WO2001002280A1 - Systeme de commande pour circuit de fleche d'un engin mobile de travaux publics - Google Patents

Systeme de commande pour circuit de fleche d'un engin mobile de travaux publics Download PDF

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Publication number
WO2001002280A1
WO2001002280A1 PCT/FI2000/000609 FI0000609W WO0102280A1 WO 2001002280 A1 WO2001002280 A1 WO 2001002280A1 FI 0000609 W FI0000609 W FI 0000609W WO 0102280 A1 WO0102280 A1 WO 0102280A1
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WO
WIPO (PCT)
Prior art keywords
control
boom
boom part
cylinder actuator
control system
Prior art date
Application number
PCT/FI2000/000609
Other languages
English (en)
Inventor
Marko Paakkunainen
Original Assignee
Plustech Oy
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.)
Filing date
Publication date
Application filed by Plustech Oy filed Critical Plustech Oy
Priority to AU59887/00A priority Critical patent/AU5988700A/en
Publication of WO2001002280A1 publication Critical patent/WO2001002280A1/fr

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Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/54—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with pneumatic or hydraulic motors, e.g. for actuating jib-cranes on tractors

Definitions

  • the invention relates to a pressurized medium operated control system for the boom system of a working machine.
  • the advantage is that the harvesting and the act of collecting the tree trunks can be conducted simultaneously, which reduces the need for several machines in the forest, and decreases the number of machine transfers between the working sites.
  • One example of a combination machine comprising one frame part, a boom system and a load space is disclosed also in the patent publication US 4,984,961.
  • the above-described working machines comprise a boom system for working purposes, the boom system typically comprising at least three boom parts articulated together with a joint, two of which move on the vertical level.
  • the boom is articulated to the working machine by means of a joint for swinging the boom around a vertical direction.
  • the cabin can also swing around the same direction, as is presented in the patent publication US 4,984,961.
  • a suitable tool such as a harvesting head or a grapple for handling of the load.
  • a combination machine in particular, has to be capable of performing both the harvesting work and the loading machine work as efficiently as possible.
  • this can be attained in an especially efficient manner, wherein for the part of the boom this means that in the harvester work so-called direct transfer properties are available, whereas in the loading machine work so-called independent articulation control properties are available.
  • the boom systems typically operate under the control of a pressurized medium operated control system that is normally hydraulic, by means of actuators, such as cylinders, and control valves.
  • actuators such as cylinders, and control valves.
  • Fig. 1 one known way to control a boom which is of articulated type is to control each joint of the boom with a separate, articulation-specific control valve and a cylinder actuator in such a manner that the tool at the end of the boom moves to a desired point of location at a desired speed.
  • the driver of the working machine takes care of the co-ordination of the control of each joint for example manually by means of valves which a controlled with a lever.
  • the valves can also be controlled automatically by means of an electric computer control of the control unit of the working machine, wherein the driver can use joystick-type actuators for the control.
  • the articulation-specific control has a poor operating efficiency.
  • the end of the boom is controlled by means of direct transfer, i.e. when it is transferred in the horizontal direction, some of the joints perform so-called positive work against the load, i.e. gravity, and some so-called negative work in the direction of the load.
  • Said control system is, however, well applicable to loading work for example in the handling of tree trunks, in which the load is first lifted up from the ground to the load space of the machine and unloaded later from the load space to a stack.
  • the load is, to a large degree, transferred from one potential energy level to another, and the work rotation is characterized in that the load and the boom system structure itself is lifted over obstacles, such as the structures of the load space in the working machine.
  • each joint can be controlled separately in a logical manner.
  • the articulated boom according to Fig. 1 is a typical so-called loading machine boom.
  • Fig. 2 shows a known, hydraulically implemented direct transfer boom by means of which the end of the boom actuates an approximate horizontal movement at a fixed, predetermined height.
  • the presented solution applies the articulated boom construction according to Fig. 1 , but with such a difference that the cylinders are coupled together with a control line, and they are controlled with a common valve.
  • the idea of the solution is that the cylinders moving the joint operate alternately, depending on the horizontal direction of motion of the end of the boom system, in the area of the negative load, at the same time functioning as pumps to move the other joint.
  • a control system according to Fig. 2 is disclosed in the patent publication US-3884359, in which each cylinder actuator is also provided with a separate control valve.
  • the control system is, however, connected in such a manner that the control of the valves is conducted by means of three levers, wherein the lowering, lifting and direct transfer of each cylinder have separate levers and valves.
  • the cylinders are also coupled in such a manner that in direct transfer the cylinders move in different directions when compared to the solution of Fig. 2.
  • the problem is that the cylinders cannot be controlled independently at the same time, because their valves are connected to each other, wherein when the control valves of the cylinders are controlled simultaneously, the cylinders are coupled in series. Another problem is caused by various sudden and undesirable movements, which result from the various possible combinations of couplings and positions of the levers.
  • a practical problem in the system of Fig. 2 is how to conduct reliable oil filling and ventilation of the control line connecting the cylinders. In practice, a connection to the refill oil source and a venting valve are required.
  • Another problem of the system according to Fig. 2 is how to implement the lifting and lowering movements of the end of the boom. As is well known, the height adjustment of the end of the boom is implemented with a separate cylinder, wherein one additional cylinder actuator with its articulations and fixing arrangements is required. This results in problems in reliability and increase in weight due to the complexity of the structure.
  • each cylinder can be controlled independently with a separate control valve.
  • the cylinders can be coupled in series, wherein the pressurized medium is conveyed from the lower actuator of the boom all the way to the upper actuator.
  • the problem in said control system is the poor operating efficiency especially in the lifting, because the negative loading is utilized only in the lowering, wherein the cylinder space of the lower cylinder of the boom on the side of the piston is affected by the weight of the load, thereby assisting the lifting movement of the upper cylinder.
  • the system can be applied primarily in situations in which the aim is to keep the load to be supported on a horizontal level by means of a simultaneous movement of the actuators.
  • a known solution for implementing the horizontal direct transfer and the vertical loading movement is also the one shown in Fig. 3.
  • the height adjustment of the end of the boom is implemented in a manner similar to an articulated boom by controlling the lower actuator by means of a control valve which also functions as a venting valve of the control line connecting the cylinders.
  • Both actuators and the other control valve are still used for the direct transfer i.e. for the horizontal movement, wherein the lower actuator of the boom is coupled to both control valves.
  • the loading level of the actuators, especially the pressure level in the connecting line is taken into account so that the solution would function in a reliable and logical manner.
  • the weakness of the coupling shown in the drawing is, however, the possibility of undesirable movements in the lifting and lowering movements.
  • an undesirable folding movement of the outer boom part downward around the upper articulation is possible, because the load of the upper actuator and the pressure level caused by the load are higher than the need for pressurized medium caused by the lifting movement in the cylinder space of the lower actuator on the side of the piston.
  • the above-presented undesirable movement can be prevented for example in such a manner that by means of dimensioning the actuators and the geometry of the boom a situation is attained, in which the pressure level of the lower actuator on the side of the piston is always higher than the pressure level of the cylinder space of the upper actuator on the side of the piston rod.
  • One solution is to provide the line connecting the actuators with a valve, which prevents said undesirable movement of the upper actuator when the lifting movement is performed.
  • a valve suitable for this purpose is for example a so-called load-lowering valve, which for its part is known from the international patent application WO 9716372.
  • a problem reducing the applicability of the solution is, however, that the cylinder actuators and thereby the joints of the boom cannot be controlled irrespective of each other, wherein the control system is only suitable for working machines operating as harvesters.
  • One aim of the present invention is to eliminate the restrictions of the above-presented solutions and to introduce a control system for a boom system in a working machine with the advantages of an independently controllable articulated boom and direct transfer boom.
  • a working machine, especially said combination machine, in which the control system of the invention is applied to control the boom system, is suitable both for harvesting and loading of trees.
  • the control system according to the invention is characterized in what will be presented in the characterizing part of claim 1.
  • the invention is based on the independent control of cylinder actuators moving the joints of the boom system, and to the implementation of the direct transfer of the same by means of very simple methods.
  • the invention is also based on the idea that to lower the pressures and to improve the operating efficiency, depending on the horizontal direction of motion, each cylinder moving the joint in turn operates in the area of the negative load, at the same time functioning as a pump to move the other joint.
  • the logic valves used in a preferred embodiment of the invention are simple, reliable and inexpensive ready-made components. It is advantageous to place all the logic valves in the same valve block, wherein a reliable structure of small size is attained. If necessary, the same block can also be provided with other valve functions possibly used in the system, such as for example a regenerative function and a function of lowering the load.
  • Fig. 1 shows a prior art boom control system and an articulation- specific control in a skeleton diagram
  • Fig. 2 shows a prior art boom control system and a control of the direct transfer of the boom in a skeleton diagram
  • Fig. 3 shows a prior art boom control system and control of the direct transfer and the vertical movement of the boom in a skeleton diagram
  • Fig. 4 shows a boom control system according to a preferred embodiment of the invention and a boom system in which the invention can be applied.
  • a working machine for handling and transporting trees typically comprises at least one frame part which is arranged movable for example by means of wheels which are connected to the frame part by means of bogie units.
  • the frame part is also provided with a power source of the working machine, typically a diesel motor, and the working machine is equipped with a mechanical hydrostatic power transmission system.
  • a power source of the working machine typically a diesel motor
  • the working machine is equipped with a mechanical hydrostatic power transmission system.
  • the working machine can be arranged to be articulated frame steered.
  • On top of the frame part it is also possible to fix a swivel base, on top of which the driver's cabin is also placed and to which the boom system can also be fixed.
  • Figs. 1 to 4 the boom system, the fixtures of the cylinder actuators and the function of the articulation are shown in a reduced diagram.
  • the boom parts are shown as straight structures, but it is obvious that a more detailed structure and form of the same can vary a great deal.
  • the articulations are shown by means of simplified hollow circles.
  • the actuators are fixed to lugs articulated to the boom part by means of a joint, but it is obvious that said joint could in many cases also be placed to the straight boom part.
  • the boom system according to Fig. 1 comprises a first boom part P1 which comprises a first end P1a which is typically integrated in the working machine, as well as a second end P1b.
  • the attachment of the first end P1a can also be arranged on a base swinging around the vertical axis, wherein the boom system can be turned sideways.
  • the boom part P1 is typically vertical and it is arranged to swing around a vertical axis Z.
  • the boom system comprises a second boom part P2, which comprises a first end P2a which is fixed to the second end P1 b of the first boom part P1 , and a second end P2b.
  • the second end P2b is typically arranged to move in the vertical (plane Z — X) plane, swinging around the joint of the end P2a.
  • the rotation is attained by means of a first cylinder actuator S1 fixed between the first boom part P1 and the second boom part P2.
  • the boom system also comprises a third boom part P3, which comprises a first end P3a which is fixed to the second end P2b of the second boom part P2 by means of a joint, as well as a free second end P3b.
  • the second end P3b is typically arranged to move in the vertical (plane Z — X) plane, swinging around the joint of the end P2b.
  • the rotation is attained by means of a second cylinder actuator S2 fixed between the second boom part P2 and the third boom part P3.
  • the outermost boom part P3 can also be arranged to function telescopically to widen the reach of the boom system.
  • the free end P3b of the boom system can be provided with a harvesting head known as such, by means of which a growing tree is cut and felled, the tree trunk is delimbed and cut and the tree trunks are loaded in the load space and unloaded therefrom. It is obvious that the end of the boom system can also be provided with a loading apparatus known as such, which is only used for loading of tree trunks, or with a harvesting head which is only used for cutting and felling of a growing tree and for delimbing and cutting of the tree trunk.
  • the actuator S1 (i.e. the articulation P1b — P2a) is controlled with control means V1 , such as a control valve V1 and control lines L1 , L2.
  • Control means V2 such as a control valve V2 and control lines L3, L4 are used for controlling the actuator S2 (i.e. the articulation P2b — P3a).
  • the line L1 is coupled to a pressure line P, and the line L2 is coupled to a return line T by means of the control valve V1.
  • the line L2 is coupled to a pressure line P, and the line L1 is coupled to a return line T by means of the control valve V1.
  • the control valves such as the valves V1 and V2 are connected to the pressure source P of the control system and to the return line T, such as a tank line, the pressure level of which is typically lower than that of the pressure source P.
  • the control system can also comprise other components known as such, such as tank means for storing the pressurized medium, filter means, pressure control means for setting the pressure level, and pump means functioning as pressure sources to produce pressure and volume flow.
  • Fig. 2 shows a known solution by means of which the end P3b of the boom according to Fig. 1 implements at least an approximate horizontal direct transfer (arrows X1 and X2) at a given height Z.
  • the cylinder space S1a of the actuator S1 is coupled to the cylinder space S2b of the actuator S2 by means of a connecting control line PK.
  • the other cylinder capacities S1 b and S2a are coupled to the control valve V1 in such a manner that the pressure line P and the return line T can be alternately coupled thereto.
  • the pressure source P is coupled to the space S2a and the actuator S2 functions as a pump, as described above, and the actuator S1 functions as a brake.
  • the volume flow of the pressurized medium is transferred from the space S2b to the space S1a and from the space S1 b to the return line T, coupled by the control valve V1.
  • the pressure source P is alternatively coupled to the space S1 b and the actuator S1 functions as a pump and the actuator S2 functions as a brake.
  • Fig. 4 shows a first preferred embodiment of the control system according to the invention.
  • the swinging of the boom parts is arranged in such a manner that when the actuator S1 lengthens, the end P2b moves upwards, and when it shortens, the end P2b moves downwards, and when the actuator S2 lengthens, the end P3b moves downwards and when it shortens, the end P3b moves upwards.
  • the coupling of the actuators is such that when the actuator S1 lengthens, the end P2b moves downwards, and when the actuator S2 lengthens, the end P3b moves upwards, wherein also the control line L5, which couples the actuators S1 and S2 in series and which will be described hereinbelow, has to be coupled between the space S1b of the actuator S1 and the space S2a of the actuator S2, wherein the control line L6, which will be described hereinbelow, has to be coupled to the space S1a of the actuator S1.
  • the control line L3 is coupled to the space S2b.
  • a common principle for the first and the second embodiment is that in the direct transfer the cylinder actuator S1 and the cylinder actuator S2 are arranged to move in the same direction, wherein they are either shortened or lengthened.
  • the coupling of the actuators is such that when the actuator S1 lengthens, the end P2b moves downwards, and when the actuator S2 lengthens, the end P3b moves downward, wherein also the control line L5, which will be described hereinbelow, has to be coupled between the space S1b of the actuator S1 and the space S2b of the actuator S2, wherein the control line L6, which will be described hereinbelow, has to be coupled to the space S1a of the actuator S1.
  • the control line L3 is coupled to the space S2a.
  • the coupling of the actuators is such that when the actuator S1 lengthens, the end P2b moves upwards, and when the actuator S2 lengthens, the end P3b moves upwards, wherein also the control line L5, which will be described hereinbelow, has to be coupled between the space S1a of the actuator S1 and the space S2a of the actuator S2, wherein the control line L6, which will be described hereinbelow, has to be coupled to the space S1b of the actuator S1.
  • the control line L3 is coupled to the space S2b.
  • a common principle for the third and the fourth embodiment is that the cylinder actuator S1 and the cylinder actuator S2 are arranged to move in different directions in the direct transfer mode.
  • a common principle is that in the direct transfer, the boom part P2 and the boom part P3 are arranged to swing to opposite directions simultaneously under the control of the control valve V2.
  • the control of the movements of the boom system is implemented by means of two control valves V1 and V2.
  • the opening and closing of the control lines is implemented by closing means V3, V4 and V5.
  • the closing means are implemented as such by means of logic valves (Logic Element), which can also comprise a hydraulic pilot control part.
  • the valves are electrically controlled, wherein in the normal position they are either opened or closed and under the electrical control move to another position.
  • the valves are advantageously controlled by means of a control system CTRL of the working machine, comprising for example a control computer. The user informs the control computer for example by means of a switch in which mode the control system has to be at a given time.
  • the closing means V3, V4 and V5 are used for selecting the mode of the boom control, wherein the modes comprise the independent articulation control of the joints of the boom system, as well as the direct transfer, i.e. parallel transfer.
  • V3 is open (no control)
  • V4 is closed (no control)
  • V5 is closed (no control).
  • V3 is closed (control)
  • V4 is open (control)
  • V5 is open (control).
  • two or several closing means V3 to V5 can also be arranged in the same valve, such as the electrically controlled two-position directional valve.
  • the closing means V3, V4 and V5 are preferably arranged in such a manner that when there is no control, they set the boom control to a mode in which independent articulation control is possible.
  • the closing means V3, V4 and V5 would be transferred to fixed positions according to Fig. 4 for said mode e.g. by means of spring control.
  • the control may be lacking for example when the electric control is cut off, or in another error situation.
  • control system functions in a similar manner as the control system according to Fig. 1 , and the function of the valves V1 , V2 in Figs. 1 and 4 correspond to each other.
  • control line L6 is closed with the closing means V5
  • control line L4 is opened with the closing means V3
  • the control line L5 is closed with the closing means V4.
  • ends P2b and P3b can be controlled independently and with different valves.
  • the pressure source P is coupled (by using the control line L6) to the space S1b by means of the valve V2 (closing means V5 open) and to convey the volume flow from the space S1a, it is coupled (by using the control line L5) to the space S2b by means of the closing means V4 (the closing means V3 closed).
  • the volume flow is guided from the space S2a to the return line T by means of the control valve V2.
  • the pressure source P is coupled to the space S2a by means of the valve V2 and to convey the volume flow from the space S2b, it is coupled to the space S1a by means of the closing means V4 (the closing means V3 closed).
  • the volume flow is conveyed from the space S1b to the return line T by means of the control valve V2 (closing means V5 open).
  • the height adjustment in directions Z1 and Z2 is implemented by means of the valve V1 , wherein to move the end P3b in the direction Z1 , the space S1 b is coupled to the pressure source P and the space S1 b to the return line T, wherein to move the end P3b in the direction Z2, the space S1a is coupled to the pressure source P and the space S1a to the return line T.
  • the control line L6 is coupled to the control line L4, wherein the control valve V2 can be implemented with a three-position four-way valve.
  • the presented valves V1 and V2 comprise a closed middle position to close the lines L1 to L4. Both valves V1 and V2 can also be proportion directional valves implementing the presented operation.
  • valves are electrically controlled control valves which are connected to the control unit CTRL, and which are controlled by means of joysticks C1 and C2.
  • Said joysticks can also be connected to the control unit CTRL, which controls the control means V1 and V2 on the basis of the position of the controllers.
  • two or several closing means V3 to V5 can also be arranged in the same valve, such as an electrically controlled two-position directional valve.
  • control lines L1 to L6 can be implemented with pipes and hoses known as such, and at least partly by arranging the necessary control lines in a control block B, to which said control lines are bored.
  • the borings are also provided with said cartridge-type logic valves V3 to V5.
  • the concept of cylinder space refers to one of the two capacities of the cylinder actuator, i.e. either to the space on the piston side or the space on the piston rod side.
  • the coupling of the two cylinder actuators presented in the four different embodiments of the invention with the boom system varies, and thus, the coupling of the control system is also different, wherein when the first cylinder space refers to the space on the piston side, the second cylinder space of the same actuator refers to the space on the piston rod side. Similarly, when the first cylinder space is the space on the piston rod side, the second cylinder space of the same actuator refers to the space on the piston rod side.

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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)
  • Operation Control Of Excavators (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

Cette invention concerne un système de commande fonctionnant sous pression moyenne pour le circuit de flèche d'un engin de travaux publics. Le circuit de flèche comprend au moins un premier élément de flèche (P1), un deuxième élément de flèche (P2) et un troisième élément de flèche (P3) solidaire de la machine. Le système de commande comprend un premier vérin (S1) entre le premier élément (P1) et le deuxième élément (P2) de flèche, un deuxième vérin (S2) entre le deuxième élément (P2) et le troisième élément (P3) de flèche ; un premier dispositif de commande (V1) et un deuxième dispositif de commande (V2) reliés à une source de pression (P) et une canalisation de retour (T). Selon cette invention, le système de commande est conçu pour être réglé en mode d'articulation. Le premier vérin (S1) est conçu pour être commandé indépendamment par le premier dispositif de commande (V1) et le deuxième vérin (S2) pour être commandé indépendamment par le deuxième dispositif de commande (V2), également pour être réglé en mode de transfert. Les deuxième et troisième éléments de flèche (P1) et (P2) sont conçus pour pivoter simultanément en sens inverse par commande du dispositif de commande (V2). Le premier vérin (S1) et le second vérin (S2) sont reliés en série.
PCT/FI2000/000609 1999-07-06 2000-07-04 Systeme de commande pour circuit de fleche d'un engin mobile de travaux publics WO2001002280A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU59887/00A AU5988700A (en) 1999-07-06 2000-07-04 Control system for a boom system in a working machine movable on a terrain

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FI991540A FI111938B (fi) 1999-07-06 1999-07-06 Puomiston ohjausjärjestelmä maastossa liikkuvassa työkoneessa
FI991540 1999-07-06

Publications (1)

Publication Number Publication Date
WO2001002280A1 true WO2001002280A1 (fr) 2001-01-11

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PCT/FI2000/000609 WO2001002280A1 (fr) 1999-07-06 2000-07-04 Systeme de commande pour circuit de fleche d'un engin mobile de travaux publics

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FI (1) FI111938B (fr)
WO (1) WO2001002280A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1889537A3 (fr) * 2006-08-16 2008-08-27 John Deere Forestry Oy Contrôle d'une flèche et de son outil articulé
US8862340B2 (en) 2012-12-20 2014-10-14 Caterpillar Forest Products, Inc. Linkage end effecter tracking mechanism for slopes
US10414634B2 (en) 2013-01-29 2019-09-17 John Deere Forestry Oy Method and system for controlling the crane of a working machine by using boom tip control

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3884359A (en) * 1968-11-27 1975-05-20 Hopper Inc Level luffing crane
DE3228742A1 (de) * 1982-06-15 1984-02-09 Goldhofer Fahrzeugwerk Gmbh & Co, 8940 Memmingen Vorrichtung zur montage und demontage von maschinenteilen grosser dimensionen und hydraulische steuerung hierzu
US4828125A (en) * 1986-09-01 1989-05-09 Osa Ab Device for maintaining a tool attachment in a knuckle boom crane on a constant level above the ground
WO1997016372A1 (fr) * 1995-10-30 1997-05-09 Pinomaeki Sakari Procede permettant, dans un systeme a fluide de pression, d'employer et de commander une fleche de levage, en particulier en combinaison avec un engin de chantier

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3884359A (en) * 1968-11-27 1975-05-20 Hopper Inc Level luffing crane
DE3228742A1 (de) * 1982-06-15 1984-02-09 Goldhofer Fahrzeugwerk Gmbh & Co, 8940 Memmingen Vorrichtung zur montage und demontage von maschinenteilen grosser dimensionen und hydraulische steuerung hierzu
US4828125A (en) * 1986-09-01 1989-05-09 Osa Ab Device for maintaining a tool attachment in a knuckle boom crane on a constant level above the ground
WO1997016372A1 (fr) * 1995-10-30 1997-05-09 Pinomaeki Sakari Procede permettant, dans un systeme a fluide de pression, d'employer et de commander une fleche de levage, en particulier en combinaison avec un engin de chantier

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1889537A3 (fr) * 2006-08-16 2008-08-27 John Deere Forestry Oy Contrôle d'une flèche et de son outil articulé
US8430621B2 (en) 2006-08-16 2013-04-30 John Deere Forestry Oy Control of a boom construction and a tool articulated thereto
US9345204B2 (en) 2006-08-16 2016-05-24 John Deere Forestry Oy Control of a boom construction and a tool articulated thereto
US8862340B2 (en) 2012-12-20 2014-10-14 Caterpillar Forest Products, Inc. Linkage end effecter tracking mechanism for slopes
US10414634B2 (en) 2013-01-29 2019-09-17 John Deere Forestry Oy Method and system for controlling the crane of a working machine by using boom tip control

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Publication number Publication date
FI991540A (fi) 2001-01-07
FI111938B (fi) 2003-10-15
AU5988700A (en) 2001-01-22

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