CN202806864U - Walking type electric industrial vehicle electric steering control device - Google Patents
Walking type electric industrial vehicle electric steering control device Download PDFInfo
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- CN202806864U CN202806864U CN 201220433870 CN201220433870U CN202806864U CN 202806864 U CN202806864 U CN 202806864U CN 201220433870 CN201220433870 CN 201220433870 CN 201220433870 U CN201220433870 U CN 201220433870U CN 202806864 U CN202806864 U CN 202806864U
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Abstract
The utility model discloses a walking type electric industrial vehicle electric steering control device. The walking type electric industrial vehicle electric steering control device comprises a steering control vane handle, an electric steering component, a steering processor, a steering control angle sensor used for sensing a rotating angle X of the steering control vane handle, and a steering execution angle sensor used for sensing a rotating angle Y of the electric steering component. When an operator rotates the steering control vane handle, the steering control angle sensor inputs steering angle signals to the steering processor, and the electric steering component receives output control signals of the steering processor and executes the rotating angle Y correspondingly. The Y is changed with the X, and compared with the condition that the value of X is in a set control aligning angle range, the value of Y to X is smaller when the value of X is out of the set control aligning angle range. By means of the walking type electric industrial vehicle electric steering control device, control difficulty when a vehicle runs in a straight line is lowered, the steering radius of the vehicle is prevented from being excessive, and ideal balance is achieved between running in the straight line and steering.
Description
Technical field
The utility model relates to the industrial vehicle technical field, relates in particular a kind of electric walking industrial vehicle electricity steering controlling device.
Background technology
Existing electric walking industrial vehicle, such as forklift, transport trolley etc., when turning to, it is all undertaken by handling maneuver tiller control drive wheel, general, for quicker, less turn radius is finished turning, the steering angle of drive wheel 180 degree or more than, and by the steering angle of handling maneuver tiller because the human engineering reason usually 180 degree or below.Traditional industrial vehicle generally is a fixing proportionate relationship between the steering angle of handling maneuver tiller steering angle and drive wheel.In the electric industry car driving process, when the needs straight line is run, this moment, the handling maneuver tiller should be in the ideal null of machinery, but, because the friction on ground, friction between mechanical component, the reason such as rough and uneven in surface on ground, cause the handling maneuver tiller that small must the skew occurs, just need to carry out small to the handling maneuver tiller this time, adjust frequently, carry out small turning to by drive wheel again, to keep the straight-line travelling of vehicle, for human engineering, it is comparatively difficult need to carrying out very small direction adjustment with staff to the handling maneuver tiller in traveling process, especially when straight-line travelling, the speed of a motor vehicle is higher, so vehicle can be obvious serpentine mode of motion usually.It is a kind of that China Patent No. is that the utility model patent of CN201020661063.9 discloses, the electronic control engineering vehicle power steering system that steering sensitivity is adjustable, this system connects by microelectronic technique and each element of control steering swivel system replaces traditional machinery or hydraulic connecting, the data that turn to the sensor record driver, then by data line signal is passed to ECU (Electrical Control Unit) on the car, comprehensive these signals of ECU (Electrical Control Unit) judge the steering angle of rear control vehicle, but, it also has weak point, one is that its structure is very complicated, its proportion of utilization valve, fuel tank etc., very huge with existing controller of vehicle difference, and its price, fault rate is high, its cost is very high, the more important thing is that it does not solve and reduces vehicle and run the operating difficulty of straight line and solve the equilibrium problem of turn inside diameter radius between excessive.
The utility model content
The purpose of this utility model is for the deficiencies in the prior art part, a kind of electric walking industrial vehicle electricity steering controlling device is provided, it can overcome the deficiencies in the prior art part, both namely reduce the operating difficulty of vehicle race straight line and have also avoided the turn inside diameter radius excessive, so that can form desirable balance.
In order to solve the problems of the technologies described above, the technical solution of the utility model is as follows: a kind of electric walking industrial vehicle electricity steering controlling device, comprise a handling maneuver tiller, provide the power steering assembly of power resources by electrical motor, the handling maneuver angular transducer of diversion treatments device, the described handling maneuver tiller of sensing rotational angle X and the described power steering assembly rotational angle of sensing Y turn to the execution angular transducer; Described handling maneuver angular transducer is to described diversion treatments device input angular signal, described power steering assembly receives control signal and the corresponding execution rotational angle Y of described diversion treatments device output, described Y follows described X and changes, when being in described manipulation less than X when the manipulation that the value of Y:X is in setting at X is returned in the positive-angle scope and returning outside the positive-angle scope, when being in described execution less than Y when perhaps, the execution that is in setting at Y of the value of Y:X is returned in the positive-angle scope and returning outside the positive-angle scope.
The applicant is through repeatedly finding behind the research experiment, existing handling maneuver tiller, generally has the arm of force about 50cm, when it turns to control, even small control action, its control angle also is at 2-2.5 °, and the steering order of handling maneuver tiller is delivered to power steering assembly, certain mechanical delay is arranged, both combine, cause vehicle in straight-line travelling, to be not easy to take the air line, operation easier is high, traveling comfort is poor, for this reason, we have set the manipulation of a handling maneuver tiller and have returned the positive-angle scope, then we set, when the value of Y:X is in outside the manipulation Hui Zheng district angular range of described setting when X is in the manipulation Hui Zheng district angular range of setting less than it, that is to say, the angular range that the handling maneuver tiller is rotated is divided into two parts, be divided into and handle in the Hui Zheng district angular range, outer two parts, the actual steering angle Y of power steering assembly in X is in the manipulation Hui Zheng district angular range of setting in, compare outside the manipulation Hui Zheng district angular range that X is in setting, Y was subdued, like this, improve the control accuracy that turns to of vehicle, solved the problem that vehicle does not take the air line, in outside handling Hui Zheng district angular range, can also guarantee the turning performance of vehicle, because handle Hui Zheng district angular range with respect to whole tiller operating area, shared ratio is little, even the turning performance on vehicle has certain impact, but very small, be acceptable.
The applicant is in test, also find in the test, because the existence of the previously described handling maneuver tiller arm of force, so that its steering angle can not be too small, even small control action, its control angle also is at 2-2.5 °, therefore, the setting of the manipulation Hui Zheng district angle of handling maneuver tiller just is restricted, if the excessive turning performance that will have influence on vehicle of this angular range, the too small straight-line travelling that then is unfavorable for vehicle, we found afterwards, than the handling maneuver tiller, turning to of power steering assembly can be very small, than 2-2.5 ° of handling maneuver tiller, its minimum steering angle is much smaller, only have 0.5-0.8 °, so we just are provided with one and carry out back the positive-angle scope, this angular range is generally less than handles Hui Zheng district angular range, and our setting is when being in described execution less than Y when the execution that the value of Y:X is in setting at Y is returned in the positive-angle scope and returning outside the positive-angle scope, do like this, effect is reasonable, has improved the control accuracy that turns to of vehicle, has solved the problem that vehicle does not take the air line, carry out back positive-angle extraneous the time, can also guarantee the turning performance of vehicle.
As preferably, the value of Y:X X be in described manipulation return in the positive-angle scope or Y when being in described execution and returning in the positive-angle scope less than 1, the value of Y:X X be in described manipulation return outside the positive-angle scope or Y when being in described execution and returning outside the positive-angle scope more than or equal to 1, described execution is returned the positive-angle scope and is returned the positive-angle scope less than described manipulation.
As preferably, it is that positive-angle scope 1/3-1/2 is returned in described manipulation that the positive-angle scope is returned in described execution.
As preferably, the value of Y:X is set to return in described manipulation suddenlys change when the two ends end position of positive-angle scope is returned in positive-angle scope or described execution.
As preferably, the value of Y:X be set to X or Y be in described manipulation return positive-angle scope or described execution return the positive-angle scope with the transition angular range of interior close two ends end position in the time linear gradient, and the value of Y:X is larger during the closer to described end position.
As preferably, the value of Y:X be set to X or Y be in described manipulation return positive-angle scope or described execution return the positive-angle scope with the transition angular range of interior close two ends end position in the non-linear hour gradual change, the value of Y:X is larger during the closer to described end position, and the closer to described manipulation return positive-angle scope or described execution when going back to the center of positive-angle scope the value of Y:X change less.
As preferably, described transition angular range is that the positive-angle scope is returned in described manipulation or 1/4 to 1/2 of positive-angle scope is returned in described execution, and described transition angular range is symmetrically distributed in described manipulation and goes back to the both sides that the center of positive-angle scope is gone back in positive-angle scope or described execution.
As preferably, comprise that turning rate changes alarm set, described turning rate changes alarm set and is connected with described diversion treatments device, sends signal with the form of sound and/or light to the operator when the value of Y:X begins to change.
As preferably, comprise that turning rate changes alarm set, described turning rate changes alarm set and is connected with described diversion treatments device, described turning rate changes alarm set and send signal with relatively high-frequency sound to the operator when the value of Y:X begins from large to small, when the value of Y:X begins to change from small to big, send signal with relatively low-frequency sound to the operator, and described turning rate changes alarm set and is in described manipulation at X and returns in the positive-angle scope or Y is in and keeps a kind of luminous alerting signal when described execution is returned in the positive-angle scope.
A kind of electric walking industrial vehicle electricity rotating direction control method that is applicable to above-mentioned electric walking industrial vehicle electricity steering controlling device comprises step:
A) in the diversion treatments device, be provided for ining contrast to from the manipulation of the rotational angle X of the handling maneuver tiller of handling maneuver angular transducer and return the positive-angle scope, or, be used for ining contrast to from the execution of the rotational angle Y of power steering assembly and return the positive-angle scope; And the diversion treatments device is set so that it is at X handles back in the positive-angle scope or Y is in when carrying out back in the positive-angle scope according to the less driving signal that turns to ratio Y:X output control power steering assembly, and is at X and handles back outside the positive-angle scope or Y is in when carrying out back outside the positive-angle scope and exports the driving signal of controlling power steering assembly according to the larger ratio Y:X that turns to;
B) with described handling maneuver tiller actual rotation angle be 0 the degree position correction in the intermediate value of described X, and with power steering assembly actual rotation angle be 0 the degree position correction in the intermediate value of described Y;
C) utilize the handling maneuver angular transducer to gather rotational angle X and X is sent to the diversion treatments device from the handling maneuver tiller, by the diversion treatments device with X with handles back the positive-angle scope and contrasts, or, utilization turns to be carried out angular transducer and gathers rotational angle Y and Y is sent to the diversion treatments device from power steering assembly, by the diversion treatments device with Y with carries out back positive-angle scope B and contrasts; By the diversion treatments device according to step arranging to power steering assembly output drive signal a).
The utility model beneficial effect is:
Steering controlling device of the present utility model and method namely reduce the operating difficulty of vehicle race straight line and have also avoided the turn inside diameter radius excessive, so that both can form desirable balance.
Description of drawings
Below in conjunction with accompanying drawing the utility model is described further:
The constructional drawing of Fig. 1 the utility model embodiment 1;
Fig. 2 turns to control vane handle steering range scheme drawing among the utility model embodiment 1;
Fig. 3 is the constructional drawing of the utility model embodiment 2.
Among the figure:
1-handling maneuver tiller;
The 2-power steering assembly;
3-diversion treatments device;
4-handling maneuver angular transducer;
5-turns to the execution angular transducer;
The 6-turning rate changes alarm set.
The specific embodiment
The following stated is preferred embodiment of the present utility model only, is not that scope of the present utility model is limited.
General, the value of Y:X when X is in described manipulation and returns in the positive-angle scope A less than the value of 1, Y:X when X is in described manipulation and returns outside the positive-angle scope A more than or equal to 1.That is to say that outside the positive-angle scope was returned in described manipulation, the value of Y:X can equal 1, also can greater than 1, can set according to actual conditions, and in the positive-angle scope was returned in described manipulation, the value of Y:X be less than 1.In scope, the value of Y:X can be linear change, for example, 0.5-08 relation doubly, certainly, also according to the actual requirements nonlinear setting just bothers relatively.
In addition, we can Y:X value be set to when the two ends end position of positive-angle scope A is returned in described manipulation, suddenly change, for example in the time of value time+5 of handling maneuver tiller 1 rotational angle X ° or-5 °, this time, the value of Y:X had one to change suddenly, become large or diminish, why like this become greatly then numerical value and draw close to extraneous value,, be because when being in end position, be exactly to be in the scope outside at once, in order to adapt with the value of outside, be convenient to turn inside diameter control, just set like this; Diminish then is from keeping the steady consideration of vehicle when keeping straight on, how to accept or reject, determining that according to actual conditions still, the value of this Y:X still is less than extraneous value even it suddenlys change.
In addition, the value of Y:X be set to X be in described manipulation return positive-angle scope A with the transition angular range of interior close two ends end position in the time linear gradient, and the value of Y:X is larger during the closer to described end position, so linear variation, than sudden change, more soft, the transition nature, good stability, described transition angular range be described manipulation return the positive-angle scope 1/4 to 1/2, and described transition angular range is symmetrically distributed in the both sides that the center of positive-angle scope A is gone back in described manipulation, wherein, returns 1/4 of positive-angle A scope take described transition angular range as described manipulation, be the best, effect is best, and in present embodiment, handling back positive-angle scope A is-5 ° ~+5 °, so, the scope of transition angle maximum is-2.5 ~-5 °, 2.5 ° ~ 5 °, minimum also is that best transition angular range is-3.75 ~-5 °, 3.75 ° ~ 5 °, all be symmetrical setting.
In addition, the value of Y:X be set to X be in described manipulation return positive-angle scope A with the transition angular range of interior close two ends end position in the non-linear hour gradual change, the value of Y:X is larger during the closer to described end position, for example, in in the transition angular range, the value of Y:X, suppose that X is 1, so, the value of Y is the closer to the end position at two ends, larger, can be from 0.3,0.4,0.5,0.6,0.7,0.8 such increase, the form of non-linear gradual change is than linear change, relatively more difficult in the time of settings, but its with respect to concrete vehicle through repeatedly, the numerical value that test of many times draws, more accurate, simultaneously, the value of Y:X changes littlely when going back to the center of positive-angle scope the closer to described manipulation, can better realize the pulsation-free linear running of the low operation easier of vehicle.
Below, the electric walking industrial vehicle electricity rotating direction control method of the described electric walking industrial vehicle electricity steering controlling device of the lower present embodiment of narration comprises step:
A) in diversion treatments device 3, be provided for ining contrast to from the manipulation of the rotational angle X of the handling maneuver tiller 1 of handling maneuver angular transducer 4 and return positive-angle scope A, in the present embodiment, the scope of handling back positive-angle scope A is ± 5 °, and diversion treatments device 3 is set so that it is in when handling back in the positive-angle scope A according to the less driving signal that turns to ratio Y:X output control power steering assembly 2 at X, and be in when handling back outside the positive-angle scope A according to the larger driving signal that turns to ratio Y:X output control power steering assembly 2 at X, concrete;
B) with described handling maneuver tiller 1 actual rotation angle be 0 the degree position correction in the intermediate value of described X, and with power steering assembly 2 actual rotation angles be 0 the degree position correction in the intermediate value of described Y;
C) utilize handling maneuver angular transducer 4 to gather rotational angle X and X is sent to diversion treatments device 3 from handling maneuver tiller 1, by diversion treatments device 3 with X with handles back positive-angle scope A and contrasts, by diversion treatments device 3 according to step arranging to power steering assembly 2 output drive signals a), so that power steering assembly 2 turns to as required.
General, the value of Y:X when Y is in described execution and returns in the positive-angle scope B less than the value of 1, Y:X when Y is in described execution and returns outside the positive-angle scope more than or equal to 1.That is to say that outside the positive-angle scope was returned in described execution, the value of Y:X can equal 1, also can greater than 1, can set according to actual conditions, and in the positive-angle scope was returned in described execution, the value of Y:X be less than 1.In scope, the value of Y:X can be linear change, for example, 0.5-08 relation doubly, certainly, also according to the actual requirements nonlinear setting just bothers relatively.
We can Y:X value be set to when the two ends end position of positive-angle scope B is returned in described execution, suddenly change, for example in the time of value time+2.5 of power steering assembly 2 rotational angle Y ° or-2.5 °, this time, the value of Y:X had one to change suddenly, become large or diminish, why like this numerical value is drawn close to extraneous value,, because when being in end position, at once be exactly to be in the scope outside, for adapt with the value of outside, set like this; Diminish then is from keeping the steady consideration of vehicle when keeping straight on, how to accept or reject, determining that according to actual conditions still, the value of this Y:X still is less than extraneous value even it suddenlys change.
In addition, the value of Y:X be set to Y be in described execution return positive-angle scope B with the transition angular range of interior close two ends end position in the time linear gradient, and the value of Y:X is larger during the closer to described end position, so linear variation, than sudden change, more soft, the transition nature, good stability, described transition angular range be described execution return positive-angle scope B 1/4 to 1/2, and described transition angular range is symmetrically distributed in the both sides that the center of positive-angle scope B is gone back in described execution, wherein, returns 1/4 of positive-angle scope B take described transition angular range as described execution, be the best, effect is best, and in present embodiment, carrying out back positive-angle scope B is-2.5 ° ~ 2.5 °, so, the scope of transition angle maximum is-1.25 ~-2.5 °, 1.25 ° ~ 2.5 °, minimum also is that best transition angular range is-1.875 ~-2.5 °, 1.875 ° ~ 2.5 °, all be symmetrical setting.
In addition, the value of Y:X be set to Y be in described execution return positive-angle scope B with the transition angular range of interior close two ends end position in the non-linear hour gradual change, the value of Y:X is larger during the closer to described end position, for example, in in the transition angular range, the value of Y:X, suppose that X is 1, so, the value of Y is the closer to the end position at two ends, larger, can be from 0.3,0.4,0.5,0.6,0.7,0.8 such increase, the form of non-linear gradual change is than linear change, relatively more difficult in the time of settings, but its with respect to concrete vehicle through repeatedly, the numerical value that test of many times draws, more accurate, simultaneously, the value of Y:X changes littlely when going back to the center of positive-angle scope the closer to described manipulation, can better realize the pulsation-free linear running of the low operation easier of vehicle.
Below, the electric walking industrial vehicle electricity rotating direction control method of the described electric walking industrial vehicle electricity steering controlling device of the lower present embodiment of narration comprises step:
A) in diversion treatments device 3, be provided for ining contrast to from the execution of the rotational angle Y of power steering assembly 2 and return positive-angle scope B; And diversion treatments device 3 is set so that it is in when carrying out back in the positive-angle scope B according to the less driving signal that turns to ratio Y:X output control power steering assembly 2 at Y, and is in when carrying out back outside the positive-angle scope B at Y and exports the driving signal of controlling power steering assembly 2 according to the larger ratio Y:X that turns to;
B) with described handling maneuver tiller 1 actual rotation angle be 0 the degree position correction in the intermediate value of described X, and with power steering assembly 2 actual rotation angles be 0 the degree position correction in the intermediate value of described Y;
C) utilize to turn to and carry out angular transducer 5 and gather rotational angle Y and Y is sent to diversion treatments device 3 from power steering assembly 2, by diversion treatments device 3 with Y with carries out back positive-angle scope B and contrasts; By diversion treatments device 3 according to step arranging to power steering assembly 2 output drive signals a), so that power steering assembly 2 turns to.
In fact, embodiment 2 and embodiment 1 different only are that it adopts and carry out back the positive-angle scope and embodiment 1 adopts is to handle back the positive-angle scope.
More than explanation only is to explanation of the present utility model, so that complete enforcement this programme of those of ordinary skills' energy, but be not to restriction of the present utility model, those skilled in the art can make the modification that does not have creative contribution to present embodiment as required after reading this specification sheets, these all are not creative modifications.But as long as in claim scope of the present utility model, all be subject to the protection of patent law.
Claims (8)
1. electric walking industrial vehicle electricity steering controlling device, comprise a handling maneuver tiller (1), provide the power steering assembly (2) of power resources by electrical motor, angular transducer (5) is carried out in turning to of the handling maneuver angular transducer (4) of diversion treatments device (3), the described handling maneuver tiller of sensing (1) rotational angle X and the described power steering assembly of sensing (2) rotational angle Y; Described handling maneuver angular transducer (4) is to described diversion treatments device (3) input angular signal, described power steering assembly (2) receives control signal and the corresponding execution rotational angle Y of described diversion treatments device (3) output, described Y follows described X and changes, it is characterized in that, when being in described manipulation less than X when the manipulation that the value of Y:X is in setting at X is returned in the positive-angle scope (A) and returning outside the positive-angle scope (A), when being in described execution less than Y when perhaps, the execution that is in setting at Y of the value of Y:X is returned in the positive-angle scope (B) and returning outside the positive-angle scope (B).
2. a kind of electric walking industrial vehicle electricity steering controlling device as claimed in claim 1, it is characterized in that: the value of Y:X X be in described manipulation return in the positive-angle scope (A) or Y when being in described execution and returning in the positive-angle scope (B) less than 1, the value of Y:X X be in described manipulation return outside the positive-angle scope (A) or Y when being in described execution and returning outside the positive-angle scope (B) more than or equal to 1, described execution is returned positive-angle scope (B) and is returned positive-angle scope (A) less than described manipulation.
3. a kind of electric walking industrial vehicle electricity steering controlling device as claimed in claim 2 is characterized in that: the value of Y:X is set to return in described manipulation suddenlys change when the two ends end position of positive-angle scope (B) is returned in positive-angle scope (A) or described execution.
4. a kind of electric walking industrial vehicle electricity steering controlling device as claimed in claim 2, it is characterized in that: the value of Y:X be set to X or Y be in described manipulation return positive-angle scope (A) or described execution return positive-angle scope (B) with the transition angular range of interior close two ends end position in the time linear gradient, and the value of Y:X is larger during the closer to described end position.
5. a kind of electric walking industrial vehicle electricity steering controlling device as claimed in claim 2, it is characterized in that: the value of Y:X be set to X or Y be in described manipulation return positive-angle scope (A) or described execution return positive-angle scope (B) with the transition angular range of interior close two ends end position in the non-linear hour gradual change, the value of Y:X is larger during the closer to described end position, and the closer to described manipulation return positive-angle scope (A) or described execution when going back to the center of positive-angle scope (B) value of Y:X change less.
6. such as claim 4 or 5 described a kind of electric walking industrial vehicle electricity steering controlling devices, it is characterized in that: described transition angular range is that positive-angle scope (A) is returned in described manipulation or 1/4 to 1/2 of positive-angle scope (B) is returned in described execution, and described transition angular range is symmetrically distributed in described manipulation and goes back to the both sides that the center of positive-angle scope (B) is gone back in positive-angle scope (A) or described execution.
7. such as claim 4 or 5 described a kind of electric walking industrial vehicle electricity steering controlling devices, it is characterized in that, comprise that turning rate changes alarm set (6), described turning rate changes alarm set (6) and is connected with described diversion treatments device (3), sends signal with the form of sound and/or light to the operator when the value of Y:X begins to change.
8. such as claim 4 or 5 described a kind of electric walking industrial vehicle electricity steering controlling devices, it is characterized in that: comprise that turning rate changes alarm set (6), described turning rate changes alarm set (6) and is connected with described diversion treatments device (3), described turning rate changes alarm set (6) and send signal with relatively high-frequency sound to the operator when the value of Y:X begins from large to small, when the value of Y:X begins to change from small to big, send signal with relatively low-frequency sound to the operator, and described turning rate changes alarm set (6) and is in described manipulation at X and returns in the positive-angle scope (A) or Y is in and keeps a kind of luminous alerting signal when described execution is returned in the positive-angle scope (B).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220433870 CN202806864U (en) | 2012-08-30 | 2012-08-30 | Walking type electric industrial vehicle electric steering control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220433870 CN202806864U (en) | 2012-08-30 | 2012-08-30 | Walking type electric industrial vehicle electric steering control device |
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| CN202806864U true CN202806864U (en) | 2013-03-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201220433870 Withdrawn - After Issue CN202806864U (en) | 2012-08-30 | 2012-08-30 | Walking type electric industrial vehicle electric steering control device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102837732A (en) * | 2012-08-30 | 2012-12-26 | 浙江诺力机械股份有限公司 | Electric steering control device and method for walking type electric industrial vehicle |
| CN113276946A (en) * | 2017-01-13 | 2021-08-20 | 克朗设备公司 | High speed straight-through joystick desensitization |
-
2012
- 2012-08-30 CN CN 201220433870 patent/CN202806864U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102837732A (en) * | 2012-08-30 | 2012-12-26 | 浙江诺力机械股份有限公司 | Electric steering control device and method for walking type electric industrial vehicle |
| CN113276946A (en) * | 2017-01-13 | 2021-08-20 | 克朗设备公司 | High speed straight-through joystick desensitization |
| CN113276946B (en) * | 2017-01-13 | 2023-02-17 | 克朗设备公司 | High speed straight-through joystick desensitization |
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| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP03 | Change of name, title or address |
Address after: 313100 Changxing County, Huzhou, Taihu street, long State Road, No. 528, No. Patentee after: Connaught machinery Limited by Share Ltd Patentee after: Hangzhou Better Electric Driver Technology Co., Ltd. Address before: 313100 Changxing County Economic Development Zone, Zhejiang, Huzhou, No. 1 road, No. 58 Patentee before: Zhejiang Nuoli Machinery Co., Ltd. Patentee before: Hangzhou Better Electric Driver Technology Co., Ltd. |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20130320 Effective date of abandoning: 20150902 |
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| AV01 | Patent right actively abandoned |