 3,4, disposed working rig respectively and raise with valve plunger 5, descend with valve plunger 6, by measuring spring 7 or 8, push the valve plunger 5 or 6 of the corresponding described piston of depressing one side, it is moved, here downwards, owing to depress piston 3, valve plunger 5 moved downwards.
Its result is by fine setting hole f, the pump pressure chamber Pp and the excretion device D that connect repeatedly, disconnection are connected with the spout of hydraulic pump 15.That is, with the pipeline 16 of the corresponding side of the piston that is depressed or 17 channel pressure P1 or P2, be increased to the pressure of the power (proportional with the operative strokes amount of control lever 1) that is equivalent to shorten measuring spring 7 or 8, both are equilibrated at the centre position of drain hole D and pump pressure chamber Pp.
That is to say that channel pressure P1 and P2 are elevated to the proportional size of operative strokes amount with control lever 1, channel pressure P1 that this is big or small or P2 act on the guiding port 9a or the 9b of variable valve 9.Here, make operation control lever 1, act on the proportional channel pressure P1 of this operative strokes amount and regulate 9 guiding port 9a to the operation of jib rising direction.Its result, variable valve 9 actions are used and the corresponding speed of this valve opening, drive the hydraulic cylinder of the driving usefulness of jib 21, and jib 21 is raise.Also have, when channel pressure P2 acted on the guiding port ab of variable valve 9, variable valve 9 by described hydraulic cylinder, descended jib 21 to moving in the other direction.
At the root of the axle 1b of control lever 1, connect the turning axle 10a of motor 10, along with the rotation of motor 10, operation control lever 1 is verted to the opposite direction of direction of operating or direction of operating.
Motor 10 changes its sense of rotation and its spin moment according to the electric command signal (voltage signal) of regulator 11 outputs.
Pipeline 1,17 has set pressure transducer 12,13 respectively, is respectively applied for to detect manifold pressure P1, P2, with as the control lever operational ton P1 of jib rising direction, the control lever operational ton P2 of jib descent direction; Pressure transducer 12,13 detected separately pressure P 1, P2 as control lever operational ton detection means export to regulator 11.
Acceleration detector 14 is the acceleration detectors when detecting jib 21 risings or decline, for example, be to constitute through the differentiating circuit of the acceleration alpha output of differential by speed pickup (as using rotary encoder and laser speed sensor etc.) with the output of this speed pickup.And, also can use servo acceleration transducer etc. as acceleration detector 14.The sense acceleration α of acceleration detector 14 exports to regulator 11.
Also have, also can be with the function endowing regulator 11 of described differentiating circuit.
Also have,, do not use described pressure transducer 12,13, also can use the operational ton that operate control lever 1 as the potential difference meter of rotation amount detection etc. as described control lever operational ton detection means.
Also have, also the speed of control lever operational ton as jib 21 can be detected, when constituting described acceleration detector 14 with speed pickup and differentiating circuit, the detected value that still can use this speed pickup is directly as the detected value of control lever operational ton, and do not need to establish in addition control lever operational ton detection means, can reduce cost to reach.
Have again, pressure P 1, P2 are considered as the speed of jib 21, also can be by pressure P 1, P2 differential being detected the acceleration alpha of jib 21.
Regulator 11 is according to using acceleration detector 14 detected jib acceleration alpha, with pressure transducer 12,13 detected control lever operational ton P1, P2, as described below, obtain the reciprocal operation reacting force of the so-called direction of operating F (with reference to Fig. 1) that give operation control lever 1, corresponding described operation reacting force F, generate electric command signal, this electricity command signal is to motor 10 outputs.
Fig. 2 is the coordinate curve of the control characteristic of the such reacting force control of expression, show the relation that jib acceleration alpha and control lever operational ton P1, P2 and control lever are operated reacting force F as control characteristic L (L1-LM-L2), such relation is deposited in the storer of regulator 11.
As by known to Fig. 2, along with the change of the acceleration alpha of jib 21 is big, the operation reacting force becomes greatly gradually, setting control characteristic L.
Also have, along with control lever operational ton P1, P2 become big, the order that control characteristic is pressed L1 → LM → L2 changes, and operation reacting force order becomes big, sets control characteristic L1 → LM → L2.
Be described in detail as follows:
The jib acceleration alpha for negative situation under, (when the velocity reversal of the jib 21 by the control lever operation is opposite with the direction of acceleration) operation reacting force counter-rotating when preventing that jib from slowing down is set at the operation reacting force and approaches zero low value.
Also have, the little field of many control lever operational tons require to operate control lever 1 than inhibition load runout also micro-ly is necessary to reduce to operate reacting force F, makes jib 21 carry out trace control easily.So along with the control lever operational ton reduces, operation reacting force F also becomes less, and control characteristic is changed by the order of L2 → LM → L1.
Also having, is under the great situation in the acceleration alpha of jib 21, and the operation reacting force is strengthened, and is necessary to suppress the fierceness action of the jib 21 that causes because of faulty operation etc.So, in the big field of jib acceleration alpha, the degree of tilt of control characteristic L, bigger than little field, make operation reacting force F be nonlinearities change.
In regulator 11, current control lever operational ton P1, P2 is the 1st threshold value of regulation when following, and L1 is as control characteristic in selection.And when control lever operational ton P1, P2 be when above, to select control characteristic L2 as the 2nd threshold values of setting than the big value of described the 1st threshold values.And, when control lever operational ton P1, P2 are bigger than described the 1st threshold values, than described the 2nd threshold values hour, in the scope of L1-L2 as shown by arrows, along with operational ton strengthens, the control characteristic LM that selection operation reacting force F strengthens.
Based on the control characteristic L of such selection, obtain and the current corresponding operation reacting force of jib acceleration alpha F, generate corresponding electric command signal, to motor 10 outputs with this operation reacting force F.Thus, driving motor 10 is given the operation reacting force F of operation control lever 1.
Its result, the operator is because according to the operation reacting force F that operation control lever 1 is given, can hold acceleration, the deceleration regime of the jib 21 of working rig, F starts with from the operation reacting force, the load runout that suppresses jib 21 acceleration-decelerations can be easily operated, the load runout can be suppressed effectively.
Also have, except acceleration mode or deceleration regime, when constant speed, because big operation reacting force F does not act on operation control lever 1, when handling jib 21 for a long time for heavy load, even when handling jib 21 for a long time with big constant speed, can not give big operation reacting force F to the control lever 1 of long-time operation yet, alleviated operator's fatigue greatly.
Also have, described Fig. 2 illustrates one of control characteristic L example, can be according to all family curves of setting such as operating conditions.
For example, in an embodiment,, control characteristic L is changed,, all can implement fixedly control characteristic L (for example fixed L 1) regardless of the size of control lever operational ton according to the control lever operational ton.
Below, Fig. 3 and Fig. 4 represent another embodiment of this invention.
In this embodiment, can more correctly hold the luffing motion of jib front end for the operator, set to detecting the detecting device of jib luffing acceleration of motion on the top of jib, and, because acceleration transducer costs an arm and a leg, adopt the sensor that detects jib angle or arm support position, as the detecting device of the acceleration that detects described jib luffing motion, the detected value of these sensors is obtained the jib acceleration through second-order differential.
That is to say the position that the operator of crane can infer the fore-and-aft direction on jib top by the variable phase angle θ (with reference to Fig. 3) and the long L of jib of jib.The jib top is owing to be subjected to the vibration of sag, jib, and wind etc. have caused complicated motion to the influence that jib moves etc.
Therefore, described accelerometer is installed on the hydraulic cylinder 30 into the jib luffing, the luffing acceleration of instrumentation amount jib when quickening by this, be used as the operation reacting force and give the such skill of the torque corresponding with this measured value etc., the motion that the crane operation person correctly holds the jib top is quite difficult.And, owing to make luffing hydraulic cylinder 30 and jib 21 connecting rod combinations, the relation of the stretching speed of luffing hydraulic cylinder 30 and jib variable phase angle speed does not become linearity, even like this, degree of will speed up meter is installed in the skill on the luffing hydraulic cylinder 3, concerning the crane operation person, be difficult to hold the motion on jib top.
For this reason, in this embodiment, as shown in Figure 3, the angle detector 25 that detects jib angle θ is installed in the top of jib 21.The output of this angle detector 25 inputs to regulator 11 as shown in Figure 4.
(correctly say by the fore-and-aft direction of the jib angle θ of angle detector 25 inputs with regulator 11 computings, it is the fore-and-aft direction of jib 21, rather than the fore-and-aft direction of car body) ingredient cos θ, by with this operation values cos θ second-order differential, obtain the ingredient-cos θ of fore-and-aft direction of the acceleration on jib top.Regulator 11 is identical with the embodiment of front, according to the ingredient-cos θ of the fore-and-aft direction of the acceleration on the jib top of obtaining like this, with pressure transducer 12,13 detected control lever operational ton P1, P2, obtain the reciprocal operation reacting force of the direction of operating F that give operation control lever 1 by the relation shown in Fig. 2, generate the corresponding electric command signal with this operation reacting force F, this electricity command signal is to motor 10 outputs.Thus, driving motor 10 is given the proportional operation reacting force of ingredient-cos θ with the fore-and-aft direction of the acceleration on jib top to operation control lever 1.
Like this, in this embodiment, give luffing operation control lever as reacting force with the proportional torque of acceleration of the fore-and-aft direction on jib top.Therefore, on one side the crane operation person can operate luffing operation control lever, feel on one side the jib top fore-and-aft direction move (acceleration), mobile (position, the speed) on also measurable thus jib top.Therefore, when suspended load is moved, the runout of suspended load does not take place as far as possible yet, and carry out the operation of jib.Equally, during the jib luffing, in order to stop the motion of suspended load generation runout, preferably the jib top is maintained the vertical direction of suspended load, to carrying out such operation, present embodiment also is effective.And, in this embodiment,,,, obtain the acceleration on jib top by output second-order differential with this sensor owing to use cheap jib angle transducer as the sensor of the acceleration that detects the jib top, can reduce the cost of device.
Also have, in described embodiment, obtained the acceleration of jib top fore-and-aft direction, and can obtain the acceleration of jib top above-below direction, and will give the luffing control lever for the operation reacting force with the proportional masterpiece of this acceleration.
Also have, in described embodiment, used the jib angle transducer to ask the jib angle on jib top, and the position that position transducer is asked the jib top can be set, and, asked the acceleration on jib top by output second-order differential with this position transducer.
Have, in described each embodiment, though all be that jib with crane is set at working rig, the working rig that drives if suppress the load runout is then applicable to any working rig again.
As mentioned above, utilize the present invention can suppress the operation of load runout easily effectively, and, in the operating process of control lever, can alleviate operator's fatigue greatly.
Claims (10)
1. the operation reaction force control apparatus of the operation control lever of a working rig, the operation control lever of handling working rig is given and the rightabout operation reacting force of direction of operating, it is characterized in that, have the acceleration detection means that detect described working rig acceleration, with along with becoming big with the detected acceleration of these acceleration detection means, the means of giving of described operation control lever being given the operation reacting force of the operation reacting force that becomes big.
2. the operation reaction force control apparatus of the control lever of working rig according to claim 1 is characterized in that, described acceleration detection means are installed on the top of working rig.
3. the operation reaction force control apparatus of the control lever of working rig according to claim 1 and 2 is characterized in that, described acceleration detection means are to detect the detection means of working rig fore-and-aft direction acceleration.
4. the operation reaction force control apparatus of the operation control lever of working rig according to claim 1, it is characterized in that, the operational ton detection means that also has the operational ton that detects described operation control lever, described means of giving the operation reacting force are given the means of giving of the operation reacting force that becomes big along with big with the detected operation quantitative change of described operational ton detection means to described operation control lever.
5. the operation reaction force control apparatus of the operation control lever of working rig according to claim 1, it is characterized in that, described acceleration detection means are to detect the working rig angular detection means of working rig angle, with by these working rig angular detection means with detected angle through second-order differential, ask the acceleration computing means of working rig acceleration.
6. the operation reaction force control apparatus of the operation control lever of working rig according to claim 5 is characterized in that, is provided with the detection means of described working rig angle on the top of working rig.
7. according to the operation reaction force control apparatus of the operation control lever of claim 5 or 6 described working rigs, it is characterized in that, the operational ton detection means that also has the operational ton that detects described operation control lever, the described means of giving of giving the operation reacting force, along with big, described operation control lever is given the operation reacting force that becomes big with the detected operation quantitative change of described operational ton detection means.
8. the operation reaction force control apparatus of the operation control lever of working rig according to claim 1, it is characterized in that, described acceleration detection means comprise the working rig position detection means that detects the working rig position, with by by the detected working rig of this working rig position detection means position through second-order differential, obtain the acceleration computing means of the acceleration of working rig.
9. the operation reaction force control apparatus of the operation control lever of working rig according to claim 8 is characterized in that, is provided with the detection means of described working rig position on the top of working rig.
10. the operation reacting force control method of working rig operation control lever, give the rightabout operation control of direction of operating reacting force to the operation control lever of handling working rig, it is characterized in that, detect the acceleration of described working rig, along with the change of this detected acceleration is big, described operation control lever is given the operation reacting force that becomes big.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8406995 | 1995-04-10 | ||
| JP84069/95 | 1995-04-10 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1181140A true CN1181140A (en) | 1998-05-06 |
Family
ID=13820213
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN96193201A Pending CN1181140A (en) | 1995-04-10 | 1996-04-10 | Operational reaction force control device for operation lever of working machine |
Country Status (5)
| Country | Link |
|---|---|
| EP (1) | EP0821299A4 (en) |
| KR (1) | KR100301627B1 (en) |
| CN (1) | CN1181140A (en) |
| TW (1) | TW353652B (en) |
| WO (1) | WO1996032670A1 (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1325365C (en) * | 2001-11-05 | 2007-07-11 | 日立建机株式会社 | Operation lever device of construction machinery and construction machinery |
| CN100464021C (en) * | 2002-12-20 | 2009-02-25 | 哈姆股份公司 | Self-propelled vehicle, in particular a road-building machine and a method for driving and controlling a vehicle with the aid of a rotatable driver seat |
| CN101027622B (en) * | 2004-09-24 | 2012-03-21 | Dav公司 | Lever control device, in particular for controlling members of a motor vehicle |
| CN101528539B (en) * | 2007-08-08 | 2012-06-13 | 莫戈公司 | Control stick adapted for use in a fly-by-wire flight control system |
| CN103303800A (en) * | 2013-06-24 | 2013-09-18 | 中联重科股份有限公司 | Rotating control method of crane, rotating control system and crane |
| CN104627840A (en) * | 2015-01-09 | 2015-05-20 | 深圳市正弦电气股份有限公司 | Crane force feedback system |
| CN112456361A (en) * | 2020-11-25 | 2021-03-09 | 西北工业大学 | Control method for reducing swing amplitude of underwater extension set of hydraulic winch for hoisting sonar |
| CN114258446A (en) * | 2019-09-12 | 2022-03-29 | 株式会社小松制作所 | Work vehicle and work vehicle control method |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7753077B2 (en) | 2007-04-19 | 2010-07-13 | Husco International Inc. | Hybrid hydraulic joystick for electrically operating valves |
| US7753078B2 (en) | 2007-04-19 | 2010-07-13 | Husco International Inc. | Hybrid hydraulic joystick with an integral pressure sensor and an outlet port |
| JP7364999B2 (en) * | 2019-09-09 | 2023-10-19 | 株式会社タダノ | Boom operating system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6017510A (en) * | 1983-07-08 | 1985-01-29 | Sumitomo Electric Ind Ltd | Feedback controlling device for anti-rolling of rope suspended crane |
| JPH0339593Y2 (en) | 1985-07-09 | 1991-08-20 | ||
| JPH0313513Y2 (en) * | 1985-07-25 | 1991-03-27 | ||
| JPH01226697A (en) * | 1988-03-03 | 1989-09-11 | Kobe Steel Ltd | Operating reaction force controller for winch |
| EP0366119B1 (en) * | 1988-10-26 | 1994-01-19 | KABUSHIKI KAISHA KOBE SEIKO SHO also known as Kobe Steel Ltd. | Operating force controlling device for operating lever |
| FR2643502B1 (en) * | 1989-02-20 | 1996-01-19 | Aerospatiale | SWITCHING HANDLE CONTROL DEVICE, PARTICULARLY FOR AIRCRAFT, AND SYSTEM COMPRISING SUCH A DEVICE |
| JPH055755A (en) | 1991-04-25 | 1993-01-14 | Fuji Electric Co Ltd | Optical transformer |
-
1996
- 1996-04-10 KR KR1019970706690A patent/KR100301627B1/en not_active IP Right Cessation
- 1996-04-10 EP EP96909331A patent/EP0821299A4/en not_active Withdrawn
- 1996-04-10 WO PCT/JP1996/000983 patent/WO1996032670A1/en not_active Application Discontinuation
- 1996-04-10 CN CN96193201A patent/CN1181140A/en active Pending
- 1996-04-20 TW TW085104718A patent/TW353652B/en active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1325365C (en) * | 2001-11-05 | 2007-07-11 | 日立建机株式会社 | Operation lever device of construction machinery and construction machinery |
| CN100464021C (en) * | 2002-12-20 | 2009-02-25 | 哈姆股份公司 | Self-propelled vehicle, in particular a road-building machine and a method for driving and controlling a vehicle with the aid of a rotatable driver seat |
| CN101027622B (en) * | 2004-09-24 | 2012-03-21 | Dav公司 | Lever control device, in particular for controlling members of a motor vehicle |
| CN101528539B (en) * | 2007-08-08 | 2012-06-13 | 莫戈公司 | Control stick adapted for use in a fly-by-wire flight control system |
| CN103303800A (en) * | 2013-06-24 | 2013-09-18 | 中联重科股份有限公司 | Rotating control method of crane, rotating control system and crane |
| CN103303800B (en) * | 2013-06-24 | 2015-06-03 | 中联重科股份有限公司 | Rotating control method of crane, rotating control system and crane |
| CN104627840A (en) * | 2015-01-09 | 2015-05-20 | 深圳市正弦电气股份有限公司 | Crane force feedback system |
| CN114258446A (en) * | 2019-09-12 | 2022-03-29 | 株式会社小松制作所 | Work vehicle and work vehicle control method |
| CN114258446B (en) * | 2019-09-12 | 2023-08-08 | 株式会社小松制作所 | Work vehicle and control method for work vehicle |
| CN112456361A (en) * | 2020-11-25 | 2021-03-09 | 西北工业大学 | Control method for reducing swing amplitude of underwater extension set of hydraulic winch for hoisting sonar |
Also Published As
| Publication number | Publication date |
|---|---|
| EP0821299A1 (en) | 1998-01-28 |
| KR100301627B1 (en) | 2001-09-03 |
| WO1996032670A1 (en) | 1996-10-17 |
| EP0821299A4 (en) | 2000-02-23 |
| KR19980703286A (en) | 1998-10-15 |
| TW353652B (en) | 1999-03-01 |
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