EP1375757A1 - Working vehicle with a tool quick coupler and an identification system for the tool - Google Patents

Working vehicle with a tool quick coupler and an identification system for the tool Download PDF

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Publication number
EP1375757A1
EP1375757A1 EP03013258A EP03013258A EP1375757A1 EP 1375757 A1 EP1375757 A1 EP 1375757A1 EP 03013258 A EP03013258 A EP 03013258A EP 03013258 A EP03013258 A EP 03013258A EP 1375757 A1 EP1375757 A1 EP 1375757A1
Authority
EP
European Patent Office
Prior art keywords
tool
coupling
construction machine
boom
construction
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP03013258A
Other languages
German (de)
French (fr)
Other versions
EP1375757B1 (en
Inventor
Rolf Mieger
Thomas Zitterbart
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Liebherr Hydraulikbagger GmbH
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Liebherr Hydraulikbagger GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
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Publication of EP1375757A1 publication Critical patent/EP1375757A1/en
Application granted granted Critical
Publication of EP1375757B1 publication Critical patent/EP1375757B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/3604—Devices to connect tools to arms, booms or the like
    • E02F3/3609—Devices to connect tools to arms, booms or the like of the quick acting type, e.g. controlled from the operator seat
    • E02F3/3654—Devices to connect tools to arms, booms or the like of the quick acting type, e.g. controlled from the operator seat with energy coupler, e.g. coupler for hydraulic or electric lines, to provide energy to drive(s) mounted on the tool
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
    • E02F9/2271—Actuators and supports therefor and protection therefor
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices

Definitions

  • the invention relates to a construction machine with quick coupling for coupling a Tool to a boom according to the preamble of claim 1.
  • the construction machines for example hydraulic excavators, are very different Equipped with tools such as troughs, shovels, grippers, Hammering, shearing, milling, fangs, load hooks and much more.
  • tools such as troughs, shovels, grippers, Hammering, shearing, milling, fangs, load hooks and much more.
  • wheel loaders and other construction machines have the appropriate boom, can be used.
  • These construction machines are used by the cultivation of different tools become multifunctional machines.
  • a technical problem may be that the Attachment of a hydraulically driven hydraulic pressure tool Construction-side hydraulic device, the flow or even the used Oil does not match the attached tool. This can on the one hand to Not functional, but also up to the destruction of the tool to lead.
  • Safety problems arise for example by the cultivation of a too big or too heavy spoon, because here the stability the construction machine when lifting the load is no longer guaranteed.
  • the transmission of the kinematics data may cause a collision, e.g. With the cabin or overhead lines, etc. are prevented.
  • the object of the invention is therefore a construction machine with quick coupling such educate that technical or safety risks in automatic Hitching a tool to a construction machine safely prevented as well as the function is guaranteed properly.
  • this object is based on a generic Construction machine with quick coupling by combining the features of the claim 1 solved. Accordingly, an identification system is provided, on the one hand Tool-side means for identifying the type and size of the tool as well as construction machine-side means for reading and processing the tool-related Information includes.
  • this identification system can in the first step in Attachment of the tool of the construction machine via the corresponding identification system be notified which tool has been attached, d. H. which Weight and what content of the optionally attached backhoe, which Oil quantity and which oil pressure the tool needs for operation or which Dimensions the tool has.
  • the on-board computer is then transmitted the data that this then, for example, to the hydraulic pump to set the right one Provides quantity and pressure of hydraulic oil.
  • weights and dimensions may be those available Payload determined and displayed.
  • the possible range, Digging depth and height are displayed respectively as limits in the control of the Boom fed.
  • the tool-side means of an electronic memory element, a transponder, a transmitter and / or a barcode exist. These then act with the construction-machine-side means for reading and processing the information together. These are preferably part of the on-board computer or at least they are connected to it. Lying the tool side Information, for example, in an electronic memory element, can the electrical signals in the form of individual contacts passed to the construction machine become. As far as a transponder is provided on the tool side, one must corresponding receiving device be provided on the construction machine side. something similar Applies to a construction machine side receiver, which may have a tool side existing transmitter cooperates to exchange radio signals. Finally, on the construction side, a system for reading one on the Tool-mounted barcodes be provided.
  • Fig. 1 as a construction machine by way of example a hydraulic excavator 10 is shown at the boom 12 a tool changer 14 grown with energy input is.
  • This executed as a quick coupler tool changer 14 may be any Tool 16 record automatically, taking on the tool 16 at the same time the energy circuit, for example in the present example, the hydraulic circuit, is coupled.
  • a hydraulic excavator boom mounted spoon 16 shown.
  • This spoon 16 has a tool side Means 18 for identifying the type and size of the tool in the form of a Transponders on.
  • This transponder 18 shares the cultivation of the spoon 16 here not shown on-board computer of the hydraulic excavator 10 with how high the Weight of the spoon is and what content has this. Furthermore, the dimensions of the spoon 16 passed to the on-board computer. In one here also not shown memory of the on-board computer are attached to the Spoon necessary oil quantities or pressure conditions for the hydraulic circuit stored.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Operation Control Of Excavators (AREA)
  • Shovels (AREA)
  • Quick-Acting Or Multi-Walled Pipe Joints (AREA)
  • Conveying And Assembling Of Building Elements In Situ (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)
  • Earth Drilling (AREA)
  • Soil Working Implements (AREA)
  • Component Parts Of Construction Machinery (AREA)

Abstract

The excavator (10) has a hydraulically operated arm (12) able to operate a variety of tools (16) through quick automatic connections and carrying a transmitter unit (14) which enables the machine to be operated correctly with respect to the fitted tool.

Description

Die Erfindung betrifft eine Baumaschine mit Schnellkupplung zum Ankuppeln eines Werkzeuges an einen Ausleger nach dem Oberbegriff des Anspruchs 1.The invention relates to a construction machine with quick coupling for coupling a Tool to a boom according to the preamble of claim 1.

Es sind bereits Baumaschinen mit Schnellkupplung zum Ankuppeln eines Werkzeuges an einen Ausleger bekannt. Diese weisen einen auslegerseitigen Schnellkupplungsteil und einen werkzeugseitigen Schnellkupplungsteil mit einer Energiekreiskupplung auf. Beispielsweise bei Hydraulikbaggern werden als Energiekreiskupplung Hydraulikkupplungen verwendet. Mit den bekannten Schnellkupplungen ist ein automatisches Ankuppeln des Werkzeuges möglich, wobei der werkzeugseitige Energieanschluß an den entsprechenden auslegerseitigen Energieanschluß ebenfalls automatisch gekoppelt wird.There are already construction machines with quick coupling for coupling a tool known to a boom. These have a boom-side quick coupling part and a tool-side quick coupling part with a power circuit coupling on. For example, in hydraulic excavators are called Energiekreiskupplung Hydraulic couplings used. With the well-known quick couplings is an automatic coupling of the tool possible, the tool side Power connection to the corresponding jib-side power connection is also automatically linked.

Die Baumaschinen, beispielsweise Hydraulikbagger, werden mit sehr unterschiedlichen Werkzeugen bestückt, beispielsweise mit Tieflöffeln, Schaufeln, Greifern, Hämmern, Scheren, Fräsen, Reißzähnen, Lasthaken und vieles mehr. Neben dem vorgenannten Hydraulikbagger sind aber auch Radlader und andere Baumaschinen, die entsprechende Ausleger aufweisen, einsetzbar. Neben ihrer typischen Verwendung sind diese Baumaschinen durch den Anbau von verschiedenen Werkzeugen zu Multifunktionsmaschinen geworden.The construction machines, for example hydraulic excavators, are very different Equipped with tools such as troughs, shovels, grippers, Hammering, shearing, milling, fangs, load hooks and much more. Next to the The aforementioned hydraulic excavators are also wheel loaders and other construction machines, have the appropriate boom, can be used. In addition to their typical These construction machines are used by the cultivation of different tools become multifunctional machines.

Durch die Verwendung von Werkzeugschnellwechslern und der Möglichkeit, gleichzeitig mit dem Ankupplungsvorgang auch die notwendige Energieversorgung elektrischer oder hydraulischer Art herzustellen, ist das Aufnehmen verschiedener Werkzeuge grundsätzlich wesentlich erleichtert worden. Dieser erleichterte Anbau führt aber zu dem Problem, daß von dem Bedienpersonal der Baumaschine eventuell auftretende technische und sicherheitstechnische Probleme nicht erfasst werden. So kann ein technisches Problem beispielsweise darin bestehen, daß beim Anbau eines hydraulisch angetriebenen Werkzeugs der hydraulische Druck der baumaschinenseitigen Hydraulikeinrichtung, die Fördermenge oder auch das eingesetzte Öl zu dem angebauten Werkzeug nicht passen. Dies kann einerseits zur Funktionsuntüchtigkeit, andererseits aber auch bis hin zur Zerstörung des Werkzeugs führen. Sicherheitstechnische Probleme ergeben sich beispielsweise durch den Anbau eines zu großen oder zu schweren Löffels, da hier die Standsicherheit der Baumaschine beim Lastheben nicht mehr gewährleistet ist.By using quick tool changers and the possibility of simultaneously with the coupling process also the necessary power supply electrical or hydraulic type, is the recording of various Tools have been fundamentally relieved. This easier cultivation But leads to the problem that of the operating personnel of the construction machine may occurring technical and safety problems are not detected. For example, a technical problem may be that the Attachment of a hydraulically driven hydraulic pressure tool Construction-side hydraulic device, the flow or even the used Oil does not match the attached tool. This can on the one hand to Not functional, but also up to the destruction of the tool to lead. Safety problems arise for example by the cultivation of a too big or too heavy spoon, because here the stability the construction machine when lifting the load is no longer guaranteed.

Im weiteren kann durch die Übermittlung der Kinematikdaten eine Kollision z.B. mit der Kabine oder auch Oberleitungen etc. verhindert werden.Furthermore, the transmission of the kinematics data may cause a collision, e.g. With the cabin or overhead lines, etc. are prevented.

Aufgabe der Erfindung ist es daher, eine Baumaschine mit Schnellkupplung derart weiterzubilden, daß technische bzw. sicherheitstechnische Risiken beim automatischen Ankuppeln eines Werkzeuges an eine Baumaschine sicher verhindert werden sowie die Funktion einwandfrei gewährleistet ist.The object of the invention is therefore a construction machine with quick coupling such educate that technical or safety risks in automatic Hitching a tool to a construction machine safely prevented as well as the function is guaranteed properly.

Erfindungsgemäß wird diese Aufgabe ausgehend von einer gattungsgemäßen Baumaschine mit Schnellkupplung durch die Kombination der Merkmale des Anspruchs 1 gelöst. Demnach ist ein Identifizierungssystem vorgesehen, das einerseits werkzeugseitige Mittel zur Identifizierung der Art und Größe des Werkzeugs sowie baumaschinenseitige Mittel zum Auslesen und Verarbeiten der werkzeugbezogenen Informationen beinhaltet. According to the invention this object is based on a generic Construction machine with quick coupling by combining the features of the claim 1 solved. Accordingly, an identification system is provided, on the one hand Tool-side means for identifying the type and size of the tool as well as construction machine-side means for reading and processing the tool-related Information includes.

Mit diesem erfindungsgemäßen Identifizierungssystem kann im ersten Schritt beim Anbau des Werkzeuges der Baumaschine über das entsprechende Identifizierungssystem mitgeteilt werden, welches Werkzeug angebaut wurde, d. h. welches Gewicht und welchen Inhalt der gegebenenfalls angebaute Tieflöffel hat, welche Ölmenge und welchen Öldruck das Werkzeug zum Betrieb benötigt bzw. welche Abmessungen das Werkzeug hat.With this identification system according to the invention can in the first step in Attachment of the tool of the construction machine via the corresponding identification system be notified which tool has been attached, d. H. which Weight and what content of the optionally attached backhoe, which Oil quantity and which oil pressure the tool needs for operation or which Dimensions the tool has.

In einem zweiten Schritt werden dann dem Bordrechner die Daten übermittelt, die dieser dann beispielsweise an die Hydraulikpumpe zum Einstellen der richtigen Menge und des Drucks des Hydrauliköls zur Verfügung stellt. Aus den übermittelten Gewichten und Abmessungen kann beispielsweise die zur Verfügung stehende Nutzlast ermittelt und angezeigt werden. Weiterhin können die mögliche Reichweite, Grabtiefe und Höhe angezeigt werden bzw. als Grenzwerte in die Steuerung des Auslegers eingespeist werden.In a second step, the on-board computer is then transmitted the data that this then, for example, to the hydraulic pump to set the right one Provides quantity and pressure of hydraulic oil. From the transmitted For example, weights and dimensions may be those available Payload determined and displayed. Furthermore, the possible range, Digging depth and height are displayed respectively as limits in the control of the Boom fed.

Bevorzugte Ausführungsformen der Erfindung ergeben sich aus den sich an den Hauptanspruch anschließenden Unteransprüchen.Preferred embodiments of the invention will become apparent from the to the Main claim subsequent claims.

Demnach können die werkzeugseitigen Mittel aus einem elektronischen Speicherelement, einem Transponder, einem Sender und/oder einem Barcode bestehen. Diese wirken dann mit den baumaschinenseitigen Mitteln zum Auslesen und Verarbeiten der Informationen zusammen. Diese sind vorzugsweise Teil des Bordrechners oder sie sind zumindest mit diesem verbunden. Liegen die werkzeugseitigen Informationen beispielsweise in einem elektronischen Speicherelement vor, können die elektrischen Signale in Form einzelner Kontakte an die Baumaschine weitergegeben werden. Soweit ein Transponder werkzeugseitig vorgesehen ist, muß eine entsprechende Empfangseinrichtung baumaschinenseitig vorgesehen sein. Ähnliches gilt für einen baumaschinenseitigen Empfänger, der mit einem eventuell werkzeugseitig vorhandenen Sender zum Austausch von Funksignalen zusammenwirkt. Schließlich kann baumaschinenseitig ein System zum Auslesen eines auf dem Werkzeug angebrachten Barcodes vorgesehen sein. Accordingly, the tool-side means of an electronic memory element, a transponder, a transmitter and / or a barcode exist. These then act with the construction-machine-side means for reading and processing the information together. These are preferably part of the on-board computer or at least they are connected to it. Lying the tool side Information, for example, in an electronic memory element, can the electrical signals in the form of individual contacts passed to the construction machine become. As far as a transponder is provided on the tool side, one must corresponding receiving device be provided on the construction machine side. something similar Applies to a construction machine side receiver, which may have a tool side existing transmitter cooperates to exchange radio signals. Finally, on the construction side, a system for reading one on the Tool-mounted barcodes be provided.

Weitere Einzelheiten und Vorteile der Erfindung ergeben sich aus der beigefügten Zeichnung, in der eine bevorzugte Ausführungsform beispielhaft dargestellt ist. Es zeigen:

Fig. 1:
eine schematische Seitenansicht einer Baumaschine mit Schnellkupplung nach einer Ausführungsform der vorliegenden Erfindung,
Fig. 2a:
eine detailliertere Teilansicht der schematischen Darstellung gemäß Fig. 1 und
Fig. 2b:
eine Ansicht in Pfeilrichtung A gemäß Fig. 2a.
Further details and advantages of the invention will become apparent from the accompanying drawings in which a preferred embodiment is shown by way of example. Show it:
Fig. 1:
a schematic side view of a construction machine with quick coupling according to an embodiment of the present invention,
Fig. 2a:
a more detailed partial view of the schematic representation of FIG. 1 and
Fig. 2b:
a view in the direction of arrow A of FIG. 2a.

In Fig. 1 ist als Baumaschine beispielhaft ein Hydraulikbagger 10 dargestellt, an dessen Ausleger 12 ein Werkzeugwechsler 14 mit Energiedurchführung angebaut ist. Dieser als Schnellwechsler ausgeführte Werkzeugwechsler 14 kann ein beliebiges Werkzeug 16 automatisch aufnehmen, wobei bei Aufnahme des Werkzeuges 16 gleichzeitig der Energiekreis, beispielsweise im vorliegenden Beispiel der Hydraulikkreis, angekuppelt wird.In Fig. 1 as a construction machine by way of example a hydraulic excavator 10 is shown at the boom 12 a tool changer 14 grown with energy input is. This executed as a quick coupler tool changer 14 may be any Tool 16 record automatically, taking on the tool 16 at the same time the energy circuit, for example in the present example, the hydraulic circuit, is coupled.

Gemäß der vergrößert dargestellten Ausgestaltung des Auslegers 12 mit Schnellkupplung 14 und Werkzeug 16 ist in Fig. 2a bzw. 2b ein an einem Hydraulikbaggerausleger angebauter Löffel 16 gezeigt. Dieser Löffel 16 weist ein werkzeugseitiges Mittel 18 zur Identifizierung der Art und Größe des Werkzeugs in Form eines Transponders auf. Dieser Transponder 18 teilt beim Anbau des Löffels 16 dem hier nicht näher dargestellten Bordrechner des Hydraulikbaggers 10 mit, wie hoch das Gewicht des Löffels ist und welchen Inhalt dieser hat. Weiterhin werden die Abmessungen des Löffels 16 an den Bordrechner weitergegeben. In einem hier ebenfalls nicht näher dargestellten Speicher des Bordrechners sind die zu dem angebauten Löffel notwendigen Ölmengen bzw. Druckverhältnisse für den Hydraulikkreis abgelegt. Nach Einlesen des Typs des Löffels 16 werden diese Daten dann vom Bordrechner bereitgestellt, so daß die Hydraulikpumpe auf die richtige Ölmenge und den richtigen Öldruck eingestellt werden kann. Weiterhin kann gleichzeitig die Nutzlast und die mögliche Reichweite bzw. Grabtiefe und Höhe des Baggerauslegers bestimmt werden. Gleichzeitig können entsprechende Grenzwerte in einer Sicherheitssteuerung erzeugt werden, die eine Fehlbedienung des Hydraulikbaggers sicher verhindert. Derartige Sicherheitssteuerungen sind bei bekannten Hydraulikbaggern bereits vorgesehen und brauchen an dieser Stelle nicht weiter erläutert werden. Sie verhindern z.B., daß die Baumaschine aufgrund eines zu weit ausladenden schweren Löffels in eine instabile Lage versetzt wird.According to the illustrated embodiment of the boom 12 with quick coupling 14 and tool 16 is in Fig. 2a and 2b, respectively on a hydraulic excavator boom mounted spoon 16 shown. This spoon 16 has a tool side Means 18 for identifying the type and size of the tool in the form of a Transponders on. This transponder 18 shares the cultivation of the spoon 16 here not shown on-board computer of the hydraulic excavator 10 with how high the Weight of the spoon is and what content has this. Furthermore, the dimensions of the spoon 16 passed to the on-board computer. In one here also not shown memory of the on-board computer are attached to the Spoon necessary oil quantities or pressure conditions for the hydraulic circuit stored. After reading the type of the spoon 16, these data will be provided by the on-board computer, so that the hydraulic pump to the correct amount of oil and the correct oil pressure can be adjusted. Furthermore, at the same time the payload and the possible reach or digging depth and height of the excavator boom be determined. At the same time, corresponding limit values can be set in one Safety control can be generated, which is a malfunction of the hydraulic excavator safely prevented. Such safety controllers are known Hydraulic excavators already provided and need not continue at this point be explained. For example, they prevent the construction machine from being too far due to too much staggering heavy spoon is placed in an unstable position.

Claims (3)

Baumaschine mit Schnellkupplung zum Ankuppeln eines Werkzeugs an einen Ausleger mit einem auslegerseitigen Schnellkupplungsteil und einem werkzeugseitigen Schnellkupplungsteil mit einer Energiekreiskupplung , insbesondere Hydraulikkupplung, zum automatischen Ankuppeln eines werkzeugseitigen Energieanschlusses an einen auslegerseitigen Energieanschluß,
gekennzeichnet durch
ein Identifizierungssystem mit werkzeugseitigen Mitteln zur Identifizierung der Art und Größe des Werkzeuges sowie baumaschinenseitigen Mitteln zum Auslesen und Verarbeiten der Information. Construction machine with quick coupling for coupling a tool to a boom with a boom-side quick coupling part and a tool-side quick coupling part with a power circuit coupling, in particular hydraulic coupling, for automatically coupling a tool-side power connection to a boom-side power connection,
marked by
an identification system with tool-side means for identifying the type and size of the tool and construction-side means for reading and processing the information. Baumaschine nach dem vorhergehenden Anspruch, daduch gekennzeichnet, daß die werkzeugseitigen Mittel aus einem elektronischen Speicherelement, einem Transponder, einem Sender und/oder einem Barkode besteht.Construction machine according to the preceding claim, characterized in that the tool-side means consists of an electronic memory element, a transponder, a transmitter and / or a bar code. Baumaschine nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß die baumaschinenseitigen Mittel zum Auslesen und Verarbeiten der Information Teil des Bordrechners sind oder mit diesem verbunden sind.Construction machine according to one of the preceding claims, characterized in that the construction-machine-side means for reading and processing the information are part of the on-board computer or are connected thereto.
EP03013258A 2002-06-19 2003-06-12 Working vehicle with a tool quick coupler and an identification system for the tool Expired - Lifetime EP1375757B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE20209518U 2002-06-19
DE20209518U DE20209518U1 (en) 2002-06-19 2002-06-19 Construction machine with quick coupling

Publications (2)

Publication Number Publication Date
EP1375757A1 true EP1375757A1 (en) 2004-01-02
EP1375757B1 EP1375757B1 (en) 2007-09-12

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US (1) US6892822B2 (en)
EP (1) EP1375757B1 (en)
JP (1) JP2004019436A (en)
CN (1) CN1472401A (en)
AT (1) ATE373145T1 (en)
CA (1) CA2431808C (en)
DE (2) DE20209518U1 (en)
ES (1) ES2290383T3 (en)
PL (1) PL205673B1 (en)
RU (1) RU2003118412A (en)

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CN111021458B (en) * 2019-12-04 2022-03-15 徐工集团工程机械有限公司 Intelligent control system and method for arm support type emergency rescue vehicle
GB2591254B (en) * 2020-01-22 2022-06-15 Caterpillar Work Tools Bv Decoupling a tool from tilt rotator

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FR2676765A1 (en) * 1991-05-22 1992-11-27 Koehl Jean Marie Device for mechanical, hydraulic and electric coupling instantaneously, automatically, and controlled remotely
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DE3135150C1 (en) * 1981-09-04 1983-01-13 Liebherr-Hydraulikbagger Gmbh, 7951 Kirchdorf Coupling for coupling implements to arms of hydraulic excavators
US5333400A (en) * 1989-07-18 1994-08-02 Sonerud John Teodor Coupling of drive systems to an accessory or an excavator of the like
FR2676765A1 (en) * 1991-05-22 1992-11-27 Koehl Jean Marie Device for mechanical, hydraulic and electric coupling instantaneously, automatically, and controlled remotely
US5465513A (en) * 1991-09-06 1995-11-14 Sonerud; John T. Device for quick connection of hydraulic tubings
EP0768433A1 (en) * 1995-10-11 1997-04-16 Shin Caterpillar Mitsubishi Ltd. Control circuit for a construction machine
EP0860557A1 (en) * 1997-02-25 1998-08-26 Shin Caterpillar Mitsubishi Ltd. Method and device for controlling a construction machine
EP0866177A2 (en) * 1997-03-10 1998-09-23 Clark Equipment Company Attachment to a power tool
EP0989242A1 (en) * 1997-11-25 2000-03-29 Shin Caterpillar Mitsubishi Ltd. Control apparatus and method for construction machine
WO2001057324A1 (en) * 2000-02-01 2001-08-09 Clark Equipment Company Attachment control device for power machine

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WO2004072387A1 (en) * 2003-02-17 2004-08-26 Oilquick Ab A system comprising an implement attachment means and an implement
EP2508680A1 (en) * 2011-04-07 2012-10-10 Brokk Aktiebolag Control system for a remote-controlled working machine equipped with a manoeuvrable arm

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PL205673B1 (en) 2010-05-31
US6892822B2 (en) 2005-05-17
CN1472401A (en) 2004-02-04
US20030233773A1 (en) 2003-12-25
RU2003118412A (en) 2004-12-20
ES2290383T3 (en) 2008-02-16
DE50308150D1 (en) 2007-10-25
CA2431808C (en) 2012-08-14
PL360529A1 (en) 2003-12-29
EP1375757B1 (en) 2007-09-12
CA2431808A1 (en) 2003-12-19
JP2004019436A (en) 2004-01-22
DE20209518U1 (en) 2003-10-30
ATE373145T1 (en) 2007-09-15

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