CN1940188A - Work machine - Google Patents
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- CN1940188A CN1940188A CN 200610074790 CN200610074790A CN1940188A CN 1940188 A CN1940188 A CN 1940188A CN 200610074790 CN200610074790 CN 200610074790 CN 200610074790 A CN200610074790 A CN 200610074790A CN 1940188 A CN1940188 A CN 1940188A
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Abstract
Provided is a work machine can easily implement the manipulation of operation member namely attachement device.A work machine includes an attachment movable by an actuator, an operational member for operating the attachment through the actuator; and a controller operable to output an operation signal for operating the actuator in response to an operation of the operational member. The controller allows setting of a change amount in the operation signal corresponding to an operational amount of the operational member, independently for each operational direction of the actuator.
Description
Technical field
The present invention relates to the working rig of backhoe etc.
Background technology
The backhoe (for example, TOHKEMY 2002-39373 communique) of the apparatus for work of fixtures such as possessing breaker mounting or grab bucket is disclosed all the time.By controls the actuator of oil cylinder etc. is moved, can make the fixture action with the operator's seat setting.Under the state that has driven the backhoe engine, controls can be handled, in this state if mobile controls, and then actuator work and make the fixture action.In addition, the manner of execution of variable fixture in the backhoe.
Summary of the invention
But in traditional working rig, corresponding to a manipulated variable of controls, the hydraulic pressure of control valve is confirmed as one, and therefore corresponding to the manipulated variable of controls, the responsiveness of actuator or reaction speed are often constant.In addition, no matter the direction of action of actuator how, the responsiveness of actuator or reaction speed are all often constant.
Because the responsiveness or the reaction speed of the actuator of a corresponding manipulated variable are often constant, when handling the fixture of different manner of execution such as crushing engine or grab bucket with controls, must adjust the manipulated variable of controls with sensation according to the fixture of operator's manipulation of handling controls.In addition, because the responsiveness or the reaction speed of actuator are constant, can not suitably set manner of execution by each direction of action of fixture.Therefore, the manipulation of fixture is often very difficult.
Also have, under the state that has driven engine, in case handle controls, fixture just begins action, when therefore not handling controls, should be noted that not mobile unintentionally controls.
The present invention provides the manipulation of carrying out controls easily in view of the above problems, i.e. the working rig of the manipulation of fixture.
The working rig of first feature structure of the present invention possesses: by the fixture of actuator action; Handle the controls of each fixture via described actuator; And the manipulation that responds described controls, output makes the control part of the working signal of described actuator action.In this working rig, described control part can be set the variable quantity of the described working signal corresponding with the manipulated variable of described controls according to each direction of action of described actuator respectively independently.
According to this structure, can set the variable quantity of the described working signal corresponding respectively independently according to each direction of action of actuator with the manipulated variable of described controls.Therefore, press each direction of action of actuator, can suitably set the variable quantity of the working signal corresponding with the manipulated variable of controls.As a result, press each direction of fixture action, can suitably set the acting characteristic of the fixture corresponding, and can improve the maneuverability of fixture with the manipulated variable of controls.
Second feature structure of the present invention is: the variable quantity of the described working signal that described control part is can multistage change corresponding with the manipulated variable of described controls.
According to this structure, the variable quantity of can multistage change corresponding described working signal with the manipulated variable of controls.Therefore, according to the kind of fixture, can suitably set the variable quantity of the working signal corresponding with the manipulated variable of controls.As a result, according to the kind of fixture, can suitably set the acting characteristic of the fixture corresponding, and can improve the maneuverability of fixture with the manipulated variable of controls.
The 3rd feature structure of the present invention is: described actuator utilizes working oil work, described working rig possess to control valve that described actuator is supplied with working oil with control valve on the electromagnetic valve that is connected by each direction of action of described actuator.Described electromagnetic valve is adjusted the hydraulic pressure that reaches described control valve according to described working signal work, can adjust the aperture of described control valve, and described control part can be set the variable quantity of the described working signal corresponding with the manipulated variable of described controls independently by each electromagnetic valve.
According to this structure, utilize in the actuator of working oil work, can set the variable quantity of the described working signal corresponding by each direction of action of actuator independently with the manipulated variable of described controls.
The 4th feature structure of the present invention is: connect two described electromagnetic valves on described control valve, make described actuator in a direction and other direction this both direction action opposite with this direction.
According to this structure, can reach all directions of other direction this both direction opposite by a direction with this direction, set the variable quantity of the described working signal corresponding with the manipulated variable of described controls.
The 5th feature structure of the present invention is: the manipulation that described control part possesses the described controls of response makes the effective model of described actuator action, even and if handle described controls, the also idle invalid mode of described actuator.
According to this structure, the manipulation that control part possesses the described controls of response makes the effective model of described actuator action, even and if handle described controls, the also idle invalid mode of described actuator.Therefore, when handling various fixture, can prevent the situation of chien shih fixture action unintentionally.
The 6th feature structure of the present invention is: in the described effective model of described control part, possess a plurality of patterns of the manner of execution of the described actuator of change.
According to this structure,, can suitably select the manner of execution of actuator according to the kind of fixture because control part is provided with a plurality of patterns.As a result, can improve the maneuverability of fixture.
Description of drawings
Fig. 1 is the system construction drawing that makes the actuator action.
Fig. 2 is the oil hydraulic circuit figure that makes actuator work.
Fig. 3 is the control chart of control electromagnetic valve.
Fig. 4 is the control chart that cuts off transformation line.
Fig. 5 is the key diagram of pattern.
Fig. 6 is the skeleton diagram of various fixtures.
Fig. 7 is the key diagram of explanation grade setting.
Fig. 8 is the key diagram that the explanation pattern is selected.
Fig. 9 is the flow chart that switches to effective model from invalid mode.
Figure 10 is the flow chart that switches to invalid mode from effective model.
Figure 11 is the flow chart of the action of expression setting pattern.
Figure 12 is the flow chart of the action of expression two direction full opening modes.
Figure 13 is the flow chart of the action of expression two direction speed unrestricted models.
Figure 14 is the flow chart of the action of expression one direction speed unrestricted model.
Figure 15 is the flow chart of variation of the action of expression setting pattern.
Figure 16 is the key diagram of the grade setting in the explanation variation.
Figure 17 is all overall diagram in expression backhoe side.
Figure 18 is the front view in expression backhoe front.
Figure 19 is the allocation plan of the configuration of controls around the expression operator's seat.
(symbol description)
1 working rig, 28 control parts, 24 control valves, 35 electromagnetic valves, S2 working signal.
The specific embodiment
Below, based on the description of drawings embodiments of the present invention.Fig. 1～Figure 19 represents the working rig of backhoe of the present invention etc.
As shown in figure 17, working rig (backhoe) 1 is made of the mobile device 2 of bottom and the revolving body 3 on top.Mobile device 2 possesses the pair of right and left moving body 4 of the rubber system of being provided with crawler belt, adopts the crawler type mobile device that drives two moving bodys 4 by mobile motor M.In addition, the front portion of this mobile device 2 is provided with dozer 5.
Revolving body 3 is provided with: at the revolving bed of supporting freely to rotate on every side at gyroaxis by floating bearing 11 above-below directions on the mobile device 2 12, and the apparatus for work 13 (excavating gear) that possesses in these revolving bed 12 front portions.On revolving bed 12, be provided with engine 7, radiator 8, operator's seat 9, fuel tank, operating oil tank etc.In addition, revolving bed 12 is provided with the driver's cabin 14 that surrounds operator's seat 9, and described engine 7 is configured in the left and right directions right side and by opening and closing covering such as hood 15.
Apparatus for work 13 possesses: the suspension type carriage of supporting on every side in the axle center of support rack 16 above-below directions that the ratio central portion of revolving bed 12 anterior left and right directions is provided with setovering a little on the right side 17 with freely swinging; The swing arm 18 that ground is hinged and easy on and off is swingingly supported freely reverses around this suspension type carriage 17 makes the axle center of base portion side at left and right directions; The dipper 19 that ground is hinged and front and back are supported with freely swinging freely reverses around the axle center of these swing arm 18 front left and right directions; And the scraper bowl 20 that can do front bucket/tipping bucket action ground setting in these dipper 19 front.
The leading section of dipper 19 can be installed various fixtures such as grab bucket 90, capping 91, crushing engine 92, brush cutter 93, roll-over bucket, convertible grab bucket, to replace scraper bowl 20.In addition, be provided with working oil supply unit (diagram is omitted) from working oil to the actuator that makes the fixture action that replaces scraper bowl 20 and install that supply with at dipper 19 leading sections.
Each actuator of above-mentioned suspension type oil cylinder, boom cylinder 22, bucket arm cylinder 23, bucket cylinder 21 etc. moves by working oil.That is, working rig is supplied with a plurality of control valves 24 (24a, 24b, 24c, 24d, 24e) by oil pump 29 with the working oil in the operating oil tank that is provided with on the revolving bed 12, via each control valve 24 respectively to actuator transportation work oil, thereby make each actuator work.
As Figure 18, shown in Figure 19, be to be undertaken by the controls 25 of being located at operator's seat 9 to the manipulation of each fixture.This controls 25 comprise be located at operator's seat 9 left and right sides about each control stick 26L, 26R and be located at about the flow switch 27 (manoeuvre portion on hand) of handle part of one of each control stick 26L, 26R.For example, flow switch 27 is located at the handle part of right control stick 26R.About each control stick 26L, 26R ground that all around freely swings from the neutral position supported, flow switch 27 is supported on the ground that freely swings about therefrom upright position on the handle.
About handling, when each control stick 26L, 26R or flow switch 27, detect the manipulated variable (manipulation angle) of these control sticks, and manipulated variable is transformed into electric control signal outputs to control part 28 (with reference to Fig. 1) with position measurement instrument or sensor etc.
Fig. 1 is the system construction drawing that makes the actuator action, and Fig. 2 is the oil hydraulic circuit figure that makes the actuator action.
About each control stick 26L, 26R and flow switch 27 be electrically connected with the control part 28 that constitutes by CPU etc., this control part 28 is connected with step switch 30, configuration switch 31, first selector switch (left side selector switch), 32, second selector switch (right side selector switch) 33, key switch 34 respectively.In addition, control part 28 is electrically connected with a plurality of electromagnetic valves 35 (35a, 35b, 35c, 35d, 35e, 35f, 35g, 35h, 35i, 35j).
When control part 28 is transfused to the control signal S1 of manipulated variable (manipulation angle) of each control stick 26L, 26R about response or flow switch 27, will output to each electromagnetic valve 35 corresponding to the working signal S2 of this control signal S1 (manipulated variable).
As shown in Figure 2, be supplied to hydraulic oil via the first oil circuit 38a from first pump 37 on each electromagnetic valve 35, by the switching of each electromagnetic valve 35, the hydraulic pressure that is added to each control valve 24 changes.In addition, be supplied to working oil via the second oil circuit 38b from second pump 39 on each control valve 24,, determine the aperture of this control valve 24 and supply with working oil to each actuator by being added to the hydraulic pressure of each control valve 24.
Below, the elemental motion of each actuator describes when being handled with regard to controls 25.
For example, with left control stick 26L from the neutral position forward during side oscillation, the left control stick 26L of control part 28 responses is to the control signal S1 of the manipulated variable (manipulation angle) of front side, to the electric current of dipper tipping bucket with the solenoid 36a output predetermined value of electromagnetic valve 35a, i.e. working signal S2.Like this, dipper tipping bucket electromagnetic valve 35a response current value, in other words, corresponding to left control stick 26L to the control signal S1 of the manipulated variable of front side and open, the result, dipper is controlled with the hydraulic pressure of control valve 24a, and dipper 19 is to do the tipping bucket action with left control stick 26L to the proportional speed of the manipulated variable of front side.
If with left control stick 26L side oscillation backward from the neutral position, then control part 28 responses are transformed into electric control signal S1 with left control stick 26L to the manipulated variable of rear side, fiddle with the electric current of exporting predetermined value with the solenoid 36b of electromagnetic valve 35b to dipper.Like this, dipper is fiddled with electromagnetic valve 35b response current value and is opened, the result, and dipper is controlled with the hydraulic pressure of control valve 24a, and dipper 19 is to fiddle with action with left control stick 26L to the proportional speed of the manipulated variable of rear side.
If left control stick 26L is swung to the left from the neutral position, then control part 28 responses are transformed into electric control signal S1 with left control stick 26L to the manipulated variable in left side, and the electric current of predetermined value is exported in revolution left with the solenoid 36c of electromagnetic valve 35c.Like this, a left side is turned round and is opened with electromagnetic valve 35c response current value, the result, and revolution is controlled with the hydraulic pressure of control valve 24b, and rotary motor M1 drives and makes revolving bed 12 to turn round to the proportional speed of the manipulated variable in a left side left side with left control stick 26L.
If left control stick 26L is swung to the right from the neutral position, control part 28 responses are transformed into electric control signal S1 with left control stick 26L to the manipulated variable on right side, export the electric current of predetermined value to the solenoid 36d of right-hand rotation electricity consumption magnet valve 35d.Like this, right-hand rotation is opened with electromagnetic valve 35d response current value, the result, revolution is controlled with the hydraulic pressure of control valve 24b, rotary motor M1 drive and make revolving bed 12 with left control stick 26L to the proportional speed right-hand rotation of the manipulated variable on right side.
If with right control stick 26R side oscillation forward from the neutral position, control part 28 responses are transformed into electric control signal S1 with right control stick 26R to the manipulated variable of front side, descend to swing arm and export the electric current of predetermined value with the solenoid 36e of electromagnetic valve 35e.Like this, swing arm descends and opens with electromagnetic valve 35e response current value, the result, and swing arm is controlled with the hydraulic pressure of control valve 24c, and swing arm 18 is to descend to the proportional speed of the manipulated variable of front side with right control stick 26R.
If with right control stick 26R side oscillation backward from the neutral position, then control part 28 responses are transformed into electric control signal S1 with right control stick 26R to the manipulated variable of rear side, rise to swing arm and export the electric current of predetermined value with the solenoid 36f of electromagnetic valve 35f.Like this, swing arm rises and opens with electromagnetic valve 35f response current value, the result, and swing arm is controlled with the hydraulic pressure of control valve 24c, and swing arm 18 is to rise to the proportional speed of the manipulated variable of rear side with right control stick 26R.
If right control stick 26R is swung to the left from the neutral position, then control part 28 responses are transformed into electric control signal S1 with right control stick 26R to the manipulated variable in left side, fiddle with the electric current of exporting predetermined value with the solenoid 36g of electromagnetic valve 35g to scraper bowl.Like this, scraper bowl is fiddled with electromagnetic valve 35g response current value and is opened, the result, and scraper bowl is controlled with the hydraulic pressure of control valve 24d, and scraper bowl 20 is to fiddle with action with right control stick 26R to the proportional speed of the manipulated variable in left side.
If right control stick 26R is swung to the right from the neutral position, then control part 28 responses are transformed into electric control signal S1 with right control stick 26R to the manipulated variable on right side, export the electric current of predetermined value with the solenoid 36j of electromagnetic valve 35j to the scraper bowl tipping bucket.Like this, the scraper bowl tipping bucket is opened with electromagnetic valve 35j response current value, the result, and scraper bowl is controlled with the hydraulic pressure of control valve 24d, and scraper bowl 20 is to do the tipping bucket action with right control stick 26R to the proportional speed of the manipulated variable on right side.
If with flow switch 27 from the neutral position to a side (left side) swing, then control part 28 responses are transformed into electric control signal S1 with flow switch 27 to the manipulated variable in left side, SP uses the solenoid 36h of electromagnetic valve 35h to export the electric current of predetermined value left.Like this, left SP opens with electromagnetic valve 35h response current value, the result, and SP is controlled with the hydraulic pressure of control valve 24e, can make the fixture that is installed on dipper 19 leading sections move to a direction.For example, shown in Fig. 6 (a), when dipper 19 leading sections are installed the grab bucket 90 swing and can sandwich, 90 the holding action of can grabbing bucket.
If with flow switch 27 from the neutral position to the opposing party (right side) swing, then control part 28 responses are transformed into electric control signal S1 with flow switch 27 to the manipulated variable on right side, SP exports the electric current of predetermined value with the solenoid 36i of electromagnetic valve 35i to the right.Like this, right SP opens with electromagnetic valve 35i response current value, the result, and SP is controlled with the hydraulic pressure of control valve 24e, the fixture that dipper 19 leading sections are installed can be moved to other direction.For example, grab bucket 90 o'clock is installed, 90 the relieving action of can grabbing bucket at dipper 19 leading sections.
Thereby, by opening and closing two electromagnetic valve 35h, 35i that connect on control valve 24e at SP, can make fixture on two directions, work.
The control chart of the control part 28 that Fig. 3, Fig. 4 are flow switches 27 when the neutral position swings.Among Fig. 3, Fig. 4, transverse axis represents that manipulated variable (control signal), the longitudinal axis of flow switch 27 represent respectively to output to the current value of SP with the working signal S2 of electromagnetic valve 35h, 35i.The control chart of control part 28 has the transformation line L that manipulated variable is transformed into current value, control part 28 is based on transformation line L, the manipulated variable of flow switch 27 is transformed into roughly and the proportional current value of this manipulated variable, then with this current value as working signal S2 respectively to SP with electromagnetic valve 35h, 35i output.
As shown in Figure 3, Figure 4, the current value of conversion manipulated variable when the current value of conversion manipulated variable when relatively the transformation line L1 of initial point in the left side represents flow switch 27 left sides moving (left side swing), the relative transformation line L2 of initial point O on the right side represent that flow switch 27 is swung (right side swing) to the right.
Thereby, control part 28 has independently transformation line L1, L2 respectively corresponding to the left side swing and the right side swing of flow switch 27, each manipulated variable basis transformation line L1, the L2 corresponding with swaying direction with the right side swing swung in the left side, transforms to other current value respectively.
Here, with initial point O is the center, if the manipulated variable when flow switch 27 is handled to the right is positive side, when the manipulated variable when flow switch 27 is handled to the left is minus side, control part 28 is a timing output positive current in manipulated variable, and manipulated variable output negative current when negative.
Also have, cut off the example of side's transformation line L among transformation line L1, the L2 shown in Fig. 4.That is, the dotted line of the transformation line L1 among Fig. 4 represents to disconnect the situation of the transformation line L1 that swings in the left side.The control chart of control part 28 as described later, cuts off function 44 according to working signal, can be controlled by transformation line L1, the L2 of each at least one side who swings about cutting off.
Control based on control chart, with benchmark rank (0 rank) is benchmark, and when flow switch 27 right sides were swung, this current value is big more just to make right SP big more with the aperture of electromagnetic valve 35i, when flow switch 27 left sides were swung, this current value is more little just to make left SP big more with the aperture of electromagnetic valve 35h.That is,, just make each SP more little at current value the closer to the benchmark rank, and current value just make each SP big more with the aperture of electromagnetic valve 35h, 35i away from the benchmark rank more with the aperture of electromagnetic valve 35h, 35i based on the SP electromagnetic valve 35h of control chart, the control of 35i.
In addition, control part 28 has and will set multistage working signal changeable 40 for corresponding to the current value of flow switch 27 manipulated variables.In other words, control part 28 has the value that several are transformed to this manipulated variable current value at handling a manipulated variable of determining by flow switch 27.In the control chart of embodiment, for example manipulated variable is provided with a plurality of (9) current value corresponding to this manipulated variable when the A point.
Specifically, in the control chart of control part 28, when swing on left side swing and right side respectively,, possess many (for example 9) in order to this manipulated variable is transformed to the transformation line L of electric current at a manipulated variable.
Each transformation line L distinguishes different to the inclination of centre part and along with manipulated variable increases, the current value of output increases gradually or reduces.When being rank with the inclination size of the mid portion of each transformation line L, this rank is divided a plurality of levels.The inclination maximum of the transformation line L of corresponding level 9, the inclination of the more little transformation line L of other numerical value of level is more little.
Each transformation line L2 when swinging with flow switch 27 right sides is an example, when manipulated variable is the A point in this control chart, and the current value maximum of the transformation line L2 of rank 9, the more little manipulated variable of rank is more little to the current value of A point transformation.Also have, the inclination of other each transformation line L of relative datum level preferably is made as certain angle (for example per 5 degree) respectively.
Here, be example when swinging with flow switch 27 right sides, the action of the actuator when just controlling based on control chart describes.Also have, when controlling, as described later, select among a plurality of transformation line L based on control chart.
Select the transformation line L of rank 9, when flow switch 27 is swung to the right, current value size corresponding with manipulated variable and variable quantity thereof (transformation line L is tilted) are bigger, even therefore flow switch 27 is swung a little, it is big that the current value of output and variable quantity thereof also become.The result, right SP becomes big with the aperture of electromagnetic valve 35i, should use the opening speed of electromagnetic valve 35i very fast by right side SP simultaneously, therefore, the fixture responsiveness of installing at dipper 19 leading sections accelerates, and the reaction speed of response traffic switch 27 manipulations simultaneously (reaction rapidly) accelerates.
On the other hand, select the transformation line L of rank 1, and when flow switch 27 swung to the right, current value size and the variable quantity thereof corresponding with manipulated variable were less, even flow switch 27 is swung to identical with rank 9, the current value and the variable quantity thereof of response manipulated variable output diminish.As a result, right SP diminishes with the aperture of electromagnetic valve 35i, and right SP is slack-off with the speed that electromagnetic valve 35i opens simultaneously, and is slack-off in the fixture responsiveness that dipper 19 leading sections are installed, and response traffic switch 27 control responses simultaneously are (reaction speed is slow) slowly.
Thereby, when under the rank condition with higher of transformation line L, controlling, the fixture responsiveness is accelerated, the reaction speed of response manipulated variable is accelerated.In addition, when controlling under the lower situation of the rank of transformation line L, the fixture responsiveness is slowed down, the reaction speed that responds manipulated variable simultaneously slows down.
As shown in Figure 5, control part 28 possesses a plurality of patterns.That is, the manipulated variable of control part 28 with response traffic switch 27 makes the effective model of actuator action; Even the invalid mode that pilot flow switch 27, actuator also are failure to actuate; The pattern of the manner of execution of change actuator; And the manipulated variable of response traffic switch 27, with the setting pattern of the multistage setting of velocity variable of actuator.
Each pattern below is described.
When control part 28 was set to effective model, at this moment control signal exported with the manipulated variable of flow switch 27 corresponding electric current (working signal S2) to each SP with electromagnetic valve 35h, 35i with this control part 28 from flow switch 27 input control parts 28.When control part 28 is set at invalid mode, from flow switch 27 input control signals, this control part 28 will be corresponding to the electric current of the manipulated variable of flow switch 27 to each SP with electromagnetic valve 35h, 35i output, promptly, control part 28 is when invalid mode, make not output current of each SP electromagnetic valve 35h, 35i, and the actuator that control SP uses is failure to actuate.
When control part 28 is set in the setting pattern, can be according to working signal changeable 40, the rank of the transformation line L that selection respectively swings.That is,, a transformation line L can be selected, to swinging 9 corresponding transformation line L1, a transformation line L can be selected simultaneously with the left side of flow switch 27 for swinging 9 corresponding transformation line L2 with the right side of flow switch 27.
Shown in Fig. 7 (a), when control part 28 is set at the setting pattern, show the rank of the transformation line L of left side swing (L) and right side swing (R) at the display part 41 of display unit 40.Then, shown in Fig. 7 (b), if press left side selector switch 32 or right side selector switch 33, then to the counting that rises of the rank by downside.Here, if rank becomes maximum (rank 9), then rank is returned minimum (rank 0), and the class value of left side selector switch 32 or right side selector switch 33 becomes 0～9 ring.
Also have, the transverse axis of rank 0 expression control chart, without transformation line L, therefore the current value corresponding with manipulated variable often is 0 to control part 28 when rank 0.
Also have,, for example, press 31 setting patterns of configuration switch and finish in the rank of left side selector switch 32 or right side selector switch 33 definite swing sides (left side swing or right the swing).Like this, the rank of determining stores rank storage part 43 into, when action, access the rank that is stored in rank storage part 43, and this rank becomes the rank of transformation line L.
Thereby, according to the working signal changeable 40 that control part 28 possesses, the rank of variable transformation line L, by the rank of change transformation line L, can with each SP with electromagnetic valve 35h, the corresponding multistage change of current value (working signal S2) of 35i manipulated variable.
Pattern comprises two direction patterns and a direction pattern.When control part 28 is set at two direction patterns, according to flow switch about 27 two sides' swing, to each SP electromagnetic valve 35h, 35i difference output current value.When control part 28 is set at a direction pattern, even if with flow switch 27 along about two sides swing, output current not on two sides' SP usefulness electromagnetic valve 35h, 35i, only a side SP with electromagnetic valve on output current.That is, as shown in Figure 4, when control part 28 was set at a direction pattern, control part 28 possesses based on control chart to be controlled, and cut off left and right sides the opposing party's transformation line L, to the opposing party's SP with electromagnetic valve not the working signal of output services signal S2 cut off function 44.Cut off function 44 according to this working signal, two SP are not worked with electromagnetic valve with SP in the electromagnetic valve, therefore can make actuator only move in a direction.
Two direction patterns possess two direction full opening modes and two direction speed unrestricted models.When control part 28 is set at two direction full opening modes, according to described setting pattern corresponding to about each swing set the rank of transformation line L respectively, about the rank of transformation line L of each swing also be fixed as maximum.For example, even if the rank of setting the transformation line L1 of left side swing by the setting pattern is 7, the rank of the transformation line L2 of right side swing is 3, when moving with two direction full opening modes, the rank of transformation line L1, L2 also is fixed as 9 of maximum respectively, based on transformation line L1, the L2 of this rank 9, control each SP electromagnetic valve 35h, 35i.
When control part 28 is set at two direction speed unrestricted models, the transformation line L1 that sets by described setting pattern, the rank of L2, about manipulated variable of each swing be transformed into current value.For example, the rank of setting the transformation line L1 of left side swing with the setting pattern is 7, the rank of the transformation line L2 of right side swing is 3 o'clock, if be set at two direction speed unrestricted models, the rank of then establishing transformation line L1 is 7, the rank of transformation line L2 is 3, other transformation line of level L1, L2 that utilization sets control each SP electromagnetic valve 35h, 35i.
One direction pattern has a direction speed unrestricted model.When control part 28 was set at a direction speed unrestricted model, as shown in Figure 4, a certain side's transformation line L in the left side swing of cut-out flow switch 27 or the right side swing was to the SP electromagnetic valve output current of two SP with a side in the electromagnetic valve.That is, when control part 28 usefulness control charts are controlled, utilize the transformation line L (the not transformation line L of Qie Duaning) of the rank correspondence of setting with the setting pattern, manipulated variable is transformed to current value, this signal is only exported with electromagnetic valve to a side SP.
For example, the rank of setting the transformation line L1 of left side swing with the setting pattern is 7, the rank of the transformation line L2 of right side swing is 3 o'clock, if be set at a direction speed unrestricted model, then cut off a certain side of the transformation line L2 of the transformation line L1 of rank 7 or rank 3, carry out an only side control.
Below the setting of each pattern is described.
Described effective model, invalid mode can be switched according to step switch 30 that is electrically connected with control part 28 or key switch 34.Specifically, when the power source that makes actuator work is in idle state (for example engine 7 stop state), the ignition switch of engine 7 (key switch 34) becomes off status from opening state, and control part 28 becomes invalid mode when like this key switch 34 being closed.
When making key switch 34 be made as invalid mode from opening state and forwarding off status to and with control part 28, the patterns that control part 28 will be closed before the key switch 34 are stored in pattern storage portion 46.For example, when before closing key switch 34, having selected a direction pattern, when closing key switch 34 with this pattern storage in pattern storage portion 46.In other words, control part 28 judges that the manipulation of flow switch 27 finishes when closing key switch 34, with the pattern selected, at this moment will be stored in the pattern storage portion 46 with the situation that a direction pattern finishes operation.
Then, if forward out key switch 34 to state from off status, then the electric power of battery is supplied with the equipment of working rig, but makes the engine 7, oil pump 29 etc. of the power source that becomes actuator work become duty.Press step switch 30 under this state, then control part 28 switches to effective model from invalid mode.Promptly, only forward from off status that control part 28 can not switch to effective model from invalid mode under the situation of the state of holding at key switch 34, in addition, press step switch 30 under the state that power source can be worked, then control part 28 changes (switching) to effective model from invalid mode.
Learn thus: backhoe possesses when control part 28 is set at invalid mode, and the pattern that switches to effective model from invalid mode is confirmed parts.These pattern affirmation parts are waited by program that is assembled into control part 28 or step switch 30 and constitute.
Confirm parts by pattern, control part 28 is when invalid mode is altered to effective model, and control part 28 is set at the pattern that is stored in pattern storage portion 46.That is, when control part 28 changed to effective model, this control part 28 accessed the pattern of pattern storage portion 46 storages, and is automatically made the pattern that accesses.For example, above-mentioned explanation like that, pattern when forwarding key switch 34 to off status from opening state is a direction pattern, if pattern storage portion 46 these patterns of storage, then forward out key switch 34 to state and when invalid mode switched to effective model, the pattern of control part 28 became a direction pattern automatically from off status.
If switch to effective model from invalid mode when key switch 34 is pressed step switch 30 after off status forwards out state to, but press pattern again, will become the pattern selection mode.Specifically, as shown in Figure 8, after pattern switches to effective model, by pressing step switch 30, switch to two direction full opening modes, two direction speed unrestricted models, a direction speed unrestricted model successively, if when a direction speed unrestricted model, press step switch 30, then transform to two direction full opening modes and circulate.
Utilize the flow chart of Fig. 9～Figure 15, with regard to being described in detail of each pattern.
Fig. 9 represents the flow chart when invalid mode switches to effective model.During the stopping of engine 7, control part 28 becomes invalid mode, though flow switch 27 swings, control part 28 also not to SP with electromagnetic valve 35h, 35i output current, control valve 24 and actuator are failure to actuate.
Among the #1, judge whether key switch 34 is opened.In more detail, when key switch 34 was closed, the control part 28 that is made of CPU etc. was in uncontrollable state, is in the state of opening when key switch 34, when promptly control part 28 having been imported the signal of opening key switch 34, but control part 28 becomes state of a control.
Among the #2, the state of key switch 34 for opening, and judge whether step switch 30 is pressed.If step switch 30 is pressed, then enter #3, and when not pressing step switch 30, the pattern of control part 28 is remained on invalid mode, even if handled flow switch 27, also keep not to the state of each SP with electromagnetic valve 35h, 35i output current.
Among the #3, confirm that according to pattern parts switch to effective model with the pattern of control part 28 from invalid mode.Thereby, can make the actuator action during pilot flow switch 27.Among the #4, control part 28 accesses the pattern of pattern storage portion 46 storages, is automatically made the pattern that accesses.Among the #5, show the pattern that accesses at the display part 42 of display unit 41.Thereby, can confirm to be in which kind of pattern.
Among the #6, control part 28 is controlled according to the pattern that is accessed.That is, the manipulated variable of control part 28 response traffic switches 27 is to SP electromagnetic valve 35h, 35i output current.Among the #7, judge whether to press step switch 30.If press step switch 30, then enter #8, transfer to pattern shown in Figure 8 and select, can carry out the switching of pattern.
Figure 10 represents the flow chart when effective model switches to invalid mode.
Thereby, utilize the engine start key that engine 7 is started, when after key switch 34 is closed engine 7 being stopped, control part 38 becomes invalid mode.
Also have, set in advance the switch that when effective model, becomes invalid mode, can switch to invalid mode from effective model by pressing switch.
Figure 11 represents the flow chart of the pattern of setting.
Among the #33, judge whether left side selector switch 32 or right side selector switch 33 are pressed.If do not press left side selector switch 32 or right side selector switch 33, then return #32.Among the #34, shown in Fig. 7 (b), whenever press left side selector switch 32 or right side selector switch 33, to by the transformation line L rank of the corresponding control chart of the selector switch counting that rises.
Among the #35, control part 28 judges to set whether finish.That is, control part 28 judges that when configuration switch 31 is pressed setting finishes.Control part 28 enters step 36 when setting end, if finish then to return #32.
Among the #36, each the corresponding rank that swings of the counting that will rise in #34 is stored in rank storage part 43 respectively.
According to the setting pattern, promptly the working signal changeable 40, and the response manipulated variable can be set with the electric current of electromagnetic valve 35h, 35i is independent respectively outputing to each SP.In the rank storage part 43, the rank of left side swing and right side swing is with state storage independently.
Figure 12 represents the flow chart of two direction full opening modes.
Among the #41, by step switch 30, when control part 28 was set at two direction full opening modes, control part 28 was fixed as maximum with the transformation line L rank of each swing about control chart.In step 42, display part 42 display modes of display unit 41 are two direction full opening modes, and the rank that swings of flow switch 27 is maximum situation.
Among the #43, control part 28 utilizes the transformation line L of the maximum level that is set at control chart, according to the manipulated variable of flow switch 27, working signal S2 is outputed to each SP electromagnetic valve 35h, 35i.
Thereby, according to two direction full opening modes, because the transformation line L1 of control chart, the rank of L2 are fixed as maximum, the output current value of the inclination of transformation line L1, L2 or transformation line L1, L2 becomes maximum, the responsiveness of the fixture in the time of therefore can making flow switch 27 swing to maximum is the fastest, makes the reaction speed of manipulation of response traffic switch 27 also rapid simultaneously.
Figure 13 represents the flow chart of two direction speed unrestricted models.
Among the #51, be two direction speed unrestricted models if set control part 28 by step switch 30, then control part 28 accesses the rank of the transformation line L corresponding with left side swing and right side swing two sides from rank storage part 43.Among the #52, the display part 42 of display unit 41 is shown as two direction speed unrestricted models, and, show the left side swing of flow switch 27 and the rank of each transformation line L of right side swing.
Among the #53, control part 28 utilizes each transformation line L corresponding with the rank that accesses individually, according to the manipulated variable of this flow switch 27, working signal S2 is outputed to each SP electromagnetic valve 35h, 35i.
Thereby, according to two direction speed unrestricted models, utilize the transformation line L1 of setting pattern setting, the rank of L2, can handle actuator (fixture), therefore carry out operation according to the responsiveness of the manipulation that is fit to each fixture, simultaneously for the fixture of identical type also according to job status to accelerate or the state of the responsiveness that slows down carries out operation.
Figure 14 represents the flow chart of a direction speed unrestricted model.
Among the #61, if by step switch 30, control part 28 is set to a direction speed unrestricted model, and control part 28 accesses the rank of swinging two corresponding transformation line L with left side swing and right side from rank storage part 43, shows the rank corresponding with each swing.Shown in Fig. 7 (c), show the selection picture of the flow switch 27 of the action of carrying out a direction among the #62.
Among the #63, judge whether by left side selector switch 32 or right side selector switch 33.Control part 28 enters #64 when having pressed left side selector switch 32 or right side selector switch 33.If, then do not return #62 by left side selector switch 32 or right side selector switch 33.
Among the #64, control part 28 accesses the rank of the transformation line L of a side correspondence of selecting with selector switch from rank storage part 43, and cuts off the transformation line L of a unselected side correspondence.For example, as shown in Figure 4, when pressing right side selector switch 33, access the rank of the transformation line L corresponding with the right side swing, the manipulated variable of utilizing this transformation line L to respond this flow switch 27 outputs to SP right side electromagnetic valve 35 with working signal S2.In the control based on control chart, the transformation line L of the control chart that the swing of non-selected left side is corresponding all is cut off, even if flow switch 27 is swung to the left, control part 28 can not output to working signal S2 SP left side electromagnetic valve 35 yet.
Thereby, according to a direction speed unrestricted model, utilize that transformation line L1, L2's by the setting of setting pattern is some, can handle actuator (fixture) only moves in a direction, can carry out operation by the responsiveness of the manipulation that is fit to each fixture simultaneously, and, even belong to the fixture of identical type, also can be according to job status, responsiveness accelerated or the state that slows down under carry out operation.
More than, according to each pattern, for example, the grab bucket 90 shown in Fig. 6 (a) is installed on the dipper front end, when selecting two direction full opening modes to move, can make grab bucket 90 action rapidly.On the other hand, if the rank that makes transformation line L by the setting pattern less than maximum level, and when selecting two direction speed unrestricted models, can reach the state that limits these 90 speed of grabbing bucket, i.e. slowly action.In addition, for example, the capping 91 shown in Fig. 6 (b) is installed on the dipper front end, and when selecting two direction full opening modes to move, can makes capping 91 rapid foldings.On the other hand, if the rank that makes transformation line L by the setting pattern less than maximum level, and is selected two direction speed unrestricted models, then can reach the state that limits these capping 91 speed, i.e. slowly action.
For example, the crushing engine 92 shown in Fig. 6 (c) is installed on the dipper front end, and when selecting a direction speed unrestricted model, can makes crushing engine 92 actions.Here, the rank with transformation line L when the pattern of setting is made as maximum level, and selects a direction speed unrestricted model, can make crushing engine 92 move with maximal rate.On the other hand, the rank that makes transformation line L by the setting pattern is less than maximum level, and when selecting a direction speed unrestricted model, can make this crushing engine 92 be in the state of limited speed system, i.e. slowly action.For example, the brush cutter 93 shown in Fig. 6 (d) is installed on the dipper front end, and when selecting a direction speed unrestricted model, can makes brush cutter 93 1 directions turn round action.Here, when setting pattern, the rank of transformation line L is made as maximum back when selecting a direction speed unrestricted model, can makes brush cutter 93 move with maximal rate.On the other hand, the rank that makes transformation line L by the setting pattern is less than maximum level, and when selecting a direction speed unrestricted model, can make this brush cutter 93 be in the state of limited speed system, i.e. slowly action.
More than, according to working rig,, can change its speed corresponding to fixture miscellaneous, can do suitable action.
Figure 15, Figure 16 represent to change the embodiment of above-mentioned setting pattern.In above-mentioned setting pattern, individually carry out the grade setting of transformation line L corresponding to swinging, but in the present embodiment, corresponding to the grade setting of (same levels) setting transformation line L simultaneously that swings.In this case, be identical value corresponding to the rank of each the transformation line L that swings, a therefore available balance cock replaces two selector switches.
Among the #71, control part 28 judges whether configuration switch 31 is pressed.That is, the signal of opening that is transfused to configuration switch 31 on the control part 28 just enters #72.Among the #72, shown in Figure 16 (a), in the display part 42 demonstration transformation line L ranks of display unit 41.
Among the #73, judge once more whether balance cock is pressed.If do not return #72 by 31 of configuration switch.Among the #74, shown in Figure 16 (b), whenever by balance cock with regard to respectively to the rank counting that rises.
Among the #75, control part 28 judges to set whether finish.That is, control part 28 judges that when configuration switch 31 is pressed setting finishes.Control part 28 enters #76 when setting end, if finish then to return #72.Among the #76, the #74 rank that counts up to of falling into a trap is stored in rank storage part 43 respectively.
Thereby the rank of transformation line L is swinging all identically in the control chart of control part 28, when controlling by pattern, based on the transformation line L of same levels, carries out and the corresponding control that swings.
More than, be provided with in the working rig 1: by the fixture of actuator action; Make this fixture action ground supply with the control valve 24 of working oil to actuator; Carry out the electromagnetic valve 35 that work also can be adjusted the hydraulic pressure of control valve 24 according to working signal S2; And the control part 28 that will the working signal S2 corresponding outputs to electromagnetic valve 24 with the manipulated variable of controls 25 (flow switch 27), control part 28 possesses makes the working signal S2 variable working signal changeable 40 corresponding with the manipulated variable of controls 25, therefore, by changing working signal S2, can tackle fixture miscellaneous, and can change its speed, can carry out best action.That is,, can change the responsiveness or the reaction speed of the actuator corresponding, so the manipulation of fixture is very easy to the manipulated variable of flow switch 27 by working signal changeable 40.
Working signal changeable 40 constitutes the multistage change of variable quantity that makes the working signal S2 corresponding with the manipulated variable of flow switch 27, therefore can freely change the reaction speed of actuator corresponding to manipulated variable.That is, therefore variable quantity that can multistage change working signal S2 can at random make fixture action or slowly action rapidly.
Working signal changeable 40 constitute can be corresponding with two electromagnetic valves (two electromagnetic valves) 35h, 35i respectively independently with the multistage setting of the variable quantity of working signal S2, therefore can respond the reaction speed that manipulated variable when making swing of flow switch 27 left sides or right side swing freely changes actuator.
Also have, if be set as invalid mode, then when holding handle part with joystick manipulation, even if the flow switch 27 of moving handle portion, the fixture corresponding with flow switch 27 can not move yet, and therefore carries out the manipulation of control stick easily when pilot flow switch 27 not.
In addition, the control part 28 of working rig possesses in usefulness so that under the state that engine 7 power sources such as grade of actuator action can be worked, the manipulation of response traffic switch 27 makes the effective model of actuator action; Even and if pilot flow switch 27, the invalid mode that actuator also can not move.Control part 28 possesses the pattern affirmation parts that switch to effective model when being set at invalid mode from invalid mode, therefore, for example start engine 7, when handling fixture with flow switch 27, if be not transformed into effective model from invalid mode, then fixture is motionless.
Thereby, when the operator handles fixture, for example press step switch 30 and confirm that forwarding effective model to from invalid mode just can handle, therefore can confirm the step that step switch 30 is handled, can handle more safely.
In addition, if place invalid mode, even if hold handle part control stick is handled when pilot flow switch 27 not, made flow switch 27 actions of handle part, the fixture corresponding with flow switch 27 can not move yet, and therefore carries out the manipulation of control stick easily.
Other embodiment
Working rig of the present invention is not limited to the above embodiments.Promptly, control part 28 possesses the control chart with electromagnetic valve 35h, 35i in order to control SP in the above-described embodiments, but the control chart with many transformation line L is not limited to be used for controlling SP with electromagnetic valve 35h, 35i, can be used for controlling the electromagnetic valve 35 in order to the hydraulic pressure of each control valve 24 such as change dipper 19, scraper bowl 20, revolving bed 12.Like this, not only can control the speed of fixtures such as grab bucket 90 that dipper 19 front ends install, capping 91, crushing engine 92, brush cutter 93, roll-over bucket, convertible grab bucket etc., and, can carry out the speed control of dipper 19, scraper bowl 20, revolving bed 12 etc. by changing the rank of transformation line L.
In addition, in the above-described embodiments, effective model or invalid mode have been set at control part 28, this effective model or invalid mode make must be effective or invalid to the control of flow switch 27, but the control of effective model or invalid mode is not limited to flow switch 27, can to about each control stick 26L, 26R carry out.That is, can be according to invalid mode, even each control stick 26L, 26R about handling, actuator also is failure to actuate, and according to effective model, based on about the manipulation of each control stick 26L, 26R, make the actuator action.
In addition, judge that the manipulation of controls 25 (flow switch 27) finishes, and switches to invalid mode from effective model when in the above-described embodiments, the key switch 34 of engine 7 being closed, but can be according to the rod lock device that controls 25 can not be locked with handling, locking controls 25 replaces aforesaid operations.Specifically, as shown in figure 19, the rod lock device of being located at working rig 1 can rotate that (symbol of Figure 18 a) upward by the securing rod 86 that will be located at controls 25 next doors, make the first oil circuit 38a or the second oil circuit 38b be removed load by unloader (not shown), supply with working oil to each control valve 24, rotate (the symbol b of Figure 18) by securing rod 86 being arrived upward downside simultaneously, by unloader the first oil circuit 38a or the second oil circuit 38b are loaded, can supply with working oil to each control valve 24, forward invalid mode to by effective model when securing rod 86 is rotated from the top.
In addition, in the above-described embodiments, the flow switch 27 of the head by being located at right control stick 26R is handled and is installed in the various fixtures of dipper 19 leading sections, but the pedal 50 that can freely swing by the front and back of being located at operator's seat 9 front left side is handled and replaced.At this moment, obviously in the control chart, transformation line L with initial point O be before and after the center is divided into each swing rather than about each swing.
Claims (6)
1. working rig wherein possesses:
Fixture by the actuator action; Handle the controls of each fixture via described actuator; And the manipulation that responds described controls, output makes the control part of the working signal of described actuator action,
In this working rig,
Described control part can be set the variable quantity of the described working signal corresponding with the manipulated variable of described controls according to each direction of action of described actuator respectively independently.
2. working rig as claimed in claim 1 is characterized in that:
The variable quantity of the described working signal that described control part is can multistage change corresponding with the manipulated variable of described controls.
3. working rig as claimed in claim 1 is characterized in that:
Described actuator utilizes working oil work,
Described working rig possess to control valve that described actuator is supplied with working oil with control valve on the electromagnetic valve that is connected by each direction of action of described actuator,
Described electromagnetic valve is adjusted the hydraulic pressure that reaches described control valve according to described working signal work, can adjust the aperture of described control valve,
Described control part can be set the variable quantity of the described working signal corresponding with the manipulated variable of described controls independently by each electromagnetic valve.
4. working rig as claimed in claim 3 is characterized in that:
On described control valve, connect two described electromagnetic valves, make described actuator in a direction and this both direction action of other direction opposite with this direction.
5. working rig as claimed in claim 1 is characterized in that:
The manipulation that described control part possesses the described controls of response makes the effective model of described actuator action, even and if handle described controls, the also idle invalid mode of described actuator.
6. working rig as claimed in claim 5 is characterized in that:
In the described effective model of described control part, possess a plurality of patterns of the manner of execution of the described actuator of change.
Applications Claiming Priority (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2005278897A JP4494318B2 (en) | 2005-09-26 | 2005-09-26 | Working machine |
| JP2005-278898 | 2005-09-26 | ||
| JP2005278897 | 2005-09-26 | ||
| JP2005278898A JP4494319B2 (en) | 2005-09-26 | 2005-09-26 | Working machine |
| JP2005-278897 | 2005-09-26 | ||
| JP2005278898 | 2005-09-26 |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011102577217A Division CN102409716A (en) | 2005-09-26 | 2006-04-13 | Work machine |
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| CN1940188A true CN1940188A (en) | 2007-04-04 |
| CN1940188B CN1940188B (en) | 2012-06-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2006100747903A Active CN1940188B (en) | 2005-09-26 | 2006-04-13 | Work machine |
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| JP (1) | JP4494318B2 (en) |
| CN (1) | CN1940188B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101545275B (en) * | 2008-03-26 | 2012-05-30 | 株式会社久保田 | Display device of work vehicle |
| CN102575459A (en) * | 2010-02-10 | 2012-07-11 | 日立建机株式会社 | Hydraulic excavator attachment control device |
| CN109937151A (en) * | 2016-12-22 | 2019-06-25 | 株式会社久保田 | Working rig |
| US11352766B2 (en) | 2016-12-22 | 2022-06-07 | Kubota Corporation | Working machine with a speed control arrangement |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101005060B1 (en) * | 2007-07-30 | 2010-12-30 | 볼보 컨스트럭션 이큅먼트 에이비 | heavy equipment hydraulic circuit of having variable control device |
| KR101090619B1 (en) | 2008-03-26 | 2011-12-08 | 가부시끼 가이샤 구보다 | Display apparatus for work machine |
| JP5358148B2 (en) * | 2008-09-19 | 2013-12-04 | ヤンマー株式会社 | Switching valve operating mechanism for work vehicles |
| JP5669520B2 (en) * | 2010-10-27 | 2015-02-12 | ヤンマー株式会社 | Work vehicle |
| JP6407132B2 (en) * | 2015-11-30 | 2018-10-17 | 日立建機株式会社 | Operation support device for work machine |
| US20220235534A1 (en) * | 2021-01-27 | 2022-07-28 | Kubota Corporation | Swivel working machine |
| CN117098898A (en) * | 2021-03-31 | 2023-11-21 | 住友建机株式会社 | Excavator |
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| JPS6065835A (en) * | 1983-09-19 | 1985-04-15 | Sumitomo Heavy Ind Ltd | Operating method for construction machinery |
| JPH0351400Y2 (en) * | 1984-11-16 | 1991-11-05 | ||
| JPH0759820B2 (en) * | 1986-04-15 | 1995-06-28 | 株式会社小松製作所 | Operation response characteristic control device for construction machinery |
| US5138838A (en) * | 1991-02-15 | 1992-08-18 | Caterpillar Inc. | Hydraulic circuit and control system therefor |
| JPH0742705A (en) * | 1993-07-30 | 1995-02-10 | Yutani Heavy Ind Ltd | Hydraulic device for operation machine |
| JPH09242125A (en) * | 1996-03-08 | 1997-09-16 | Hitachi Constr Mach Co Ltd | Remote-control device of construction machinery |
| JP3608900B2 (en) * | 1997-03-10 | 2005-01-12 | 新キャタピラー三菱株式会社 | Method and apparatus for controlling construction machine |
| JP4519315B2 (en) * | 2000-12-28 | 2010-08-04 | 株式会社小松製作所 | Construction equipment pressure oil flow control device |
| JP2004340187A (en) * | 2003-05-13 | 2004-12-02 | Izumi Products Co | Hydraulic circuit of hydraulic attachment |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101545275B (en) * | 2008-03-26 | 2012-05-30 | 株式会社久保田 | Display device of work vehicle |
| CN102575459A (en) * | 2010-02-10 | 2012-07-11 | 日立建机株式会社 | Hydraulic excavator attachment control device |
| CN109937151A (en) * | 2016-12-22 | 2019-06-25 | 株式会社久保田 | Working rig |
| CN109937151B (en) * | 2016-12-22 | 2022-03-04 | 株式会社久保田 | Working machine |
| US11352766B2 (en) | 2016-12-22 | 2022-06-07 | Kubota Corporation | Working machine with a speed control arrangement |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2007092763A (en) | 2007-04-12 |
| CN1940188B (en) | 2012-06-27 |
| JP4494318B2 (en) | 2010-06-30 |
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