EP3719220B1 - Steuerverfahren zum betätigen einer bewegung mindestens eines auslegers und/oder eines mit dem ausleger verbundenen arbeitsgerätes in einem von einem motor angetriebenen arbeitsfahrzeug, entsprechendes steuersystem und arbeitsfahrzeug mit einem solchen steuersystem - Google Patents

Steuerverfahren zum betätigen einer bewegung mindestens eines auslegers und/oder eines mit dem ausleger verbundenen arbeitsgerätes in einem von einem motor angetriebenen arbeitsfahrzeug, entsprechendes steuersystem und arbeitsfahrzeug mit einem solchen steuersystem Download PDF

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Publication number
EP3719220B1
EP3719220B1 EP20168289.5A EP20168289A EP3719220B1 EP 3719220 B1 EP3719220 B1 EP 3719220B1 EP 20168289 A EP20168289 A EP 20168289A EP 3719220 B1 EP3719220 B1 EP 3719220B1
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EP
European Patent Office
Prior art keywords
boom
implement
joystick
actuating
motor
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EP20168289.5A
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English (en)
French (fr)
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EP3719220A1 (de
Inventor
Adriano GARRAMONE
Andrea Gravili
Stefano Liberti
Antonio Venezia
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CNH Industrial Italia SpA
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CNH Industrial Italia SpA
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Publication of EP3719220A1 publication Critical patent/EP3719220A1/de
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    • 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
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
    • 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
    • E02F9/2004—Control mechanisms, e.g. control levers
    • E02F9/2012—Setting the functions of the control levers, e.g. changing assigned functions among operations levers, setting functions dependent on the operator or seat orientation
    • 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
    • E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
    • E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
    • 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
    • E02F9/2278—Hydraulic circuits
    • E02F9/2285—Pilot-operated systems

Definitions

  • the present invention relates generally to a work vehicle, such as for example a compact wheel loader, and particularly to a control method of actuating a movement of at least one of a boom and an implement connected to the boom in a work vehicle powered by a motor and to a corresponding control system.
  • Motorized work vehicles are well known for use in material handling that carry an implement and have a hydraulically operated lifting arm for moving the implement. Examples of such vehicles are tractors and loaders.
  • a loader is a heavy equipment machine used in construction to move aside on the ground or load materials such as asphalt, demolition debris, dirt, snow, feed, gravel, logs, raw minerals, recycled material, rock, sand, woodchips, etc. into or onto another type of machinery (such as a dump truck, conveyor belt, feed-hopper, or railroad car).
  • loader which, depending on design and application, are called by various names, including bucket loader, front loader, front-end loader, payloader, scoop, shovel, skip loader, wheel loader, or skid-steer.
  • compact wheel loaders are compact vehicles that have road wheels and carry a working implement, such as a bucket, attached to a lift arm or boom, that is hydraulically powered.
  • a work vehicle 1 such as a compact wheel loader
  • the invention is not limited to such a kind of work vehicle, but is applicable to any other kind of work vehicle.
  • a compact wheel loader includes a bucket 2 connected to a frame 3 of the work vehicle for movement relative thereto. As shown, a pair of booms 5 (only one being shown) is each pivotally connected at one end on opposite sides of frame 3. The bucket 2 is pivotally connected at the opposite end of booms for tilting movement relative to the frame 3 about a generally horizontal axis.
  • the above-described features form no substantial part of the present invention and are generally well known in the art.
  • a bucket may be replaced in operation by any other implement or attachment.
  • the movement of the boom 5 and of the bucket 2 is controlled by the user through a joystick 7 placed inside an operator's cab or cabin 9 of the work vehicle 1.
  • a joystick 7 placed inside an operator's cab or cabin 9 of the work vehicle 1.
  • FIG 2 which shows a control diagram of the work vehicle 1
  • the boom 5 and the bucket 2 are moved by an hydraulic control circuit 10 comprising a first and a second hydraulic actuators 12, 14 which are controlled by an electronic control unit 16 through respective solenoid valves 18, 20 according to the position of the joystick 7 controlled by the user.
  • Figure 3 shows an exemplary joystick of a work vehicle.
  • a movement of the joystick in an associated bi-dimensional control area A according to a first direction y causes the actuation of the boom and a movement of the joystick in said control area A according to a second direction x causes the actuation of the implement.
  • the intersection of said x and y directions is defined as origin O of the control area A, and corresponds to the neutral position of the joystick.
  • a neutral region N around the neutral position of the joystick is a region where the boom and implement are not actuated.
  • a region externally surrounding the neutral region is defined a driving region and indicated D in this figure.
  • the implement when the joystick is moved up from the origin O of the control area A according to the y direction the boom is lowered with respect to ground and when the joystick is moved down from the origin O according to the y direction the boom is lifted towards ground.
  • the implement e.g. a bucket
  • the implement when the joystick is moved right from the origin O according to the x direction the implement, e.g. a bucket, is tilted towards a dumping position
  • the implement e.g. the bucket, is tilted towards a dig position and beyond.
  • a combination of movement in both directions x and y of the joystick is allowed in order to move simultaneously the boom and the bucket.
  • Load-sensing valves allow a pressure compensation so that downstream channels take proportional allocation of flow depending on the load.
  • the flow rate at a predetermined opening degree is not dependent upon the load downstream each valve and is not dependent upon the pump inlet flow.
  • load-sensing valves with flow sharing also prevent the working fluid from taking the path of least resistance.
  • this solution is very expensive.
  • open centre directional solenoid valves are less expensive than load-sensing valves.
  • the flow rate at a predetermined opening degree is dependent upon the pump inlet flow, the number of valves supplied by the pump and the load downstream each valve.
  • each hydraulic actuator comprises an hydraulic cylinder operatively connected respectively to the boom and the implement, that uses hydraulic power of a working fluid to facilitate mechanical operation, the working fluid being controlled by means of open centre directional solenoid valves 18, 20.
  • a hydraulic actuator can exert a large force.
  • the rate of actuation of the boom and implement is controlled by the opening degree of the respective open centre directional solenoid valve 18, 20 by means of a driving current thereof as a function of the position of the joystick.
  • the hydraulic flow rate of the working fluid required to operate the boom and the implement is produced by a hydraulic fixed displacement pump P connected to a fluid reservoir T and driven by an internal combustion engine or an electrical motor M (hereinafter simply referred to as motor) of the vehicle, e.g. by a mechanical linkage. Therefore, the rate of movement of the boom and the implement at a predetermined joystick position is dependent upon the motor rotational speed. For instance, when the motor is working at a high rotational speed, it is necessary a minimum movement of the joystick by the user to start the movement of the boom and/or the implement. On the contrary, when the motor is working at a low rotational speed, it is necessary a large movement of the joystick by the user to start the movement of the boom and/or the bucket.
  • the situation is similar when the user try to stop the movement of the boom and/or the implement through the joystick. For instance, when the motor is working at a high rotational speed, it is necessary to move the joistick at a first distance from a neutral position of the joystick to stop the actuation of the boom and/or the implement. On the contrary, when the motor is working at a low rotational speed, it is necessary to move the joistick at a second distance from a neutral position of the joystick, higher than said first distance, to stop the actuation of the boom and/or the implement.
  • the aim of the present invention is to provide a solution that avoids the drawbacks of the prior art.
  • an aim of the present invention is to improve the controllability of a boom and/or implement in a work vehicle in situations in which the motor may be working at high or low rotational speed.
  • this aim is achieved by a control method for actuating a movement of at least one of a boom and an implement connected to the boom in a work vehicle powered by a motor, having the features claimed in claim 1.
  • control system for actuating a movement of at least one of a boom and an implement connected to the boom in a work vehicle powered by a motor, as well as a work vehicle, as claimed.
  • an actuation strategy of a boom and/or an implement (and possibly of any further attachment) of a work vehicle is disclosed according to which the opening of at least one of the open centre directional solenoid valves of the hydraulic actuating means of the boom and the implement is modulated by considering the motor speed so as to guarantee that the start/stop movement of the boom or the implement occurs always at the same joystick position.
  • actuation of the boom 5 and the implement 2 occurs by means of joystick 7 controlled by a user, whose movement in the control area A according to direction y causes the actuation of the boom 5 by first hydraulic actuating means 12 and whose movement in the control area A according to direction x causes the actuation of the implement 2 by second hydraulic actuating means 14.
  • Each hydraulic actuating means 12, 14 include an hydraulic cylinder operatively connected respectively to the boom 5 and the implement 2, and a respective first and second open centre directional solenoid valve 18, 20 whose opening degree is adapted to control the flow of a working fluid to the respective hydraulic cylinder.
  • An hydraulic flow rate of the working fluid is produced by a hydraulic pump P driven by the motor M.
  • the rate of actuation of the boom 5 is controlled by the opening degree of the first open centre directional solenoid valve 18 by means of the driving current thereof as a function of a first component of the position P of the joystick 7 along direction y in the control area A.
  • the rate of actuation of the implement 2 is controlled by the opening degree of the second open centre directional solenoid valve 20 by means of the driving current thereof as a function of a second component of the position P of the joystick 7 along direction x in the control area A.
  • the first component of the position P of the joystick 7 along direction y is indicated y P in figure 3 and is the projection over y axis of a vector representing the position P of the joystick in the control area A.
  • the second component of the position P of the joystick 7 along direction x is indicated x P in figure 3 and is the projection over x axis of the vector representing the position P of the joystick in the control area A.
  • the driving region D and the neutral region N are separated by a preset boundary B.
  • the control method comprises the step of providing a predetermined reference model of at least one among the driving current of the first open centre directional solenoid valve 18 and the driving current of the second open centre directional solenoid valve 20, indicative of the relation between the driving current and the rotational speed of the motor.
  • control method comprises the step of acquiring a signal Se or data indicative of the current rotational speed of the motor M.
  • an actual driving current value is retrieved from the reference model according to the acquired signal or data indicative of the current rotational speed of the motor M.
  • the retrieved actual driving current value being intended to at least one among the first open centre directional solenoid valve 18 or the second open centre directional solenoid valve 20.
  • FIG. 4 An exemplary reference model is illustrated in figure 4 .
  • On the Y-axis are reported the driving current values and on the X-axis are reported the values of motor rotational speed in rpm, revolutions per minute.
  • the driving current value I x is retrieved from the reference model. Then, the driving current value I x is used to actuates at least one among the first open centre directional solenoid valve or the second open centre directional solenoid valve.
  • the reference model is an analytic model or a look-up table.
  • the preset boundary can have a constant distance from the neutral position of the joystick, i.e. the intersection of the first preset direction x and the second preset direction y.
  • the preset boundary B may have an ellipsoidal shape.
  • the preset boundary B is pre-set by the manufacturer of the work vehicle 1.
  • the reference model includes a plurality of driving current curves as a function of the distance of the preset boundary from the neutral position of the joystick, said plurality of driving current curves being not parallel.
  • the neutral region N can be a region around a position of intersection O of said first and second preset directions x, y, and said driving region D can be a region surrounding said neutral region N.
  • the invention concerns also a control system 10 for actuating a movement of at least one of a boom 5 and an implement 2 connected to the boom 5 in a work vehicle 1 powered by a motor.
  • the control system 10 comprises input means adapted to receive at least a signal S J indicative of a position in a control area of a joystick 7 controlled by a user for actuating the boom 5 and the implement 2, and input means adapted to receive a signal S e indicative of the rotational speed of the motor M.
  • control system 10 comprises storage means adapted to store a reference model of at least one among the driving current of the first open centre directional solenoid valve 18 and the driving current of the second open centre directional solenoid valve 20, indicative of the relation between at least the position of the preset boundary B and the rotational speed of the motor M.
  • control system 10 comprises output means adapted to issue at least a signal S DC indicative of a driving current intended to control an opening degree of at least an open centre directional solenoid valve of hydraulic actuating means of said at least one of a boom 5 and an implement 2.
  • the control system 10 is arranged to carry out a control method according to the invention.
  • the invention concerns also a work vehicle 1, in particular compact wheel loader, comprising a motor M arranged to power the work vehicle 1, a boom 5 and an implement 2 connected to the boom 5, a joystick 7 operatively controlled by a user for actuating the boom 5 and the implement2.
  • the joystick 7 is movable in a predetermined control area A according to a first preset direction x for actuating the boom 5 and in a second preset direction y for actuating the implement 2.
  • first hydraulic actuating means 12 for actuating the boom 5 and second hydraulic actuating means 14 for actuating the implement 2.
  • the first hydraulic actuating means and the second hydraulic actuating means each include an hydraulic cylinder operatively connected respectively to the boom 5 and the implement 2, and a respective first and second open centre directional solenoid valve 18, 20 whose opening degree is adapted to control the flow of a working fluid to the respective hydraulic cylinder.
  • the opening degree of said first and second open centre directional solenoid valve 18,20 is operatively controlled by means of a respective driving current.
  • the work vehicle includes a hydraulic pump P driven by the motor M to produce an hydraulic flow rate of the working fluid, and a control system for actuating the movement of at least one of the boom and the implement, according to the invention.
  • the uncertainty about the position of the joystick in which the actuation of the boom and/or the implement is started and stopped is eliminated. Therefore, the controllability of the boom and/or implement and possible auxiliary attachments by the user and the working precision of work vehicle are increased.

Claims (6)

  1. Steuerungsverfahren zur Betätigung einer Bewegung von mindestens einem aus einem Ausleger (5) und einem mit dem Ausleger verbundenen Arbeitsgerät (2) in einem Arbeitsfahrzeug (1), das von einem Motor (M) angetrieben wird,
    wobei die Betätigung des Auslegers (5) und des Arbeitsgeräts (2) mittels eines Steuerhebels (7) erfolgt, der von einem Benutzer bedient wird, wobei eine Bewegung des Steuerhebels in einem vorbestimmten Steuerungsbereich (A) gemäß einer ersten vorbestimmten Richtung (y) die Betätigung des Auslegers (5) durch eine erste hydraulische Betätigungseinrichtung (12) bewirkt und eine Bewegung des Steuerhebels (7) in dem Steuerungsbereich (A) gemäß einer zweiten vorbestimmten Richtung (x) die Betätigung des Arbeitsgeräts (2) durch eine zweite hydraulische Betätigungseinrichtung (14) bewirkt,
    wobei die erste hydraulische Betätigungseinrichtung (12) und die zweite hydraulische Betätigungseinrichtung (14) jeweils einen Hydraulikzylinder umfassen, der mit dem Ausleger (5) bzw. dem Arbeitsgerät (2) wirkverbunden ist, und ein jeweiliges erstes bzw. zweites Open-Center Magnet-Wegeventil (18, 20) umfassen, dessen Öffnungsgrad zur Steuerung des Durchflusses eines Arbeitsfluids zu dem jeweiligen Hydraulikzylinder angepasst wird; wobei ein Hydraulikdruck des Arbeitsfluids durch eine Hydraulikpumpe (P) erzeugt wird, die von dem Motor (M) angetrieben wird;
    wobei die Betätigungsrate des Auslegers (5) durch den Öffnungsgrad des ersten Open-Center Magnet-Wegeventils (18) mittels eines Antriebsstroms desselben in Abhängigkeit einer ersten Komponente der Position des Steuerhebels (7) entlang der ersten vorbestimmten Richtung (y) in dem Steuerungsbereich gesteuert wird, und die Betätigungsrate des Arbeitsgeräts (2) durch den Öffnungsgrad des zweiten Open-Center Magnet-Wegeventils (20) mittels eines Antriebsstroms desselben in Abhängigkeit einer zweiten Komponente der Position des Steuerhebels (7) entlang der zweiten vorbestimmten Richtung (x) in dem Steuerungsbereich (A) gesteuert wird;
    wobei der Steuerungsbereich (A) des Steuerhebels (7) einen Antriebsbereich (D) und einen Neutralbereich (N) um eine neutrale Position des Steuerhebels herum aufweist, wobei der Antriebsbereich und der Neutralbereich durch eine vorbestimmte Bereichsgrenze getrennt sind;
    wobei das Steuerungsverfahren dadurch gekennzeichnet ist, dass es die folgenden Schritte umfasst:
    a) Bereitstellen eines vorbestimmten Referenzmodells von mindestens einem aus dem Antriebsstrom des ersten Open-Center Magnet-Wegeventils (18) und dem Antriebsstrom des zweiten Open-Center Magnet-Wegeventils (20), das charakteristisch ist für die Beziehung zwischen dem Antriebsstrom und der Drehzahl des Motors (M);
    b) Erhalten eines Signals (Sj) oder von Daten, die charakteristisch sind für eine Position des Steuerhebels (7) in dem Steuerungsbereich (A) über der Zeit;
    c) Erhalten eines Signals (Se) oder von Daten, die charakteristisch sind für die Ist-Drehzahl des Motors;
    d) wenn der Steuerhebel an der vorbestimmten Bereichsgrenze bewegt wird, Abfragen von dem Referenzmodell eines Ist-Antriebsstromwertes gemäß dem erhaltenen Signal oder den Daten, die charakteristisch sind für die Ist-Drehzahl des Motors (M), wobei der abgefragte Ist-Antriebsstromwert mindestens für eines aus dem ersten Open-Center Magnet-Wegeventil und dem zweiten Open-Center Magnet-Wegeventil vorgesehen ist.
  2. Steuerungsverfahren nach Anspruch 1, wobei das Referenzmodell ein analytisches Modell oder eine Nachschlagetabelle ist.
  3. Steuerungsverfahren nach Anspruch 1 oder 2, wobei die vorbestimmte Bereichsgrenze einen gleichbleibenden Abstand von der neutralen Position des Steuerhebels (7) hat.
  4. Steuerungsverfahren nach einem der vorhergehenden Ansprüche, wobei das Referenzmodell eine Mehrzahl von Antriebsstromkennlinien als eine Funktion des Abstands der vorbestimmten Bereichsgrenze von der neutralen Position des Steuerhebels (7) umfasst.
  5. Steuersystem (10) zur Betätigung einer Bewegung von mindestens einem aus einem Ausleger (5) und einem Arbeitsgerät (2), das mit dem Anleger in einem Arbeitsfahrzeug (1) verbunden ist, das von einem Motor (M) angetrieben wird, aufweisend:
    eine erste Eingangseinrichtung, die angepasst ist, um mindestens ein Signal (Sj) zu erhalten, das charakteristisch ist für eine Position in einem Steuerungsbereich (A) eines Steuerhebels (7), der von einem Benutzer zum Betätigen des Auslegers (5) und des Arbeitsgeräts (2) bedient wird;
    eine zweite Eingangseinrichtung, die angepasst ist, um mindestens ein Signal (Se) zu erhalten, das charakteristisch für die Drehzahl des Motors (M) ist;
    eine Speichereinrichtung, die angepasst ist, um ein Referenzmodell von mindestens einem aus dem Antriebsstrom des ersten Open-Center Magnet-Wegeventils (18) und dem Antriebsstrom des zweiten Open-Center Magnet-Wegeventils (20) zu speichern, das charakteristisch ist für die Beziehung zwischen mindestens der Position der vorbestimmten Bereichsgrenze und der Drehzahl des Motors (M);
    eine Ausgangseinrichtung, die angepasst ist, um mindestens ein Signal (Soc) abzugeben, das charakteristisch für einen Antriebsstrom ist, der zur Steuerung eines Öffnungsgrads von mindestens einem Open-Center Magnet-Wegeventil (18, 20) der hydraulischen Betätigungseinrichtungen (12, 14) von mindestens einem aus einem Ausleger (5) und einem Arbeitsgerät (2) vorgesehen ist,
    wobei das System dadurch gekennzeichnet ist, dass es ein Steuerungsverfahren nach einem der Ansprüche 1 bis 4 ausführt.
  6. Arbeitsfahrzeug (1), insbesondere Kompaktradlader, umfassend:
    einen Motor (M) zum Antrieb des Arbeitsfahrzeugs (1);
    einen Ausleger (5) und ein Arbeitsgerät (2), das mit dem Ausleger verbunden ist;
    einen Steuerhebel (7), der von einem Benutzer zur Betätigung des Auslegers (5) und des Arbeitsgeräts (2) wirkend gesteuert wird, wobei der Steuerhebel (7) in einem vorbestimmten Steuerungsbereich (A) gemäß einer ersten vorbestimmten Richtung (y) zur Betätigung des Auslegers und in einer zweiten vorbestimmten Richtung (x) zur Betätigung des Arbeitsgeräts bewegbar ist,
    eine erste hydraulische Betätigungseinrichtung (12) zur Betätigung des Auslegers (5) und eine zweite hydraulische Betätigungseinrichtung (14) zur Betätigung des Arbeitsgeräts (2), wobei die erste hydraulische Betätigungseinrichtung (12) und die zweite hydraulische Betätigungseinrichtung (14) jeweils einen Hydraulikzylinder umfassen, der mit dem Ausleger bzw. mit dem Arbeitsgerät wirkverbunden ist, und ein jeweiliges erstes bzw. zweites Open-Center Magnet-Wegeventil (18, 20) umfassen, dessen Öffnungsgrad zur Steuerung des Durchflusses eines Arbeitsfluids zu dem jeweiligen Hydraulikzylinder angepasst wird, wobei der Öffnungsgrad des ersten und des zweiten Open-Center Magnet-Wegeventil durch einen jeweiligen Antriebsstrom wirkend gesteuert wird;
    eine Hydraulikpumpe (P), die von dem Motor (M) angetrieben wird, um eine hydraulische Durchflussrate des Arbeitsfluids zu erzeugen; und
    ein Steuerungssystem zur Betätigung der Bewegung von mindestens einem aus dem Ausleger (5) und dem Arbeitsgerät (2) gemäß Anspruch 5.
EP20168289.5A 2019-04-05 2020-04-06 Steuerverfahren zum betätigen einer bewegung mindestens eines auslegers und/oder eines mit dem ausleger verbundenen arbeitsgerätes in einem von einem motor angetriebenen arbeitsfahrzeug, entsprechendes steuersystem und arbeitsfahrzeug mit einem solchen steuersystem Active EP3719220B1 (de)

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IT102019000005238A IT201900005238A1 (it) 2019-04-05 2019-04-05 Procedimento di controllo per l'attuazione di un movimento di almeno uno tra un braccio ed un attrezzo collegato al braccio in una macchina operatrice azionata da un motore, sistema di controllo corrispondente e macchina operatrice comprendente tale sistema di controllo

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EP3719220B1 true EP3719220B1 (de) 2023-03-15

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JP3940242B2 (ja) * 1999-07-29 2007-07-04 日立建機株式会社 建設機械の油圧回路制御装置
JP6259371B2 (ja) * 2014-07-31 2018-01-10 株式会社クボタ 作業機
JP6695620B2 (ja) * 2015-01-06 2020-05-20 住友重機械工業株式会社 建設機械

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