JP2017195856A - 作業機の昇降制御装置 - Google Patents
作業機の昇降制御装置 Download PDFInfo
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- JP2017195856A JP2017195856A JP2016091545A JP2016091545A JP2017195856A JP 2017195856 A JP2017195856 A JP 2017195856A JP 2016091545 A JP2016091545 A JP 2016091545A JP 2016091545 A JP2016091545 A JP 2016091545A JP 2017195856 A JP2017195856 A JP 2017195856A
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- Prior art keywords
- control
- unit
- valve
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- Prior art date
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
- A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
- A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3407—Setting or modification of parameters of the control system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/36—Means for stopping the cars, cages, or skips at predetermined levels
- B66B1/40—Means for stopping the cars, cages, or skips at predetermined levels and for correct levelling at landings
- B66B1/405—Means for stopping the cars, cages, or skips at predetermined levels and for correct levelling at landings for hydraulically actuated elevators
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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
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
-
- 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
-
- 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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
-
- 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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/305—Directional control characterised by the type of valves
- F15B2211/30505—Non-return valves, i.e. check valves
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/305—Directional control characterised by the type of valves
- F15B2211/3056—Assemblies of multiple valves
- F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/31—Directional control characterised by the positions of the valve element
- F15B2211/3138—Directional control characterised by the positions of the valve element the positions being discrete
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/315—Directional control characterised by the connections of the valve or valves in the circuit
- F15B2211/31523—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source and an output member
- F15B2211/31529—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source and an output member having a single pressure source and a single output member
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/315—Directional control characterised by the connections of the valve or valves in the circuit
- F15B2211/31552—Directional control characterised by the connections of the valve or valves in the circuit being connected to an output member and a return line
- F15B2211/31558—Directional control characterised by the connections of the valve or valves in the circuit being connected to an output member and a return line having a single output member
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/32—Directional control characterised by the type of actuation
- F15B2211/327—Directional control characterised by the type of actuation electrically or electronically
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/35—Directional control combined with flow control
- F15B2211/351—Flow control by regulating means in feed line, i.e. meter-in control
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/35—Directional control combined with flow control
- F15B2211/353—Flow control by regulating means in return line, i.e. meter-out control
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
- F15B2211/6656—Closed loop control, i.e. control using feedback
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
- F15B2211/7051—Linear output members
- F15B2211/7052—Single-acting output members
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/76—Control of force or torque of the output member
- F15B2211/761—Control of a negative load, i.e. of a load generating hydraulic energy
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/765—Control of position or angle of the output member
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- General Physics & Mathematics (AREA)
- Lifting Devices For Agricultural Implements (AREA)
- Fluid-Pressure Circuits (AREA)
- Control Of Position Or Direction (AREA)
Abstract
Description
Claims (3)
- 作業車両に搭載される作業機を昇降する流体圧アクチュエータと前記流体圧アクチュエータに給排される作動流体の流れを制御するソレノイドバルブとを備える昇降装置の動作を制御する作業機の昇降制御装置であって、
前記流体圧アクチュエータの伸縮位置を取得する位置取得部と、
作業者の操作入力に応じて前記流体圧アクチュエータの目標位置を設定する目標設定部と、
前記ソレノイドバルブへの通電量を制御する制御部と、
前記操作入力が、前記流体圧アクチュエータの伸縮位置に関わらず前記ソレノイドバルブの開度を予め定められた設定開度にする開放制御を実行する開放指令であるか、または、操作入力量に応じて前記ソレノイドバルブの開度を前記設定開度よりも小さい開度にして前記流体圧アクチュエータの伸縮位置を制御する位置制御を実行する位置制御指令であるか、を判定する入力判定部と、を備え、
前記制御部は、前記目標設定部によって設定される前記目標位置と前記位置取得部によって取得される実位置との位置偏差に基づく比例積分制御と、前記位置偏差の積分を実行しない非積分型制御と、を実行可能に構成され、
前記入力判定部によって前記操作入力が前記位置制御指令であると判定された場合には、前記目標設定部によって最伸長位置と最収縮位置との間のストローク領域の間の位置が操作入力量に応じて前記目標位置に設定されると共に、前記制御部による前記比例積分制御によって前記位置制御が実行され、
前記入力判定部によって前記操作入力が前記開放指令であると判定された場合には、前記目標設定部によって前記ストローク領域から前記最収縮位置を超えた位置が前記目標位置に設定されると共に、前記制御部による前記非積分型制御によって前記開放制御が実行されることを特徴とする作業機の昇降制御装置。 - 前記非積分型制御は、前記位置偏差に基づく比例制御または前記目標位置に基づくオープンループ制御であることを特徴とする請求項1に記載の作業機の昇降制御装置。
- 前記制御部は、前記比例積分制御によって蓄積される積分値を初期化するリセット部を有することを特徴とする請求項1または2に記載の作業機の昇降制御装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016091545A JP6190916B1 (ja) | 2016-04-28 | 2016-04-28 | 作業機の昇降制御装置 |
CN201780022700.2A CN108882676A (zh) | 2016-04-28 | 2017-01-27 | 作业机的升降控制装置 |
US16/092,473 US20190116718A1 (en) | 2016-04-28 | 2017-01-27 | Working machine lifting control device |
KR1020187028646A KR20180123076A (ko) | 2016-04-28 | 2017-01-27 | 작업기의 승강 제어 장치 |
PCT/JP2017/002957 WO2017187687A1 (ja) | 2016-04-28 | 2017-01-27 | 作業機の昇降制御装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016091545A JP6190916B1 (ja) | 2016-04-28 | 2016-04-28 | 作業機の昇降制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP6190916B1 JP6190916B1 (ja) | 2017-08-30 |
JP2017195856A true JP2017195856A (ja) | 2017-11-02 |
Family
ID=59720480
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016091545A Expired - Fee Related JP6190916B1 (ja) | 2016-04-28 | 2016-04-28 | 作業機の昇降制御装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US20190116718A1 (ja) |
JP (1) | JP6190916B1 (ja) |
KR (1) | KR20180123076A (ja) |
CN (1) | CN108882676A (ja) |
WO (1) | WO2017187687A1 (ja) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10647546B2 (en) * | 2016-12-16 | 2020-05-12 | Otis Elevator Company | Hydraulically activated shutoff valve for a hydraulic elevator system |
US11304353B2 (en) * | 2018-12-20 | 2022-04-19 | Cnh Industrial America Llc | Closed-loop proportional position control of an implement stabilizer wheel |
DE102019214228A1 (de) * | 2019-09-18 | 2021-03-18 | Deere & Company | Verfahren zur Erkennung unzulässiger Betriebszustände einer Arbeitshydraulik eines landwirtschaftlichen Traktors |
WO2021065453A1 (ja) * | 2019-09-30 | 2021-04-08 | アイシン・エィ・ダブリュ株式会社 | ロボット装置および液体供給装置 |
US11624377B1 (en) * | 2022-03-08 | 2023-04-11 | Turk Traktor Ve Ziraat Makineleri A.S. | Single solenoid-controlled electro-hydraulic liftomatic system |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05308805A (ja) * | 1992-05-11 | 1993-11-22 | Iseki & Co Ltd | 作業車両のリフトアームロック装置 |
JP2004350565A (ja) * | 2003-05-28 | 2004-12-16 | Yanmar Co Ltd | 作業車両の昇降制御装置 |
JP3773648B2 (ja) * | 1998-02-20 | 2006-05-10 | ヤンマー株式会社 | トラクタの耕深制御方法 |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3426887B2 (ja) * | 1996-12-20 | 2003-07-14 | 新キャタピラー三菱株式会社 | 建設機械の制御装置 |
CN1950574B (zh) * | 2004-05-13 | 2010-09-22 | 株式会社小松制作所 | 旋转控制装置、旋转控制方法及施工机械 |
JP4853280B2 (ja) * | 2006-12-26 | 2012-01-11 | 井関農機株式会社 | 農作業機 |
CN101080968A (zh) * | 2007-06-22 | 2007-12-05 | 福田雷沃国际重工股份有限公司 | 拖拉机用耕深提升器 |
CN201222854Y (zh) * | 2008-07-17 | 2009-04-22 | 李殿荣 | 拖拉机后悬挂农具耕深力调节装置 |
JP5308805B2 (ja) * | 2008-12-25 | 2013-10-09 | ヤマトヨ産業株式会社 | 食用油ろ過容器 |
WO2010095585A1 (ja) * | 2009-02-23 | 2010-08-26 | ナブテスコ株式会社 | 作業機械の旋回制御装置、制御プログラム及び作業機械 |
-
2016
- 2016-04-28 JP JP2016091545A patent/JP6190916B1/ja not_active Expired - Fee Related
-
2017
- 2017-01-27 US US16/092,473 patent/US20190116718A1/en not_active Abandoned
- 2017-01-27 CN CN201780022700.2A patent/CN108882676A/zh active Pending
- 2017-01-27 WO PCT/JP2017/002957 patent/WO2017187687A1/ja active Application Filing
- 2017-01-27 KR KR1020187028646A patent/KR20180123076A/ko not_active Application Discontinuation
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05308805A (ja) * | 1992-05-11 | 1993-11-22 | Iseki & Co Ltd | 作業車両のリフトアームロック装置 |
JP3773648B2 (ja) * | 1998-02-20 | 2006-05-10 | ヤンマー株式会社 | トラクタの耕深制御方法 |
JP2004350565A (ja) * | 2003-05-28 | 2004-12-16 | Yanmar Co Ltd | 作業車両の昇降制御装置 |
Also Published As
Publication number | Publication date |
---|---|
CN108882676A (zh) | 2018-11-23 |
WO2017187687A1 (ja) | 2017-11-02 |
KR20180123076A (ko) | 2018-11-14 |
US20190116718A1 (en) | 2019-04-25 |
JP6190916B1 (ja) | 2017-08-30 |
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