JP2016041565A - 操作制御システム - Google Patents
操作制御システム Download PDFInfo
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- JP2016041565A JP2016041565A JP2014166538A JP2014166538A JP2016041565A JP 2016041565 A JP2016041565 A JP 2016041565A JP 2014166538 A JP2014166538 A JP 2014166538A JP 2014166538 A JP2014166538 A JP 2014166538A JP 2016041565 A JP2016041565 A JP 2016041565A
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- tool
- mounting portion
- hydraulic valve
- joystick
- operating
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- 238000006073 displacement reaction Methods 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 3
- 230000003028 elevating effect Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 210000004932 little finger Anatomy 0.000 description 2
- 238000004590 computer program Methods 0.000 description 1
- 210000003811 finger Anatomy 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 230000005236 sound signal Effects 0.000 description 1
- 238000003971 tillage Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/10—Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/50—Instruments characterised by their means of attachment to or integration in the vehicle
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/14—Special measures for giving the operating person a "feeling" of the response of the actuated device
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
- G05G9/04785—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks the controlling member being the operating part of a switch arrangement
- G05G9/04788—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks the controlling member being the operating part of a switch arrangement comprising additional control elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/122—Instrument input devices with reconfigurable control functions, e.g. reconfigurable menus
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/133—Multidirectional input devices for instruments
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/133—Multidirectional input devices for instruments
- B60K2360/135—Joysticks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/139—Clusters of instrument input devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/60—Structural details of dashboards or instruments
- B60K2360/61—Specially adapted for utility vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/60—Structural details of dashboards or instruments
- B60K2360/68—Features of instruments
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/822—Adjustment of instruments during mounting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/828—Mounting or fastening exchangeable modules
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/20—Off-Road Vehicles
- B60Y2200/22—Agricultural vehicles
- B60Y2200/221—Tractors
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Fluid Mechanics (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Operation Control Of Excavators (AREA)
- Component Parts Of Construction Machinery (AREA)
- Lifting Devices For Agricultural Implements (AREA)
- Mechanical Control Devices (AREA)
Abstract
Description
上記実情から、本発明の課題は、作業車に装備される作業装置のために要求される油圧弁の操作に必要な操作具を効率よく配置できる操作制御システムを提供することである。
(1)上述した実施形態では、作業車に装備される作業装置として、トラクタ後部に装備されるロータリ式耕耘装置22と、トラクタ前部に装備されるフロントローダ3が取り上げられた。これらに代えて、他の装置が作業装置として装備されても、本発明による操作制御システムを適用することができる。
(2)上述した実施形態では、操作スイッチ群9は、アームレスト操作装置4に配置されていたが、従来のように操作コンソールなどに配置してもよい。
(3)図7で示された機能ブロックは、説明目的で記載されているだけであり、それらの各機能ユニットは、任意に統合することまたは任意に分割することが可能である。特に、特に制御コントローラ100に構築されている各機能部は、互いにソフトウエア的に連係しているので、実際にはその機能は重なり合っている場合は多い。図7で示した機能部は、模式的に示しているに過ぎず、ここで、その機能の区分けを限定しているわけでない。
22 :対地作業装置
22 :ロータリ耕耘装置
22 :作業装置
23 :昇降機構
26 :油圧弁群
260 :油圧弁ユニット
260 :フロントローダ用油圧弁ユニット
261 :第1油圧弁
262 :第2油圧弁
263 :第3油圧弁
264 :第4油圧弁
3 :フロントローダ
4 :アームレスト操作装置(操作ユニット)
41 :第1装着部
42 :第2装着部
43 :第3装着部
44 :第4装着部
7 :作業制御ユニット
70 :油圧制御管理部
71 :弁モード制御部
72 :ローダモード制御部
8 :表示制御ユニット
9 :操作スイッチ群
90 :多操作用操作具
91 :第1単一操作用操作具
92 :第2単一操作用操作具
93 :第3単一操作用操作具
94 :第4単一操作用操作具
900 :ジョイスティック本体
901 :第1指先操作具
902 :第2指先操作具
903 :モード選択ボタン
904 :第1モードランプ
905 :第2モードランプ
906 :レバーロックボタン
910 :ジョイスティック本体
920 :ジョイスティック本体
921 :小指球載せ
100 :制御コントローラ
500 :操作スイッチ群
Claims (4)
- 作業車に装備される作業装置の操作制御システムであって、
前記作業装置を制御する制御コントローラと、
前記作業装置への油圧供給を制御する第1油圧弁及び第2油圧弁と、
前記制御コントローラに操作入力信号を与える操作ユニットと、
互いに隣接して前記操作ユニットに形成された第1装着部及び第2装着部と、
を備え、
前記第1装着部及び前記第2装着部は、第1単一操作用操作具が前記第1装着部にかつ第2単一操作用操作具が前記第2装着部に装着可能に形成され、さらに前記第1装着部及び前記第2装着部は、多操作用操作具が前記第1装着部と前記第2装着部とに渡って装着可能に形成されている操作制御システム。 - 前記多操作用操作具がジョイスティック式操作具であり、前記ジョイスティック式操作具の一方の軸方向の変位に基づく操作入力信号が前記第1装着部を介して前記制御コントローラに送られ、他方の軸方向の変位に基づく操作入力信号が前記第2装着部を介して前記制御コントローラに送られる請求項1に記載の操作制御システム。
- 前記制御コントローラには、前記ジョイスティック式操作具からの操作入力信号に基づいて前記第1油圧弁及び前記第2油圧弁を制御する油圧弁モード制御を実行する弁モード制御部と、前記ジョイスティック式操作具からの操作入力信号に基づき、フロントローダ油圧弁ユニットを介してフロントローダを制御するフロントローダモード制御を実行するローダモード制御部とが備えられている請求項2に記載の操作制御システム。
- 前記ジョイスティック式操作具には前記油圧弁モード制御と前記フロントローダモード制御のいずれかを選択する選択デバイスが設けられている請求項3に記載の操作制御システム。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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JP2014166538A JP6234342B2 (ja) | 2014-08-19 | 2014-08-19 | 操作制御システム |
US14/827,569 US9670939B2 (en) | 2014-08-19 | 2015-08-17 | Operation control system |
EP15181614.7A EP2987672B1 (en) | 2014-08-19 | 2015-08-19 | Operation control system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014166538A JP6234342B2 (ja) | 2014-08-19 | 2014-08-19 | 操作制御システム |
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JP2016041565A true JP2016041565A (ja) | 2016-03-31 |
JP6234342B2 JP6234342B2 (ja) | 2017-11-22 |
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JP2014166538A Active JP6234342B2 (ja) | 2014-08-19 | 2014-08-19 | 操作制御システム |
Country Status (3)
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US (1) | US9670939B2 (ja) |
EP (1) | EP2987672B1 (ja) |
JP (1) | JP6234342B2 (ja) |
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2017006592A1 (ja) * | 2015-07-07 | 2017-01-12 | ヤンマー株式会社 | トラクタ |
WO2019131721A1 (ja) * | 2017-12-27 | 2019-07-04 | 株式会社クボタ | 作業機及び作業機の製造方法 |
JP2019116756A (ja) * | 2017-12-27 | 2019-07-18 | 株式会社クボタ | 作業機 |
JP2019116755A (ja) * | 2017-12-27 | 2019-07-18 | 株式会社クボタ | 作業機 |
WO2019146381A1 (ja) | 2018-01-23 | 2019-08-01 | 株式会社クボタ | 作業車両 |
WO2020003948A1 (ja) * | 2018-06-29 | 2020-01-02 | 株式会社クボタ | 作業機 |
JP2020001638A (ja) * | 2018-06-29 | 2020-01-09 | 株式会社クボタ | 作業機 |
JP2020006872A (ja) * | 2018-07-11 | 2020-01-16 | 株式会社クボタ | 作業車両 |
JP2020095697A (ja) * | 2018-12-06 | 2020-06-18 | 株式会社クボタ | 作業車両 |
JP2021077059A (ja) * | 2019-11-08 | 2021-05-20 | 株式会社クボタ | 作業車両 |
JP2021075139A (ja) * | 2019-11-08 | 2021-05-20 | 株式会社クボタ | 作業車両 |
US11738673B2 (en) | 2018-12-06 | 2023-08-29 | Kubota Corporation | Working vehicle |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
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US9751572B2 (en) * | 2013-08-09 | 2017-09-05 | Yanmar Co., Ltd. | Working vehicle |
JP6247174B2 (ja) * | 2014-08-01 | 2017-12-13 | 株式会社クボタ | 運転支援システム |
WO2017136657A1 (en) | 2016-02-05 | 2017-08-10 | Crown Equiment Corporation | Control elements for materials handling vehicles |
US10174485B2 (en) | 2016-11-23 | 2019-01-08 | Cnh Industrial America Llc | System and method for providing reconfigurable input devices for a work vehicle |
DE102017003193A1 (de) * | 2017-04-01 | 2018-10-04 | Man Truck & Bus Ag | Vorrichtung, insbesondere zum Einbau in ein Kraftfahrzeug, mit einem Aufnahmeschacht |
CN111615327B (zh) * | 2017-12-18 | 2023-02-28 | 株式会社久保田 | 作业车辆以及拖拉机 |
GB201721502D0 (en) | 2017-12-20 | 2018-01-31 | Agco Int Gmbh | Agricultural vehicle |
USD944868S1 (en) | 2018-09-07 | 2022-03-01 | Crown Equipment Corporation | Arm pad |
USD944869S1 (en) | 2018-09-07 | 2022-03-01 | Crown Equipment Corporation | Arm pad |
USD922279S1 (en) | 2018-10-17 | 2021-06-15 | Crown Equipment Corporation | Control pod |
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JP2014166815A (ja) * | 2013-02-28 | 2014-09-11 | Iseki & Co Ltd | 作業車 |
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US7178623B2 (en) * | 2003-12-19 | 2007-02-20 | Caterpillar Inc | Operator control assembly |
JP4570510B2 (ja) | 2005-04-27 | 2010-10-27 | 株式会社クボタ | トラクタ |
JP2007092284A (ja) | 2005-09-26 | 2007-04-12 | Kubota Corp | 作業車 |
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2014
- 2014-08-19 JP JP2014166538A patent/JP6234342B2/ja active Active
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2015
- 2015-08-17 US US14/827,569 patent/US9670939B2/en active Active
- 2015-08-19 EP EP15181614.7A patent/EP2987672B1/en active Active
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JP7286723B2 (ja) | 2017-12-27 | 2023-06-05 | 株式会社クボタ | 作業機 |
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KR20200109295A (ko) | 2018-01-23 | 2020-09-22 | 가부시끼 가이샤 구보다 | 작업 차량 |
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Also Published As
Publication number | Publication date |
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EP2987672A1 (en) | 2016-02-24 |
US20160053779A1 (en) | 2016-02-25 |
EP2987672B1 (en) | 2018-11-07 |
US9670939B2 (en) | 2017-06-06 |
JP6234342B2 (ja) | 2017-11-22 |
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