WO2012156085A1 - Procédé d'un dispositif de réglage électro-hydraulique d'un mécanisme de levage et unité de commande pour un dispositif de réglage électro-hydraulique d'un mécanisme de levage - Google Patents

Procédé d'un dispositif de réglage électro-hydraulique d'un mécanisme de levage et unité de commande pour un dispositif de réglage électro-hydraulique d'un mécanisme de levage Download PDF

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Publication number
WO2012156085A1
WO2012156085A1 PCT/EP2012/002106 EP2012002106W WO2012156085A1 WO 2012156085 A1 WO2012156085 A1 WO 2012156085A1 EP 2012002106 W EP2012002106 W EP 2012002106W WO 2012156085 A1 WO2012156085 A1 WO 2012156085A1
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WO
WIPO (PCT)
Prior art keywords
control
setpoint
controlled variable
hoist
operating unit
Prior art date
Application number
PCT/EP2012/002106
Other languages
German (de)
English (en)
Inventor
Soenke Jessen
Uwe Maier
Uwe Falkenhain
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Priority to BR112013029497-3A priority Critical patent/BR112013029497B1/pt
Publication of WO2012156085A1 publication Critical patent/WO2012156085A1/fr

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Classifications

    • 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
    • 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
    • A01B79/00—Methods for working soil
    • A01B79/005—Precision agriculture

Definitions

  • the invention relates to a method of an electro-hydraulic hitch control according to the preamble of patent claim 1 and an operating unit for an electro-hydraulic hitch control according to the preamble of claim 9.
  • Hoists are used in particular in mobile machines, for example in agricultural machinery. Attachments such as a plow are attached to hoists in the work approach. The hoist is in height relative to the
  • Agricultural machine arranged lifting cylinder which can be designed single acting or double acting, attacks a handlebar of the hoist and can this
  • a first controlled variable is the position of the hoist or of the attachment with respect to the
  • Hoist control has to detect the position of the hoist on a mechanical or electronic position detection, the measured variable or their actual value with the on a Setpoint lever or a setpoint generator preset reference value is adjusted and enters the mechanical or electronic controller.
  • Control variable acts on the actuator, usually a lifting cylinder, which adjusts the hoist according to its position.
  • a second possible controlled variable is a tensile force acting on the hoist, which leads to a draft control.
  • a force is measured on one or more of the handlebars and tracked to a desired value.
  • the tracking according to this target value is carried out via a variation of the hoist height or position, wherein a tensile force is increased in which the hoist is lowered to the ground and a tensile force is reduced in which the hoist is lifted from the ground.
  • a third form of hoist control is the mixing control, in which the control differences of the position and the tensile force in a certain mixing ratio enter into the control via a mixing parameter which is either fixed or freely selectable, so that the position of the hoist can be regulated in such a way that that an optimum of working depth of the attachment and exploited drive power of the agricultural machine can be achieved.
  • This allows a very efficient working of the agricultural machine.
  • the hoist control knows the state of the art mechanical (MHR) or electronic hoist regulations (EHR).
  • MHR state of the art mechanical
  • EHR electronic hoist regulations
  • An operation by the vehicle driver or by operating personnel takes place via a plurality of individual or combined in a control unit controls.
  • the control can be activated or deactivated via these, setpoint values of the control can be specified or control parameters such as a mixing ratio of draft and position control can be set.
  • the mechanical hoist control has at least one lever via which a desired value, in particular a desired value of the hoist position or a desired value of a tensile force acting on one of the handlebars, can be set.
  • This adjustment lever is adjustable between a maximum and a minimum value, with two stops a top and a bottom setpoint is reproducibly adjustable.
  • the topmost stop is used in particular during transport journeys or during turning maneuvers or in operating states of agricultural machines in which the implement must be raised sufficiently high from the ground.
  • the lower stop represents a lower end position or the so-called Rule position. In this position of the lever is specified how low the hoist relative to the tractor and thus the attachment should be lowered to the ground or into the ground.
  • a disadvantage of the mechanical hoist control is that for the realization of a considerable device-technical effort in the form of mechanical linkages, devices, measuring, adjustment and adjustment devices must be operated.
  • Control of the actuator is done electronically.
  • RD 95255 of the Applicant has a console on which a setpoint potentiometer is centrally located. This is used to set either the desired position value or the tensile force setpoint or a corresponding mixed value of these setpoint values as a function of a position of a control element.
  • Another operating element a so-called excavation lever, can be switched between several positions to set different operating modes or states of the agricultural machine or the hoist. Possible operating states are included
  • Transport state in which the hoist is set in a transport height a second state is the control mode or the control position, in a third state is the
  • Control mode deactivated a fourth possible state is a so-called clearance or fast entry.
  • a fourth possible state is a so-called clearance or fast entry.
  • about another control element is the upper end position or the
  • a Senk designated. Lifting speed of the hoist can be specified.
  • Such an operating unit of an electronic or electro-hydraulic hoist control thus usually has five operating elements. In practice, it is confirmed that on the conventional control unit of a
  • the invention is based on the object to simplify operation of an electro-hydraulic hitch control.
  • Control unit for an electrohydraulic hitch control with the features of claim 9.
  • An inventive method of electro-hydraulic hitch control of a mobile machine has a standby operation of the electro-hydraulic hitch control, in which a detection of a setpoint of a first controlled variable takes place without their regulation.
  • a switchover from the standby mode to a regular mode of operation takes place
  • electrohydraulic hoist control in which the control of the first controlled variable takes place via an adjustment of the setpoint.
  • an operator or an operating program of the electro-hydraulic hitch control via the adjustment of only one value on the one hand change an operating mode of the control and on the other hand change the setpoint, which simplifies operation of the electro-hydraulic hitch control.
  • Standby operation in addition to the detection of the setpoint of the first controlled variable also a detection of an actual value of the first controlled variable and a determination of a control difference of the first controlled variable.
  • the changeover to normal operation takes place when, during the adjustment of the setpoint, the determined control difference falls below a certain amount. This amount is preferably preconfigured in the process. In this way it is ensured that the control is not activated in case of an unwanted or minor adjustment. Instead, the operator or the operating program must approach the setpoint to the actual value until the control difference is undershot or the actual value is "caught" by the setpoint, thereby further simplifying the operation of the electrohydraulic hoist control and also increasing operating safety.
  • in standby mode or in normal operation of the electrohydraulic hoist control also takes place a detection of a desired value and an actual value and a determination of a control difference of a second controlled variable, whereby the electro-hydraulic
  • Hitch control is flexible designable.
  • the detected desired value and actual value and the determined control difference of the second controlled variable enter into the electrohydraulic hoist control via activation of a mixed control, so that both the first controlled variable and the second controlled variable are regulated when the control mode is activated.
  • the activation of the mixing control is preferably carried out via an actuation of a
  • the controlled variables or their control differences enter the mixing control in a specific ratio, in particular approximately in the ratio 1: 1.
  • This ratio is particularly preferably fixed or fixed and configurable deposited in the process, which particularly simplifies the operation in the case of mixed control.
  • any conditions greater than or equal to 0, which are adapted to the conditions of use, are possible.
  • the first controlled variable is preferably a position of the lifting mechanism or a force acting on the lifting mechanism.
  • the first controlled variable is preferably the position of the hoist and the second controlled variable acting on the hoist force.
  • the first controlled variable is the force and the second controlled variable is the situation.
  • the control of the position of the hoist and / or the force acting on the lifting force is preferably carried out essentially via a control of the position of the hoist.
  • About the regulation of these two controlled variables is one of the working machine available
  • activation of the mixing control results in a changeover from control operation to standby mode, so that the electrohydraulic control is deactivated. Since the activation or deactivation of the mixing control is accompanied by the fact that one of the two control variables additionally enters or no longer enters the control, there is a sudden change in the control difference that is relevant for the control or mixing control. If the regulation were still active at this moment, there would be a danger that the hoist would be unexpected
  • This operating element is advantageously arranged on the outside of the machine in a region of a rear or front hoist, and can be particularly helpful when attaching and dismounting devices.
  • Advantageous is an external button for lifting and another external button for lowering. This also leads to increased operational safety, since the operator or the operating program expects that the controller does not readjust such a set position to the currently detected setpoint.
  • Hitch control further simplified.
  • the detection of the actual value or of the actual values preferably takes place via a sensor or via sensors, wherein the position is detected via a position sensor or the force via a force sensor.
  • electrohydraulic hitch control of a mobile work machine in particular a mobile agricultural work machine
  • the operating unit is configured in such a way that the electrohydraulic hoist control can be activated via the setpoint generator, in particular via an adjustment of the setpoint generator or the setpoint, so that henceforth the first controlled variable is regulated. Since an operator for activating the control and for adjusting the setpoint according to the invention only has to adjust the one setpoint generator, is thus an operation of the electro-hydraulic hoist control over a conventional control unit, in which a
  • Setpoint generator is preferably designed as a rotary potentiometer or as a sliding potentiometer. He may have a screening or binding to a
  • a particularly preferred and advantageous development of the operating unit is configured such that the electro-hydraulic hitch control in dependence of a
  • Control difference in particular by a falling below a certain amount of the control difference during the adjustment of the setpoint generator or the setpoint, can be activated.
  • This amount is preferably configured in the operating unit or its control unit. In this way it is ensured that the control is not activated in case of an unwanted or slight adjustment of the setpoint generator or the setpoint.
  • a preferred development of the operating unit has as a first controlled variable a position of the lifting mechanism or a force acting on the lifting force, whereby an effective
  • a preferred development of the operating unit has a first fixed stop and a second fixed stop, wherein the stops an adjustment of the
  • a particularly preferred and advantageous development of the operating unit has a first along an adjustment of the setpoint generator adjustable, in particular displaceable, stop, via which a lowest setpoint or a control position of the
  • a particularly preferred embodiment of the operating unit also has a second stop adjustable along the adjustment path, as a result of which an upper setpoint value is reproducible. In order to prevent accidental adjustment of the stop or the attacks, this or these are difficult to adjust adjustable. The simple reproducibility of the lowest or highest setpoint further simplifies the operation of the electrohydraulic hoist control.
  • the operating unit has an additional operating element, via which a mixing control of the first controlled variable and a second controlled variable of the electrohydraulic hitch control can be activated.
  • the first controlled variable is preferably the position of the lifting mechanism and the second controlled variable the force acting on the lifting mechanism, or vice versa.
  • the operating unit is designed such that when activated
  • Mix control the controlled variables in a fixed mixing ratio to each other, for example, 1/1, enter into the mixing control or are taken into account in the mixing control.
  • This ratio is preferably fixed or fixed and configurable stored in the control unit, which particularly simplifies the operation in the case of mixed control.
  • the mixing control any conditions greater than or equal to 0 adapted to the operating conditions of the operating unit are possible.
  • the operating unit is such
  • the operating unit is configured such that the control mode can be deactivated or the standby mode can be activated via an actuation of the operating element or via an actuation of a hoist control, thereby preventing undesired regulation of the hoisting gear.
  • the operating unit is designed such that via a start-up of the working machine, in particular via an ignition of the working machine
  • the operating unit is designed such that a change in the actual value or the actual values takes place at a speed that is proportional to an adjustment speed of the setpoint generator.
  • a particularly advantageous development of the operating unit has a control LED with at least one diagnostic code, via which an operating state or a
  • Malfunction is displayed. Preferably, it can be displayed via the LED, whether the
  • electro-hydraulic hitch control is active or inactive and / or whether a component of the control unit or the control unit and / or whether a connectable to the control unit component has a malfunction.
  • Figure 1 shows a first embodiment of an operating unit with a plurality of connected to her components of an electro-hydraulic hitch control in a schematic representation
  • FIGS. 3a to 3d show a sequence of a first embodiment of a method in which the electrohydraulic hoist control is activated;
  • 4a to 4d show a sequence of a second embodiment of a method in which a desired value is adjusted between stops;
  • FIGS. 5a and 5b show a sequence of a third exemplary embodiment of a method in which a desired value is secured between stops;
  • FIGS. 6a to 6d show a sequence of a fourth exemplary embodiment of a method in which the control is deactivated by actuation of backstops; and
  • FIG. 7a to 7d show a sequence of a fifth exemplary embodiment of a method in which a mixing control is activated, with reference to a third exemplary embodiment of a control unit.
  • FIG. 1 shows a first embodiment of an operating unit 1 of FIG
  • electrohydraulic hoist control with its associated components of an electro-hydraulic hoist control in a schematic representation.
  • control unit 1 via a signal line 2 with a control unit 3, via a signal line 4 with a position sensor 5 of a hoist, via a signal line 6 with a Hubtechniksventil 7, via a
  • Power supply 11 and a power line 12 with an ignition 13, is connected. Via a signal line 14, the operating unit is connected to a tension force sensor 15 of the hoist.
  • These compounds or parts thereof can also be designed as a bus system. The above applies accordingly to an embassy setup.
  • the control unit 1 has a reference to the viewing plane approximately planar and rectangular console 20. Approximately centrally on the console 20 designed as a rotary potentiometer setpoint generator 22 is arranged. An adjustment path 24 of the setpoint generator 22 and thus a setpoint interval is in principle via a first fixed stop 26 in Figure 1 on the left bounded below and a second fixed stop 28 in Figure 1 bottom right. A lower setpoint value 31 and an upper setpoint value 33 can be set in an easily reproducible manner for an operator via a first and second stop 30, 32 displaceable along the adjustment path 24. Both displaceable stops 30, 32 have along the adjustment 24 an ergonomically meaningful binding, so that they are secured against accidental adjustment.
  • control unit In Figure 1 bottom left, next to the first fixed stop 26, the control unit has a symbolism 40, which symbolizes a control position or lower position of the hoist. In Figure 1 bottom right, the control unit has a symbolism 42, which is a so-called
  • Excavation position or an upper end position or transport position symbolizes.
  • the control unit 1 has a control LED 44, which, when lit as shown, informs the operator of the control unit 1 that the electro-hydraulic hitch control is activated and the control unit operates in control mode.
  • the control unit has a trained as a button control element 46, via which a mixed control of the position of the hoist and a force acting on the lifting force can be selected.
  • the mixing control is represented by the symbolism 41 arranged above the operating element 46 in FIG. In Figure 1, left of the symbolism 41 of
  • Mixing control is a control LED 45 is arranged, which, when illuminated as shown, informs the operator that the mixing control is selected.
  • the position sensor 5 and the tension force sensor 15 Since the operating unit 1 of the first exemplary embodiment is connected to the control unit 3, the position sensor 5 and the tension force sensor 15, a desired value for a first controlled variable, a position of the hoisting gear, and for a second controlled variable, a tensile force acting on the hoisting gear, can be preset via it become.
  • mixing control so if the LED 45 is not illuminated, only one position setpoint is adjustable via the setpoint generator 22.
  • mixed control is selected (as shown) is via the central
  • a mixing ratio is configured with, for example, 1/1 and fixed.
  • FIG. 2 shows a second exemplary embodiment of an operating unit 101 of an electrohydraulic hoist control in a schematic representation. Notwithstanding the first embodiment shown in Figure 1, the second embodiment has no Possibility of mixing control, so that a dedicated symbolism and control LED (41, see Fig. 1) are missing. Thus, only one desired value of a first controlled variable can be predetermined via this operating unit, and this can in principle be the position or the tensile force of the lifting mechanism. In the illustrated embodiment, this is the location.
  • a first controlled variable can be predetermined via this operating unit, and this can in principle be the position or the tensile force of the lifting mechanism. In the illustrated embodiment, this is the location.
  • Control element 146 is configured for calibration of a hoist valve
  • FIGS. 3a to 3d show a sequence of a first exemplary embodiment of a method according to the invention, in which the electrohydraulic hoist control 101 is activated. For reasons of clarity, only occurring states of the operating unit 101 are shown. The operating unit corresponds to that of the second embodiment according to FIG. 2.
  • electrohydraulic hoist control is thus in a standby state.
  • the electrohydraulic hoist control is not activated, which is recognizable by the extinguished control LED 44, so that an actual value 51 of a hoist position, symbolized by a broad arrow, does not correspond to the desired value 52 given by the setpoint generator 22, indicated by a nose 50 of the setpoint generator 22 , is readjusted.
  • the control is not activated, in the standby state, the setpoint value 52 predetermined by the setpoint generator 22 is continuously monitored via the operating unit 101. This is done in all embodiments of the invention.
  • the control unit not shown, see Fig. 3, Fig. 1 of the operating unit from a detected by the position sensor (not shown, see Fig.
  • the setpoint value 52 approaches counterclockwise to the current actual value 51 of the hoisting gear.
  • the electro-hydraulic control is activated. This amount is stored in the operating unit and can be configured. The control changes from standby mode to regular mode. This switching is shown by the two figures 3b and 3c, starting from the figure 3b, the
  • Control LED 44 of the electro-hydraulic hitch control is illuminated in Figure 3c. From this point on, the control is activated and a change in the actual value 51 is maintained at the setpoint 52 by the control. In this control mode, the control LED 44 lights up permanently.
  • FIG. 3d shows the operating unit according to the invention with an adjusted nominal value 52 to which the actual value 51 has been readjusted.
  • Figures 4a to 4d show a sequence of a second embodiment of a method according to the invention, in which the desired value 52 between the two
  • Setpoint generator 22 starting from its position in Figure 4c in the clockwise direction to the right to the second displaceable stop 32 is rotated.
  • the actual value of the hoist follows the setpoint 52 in proportion to the rotational speed of the setpoint generator 22.
  • FIGS. 5 a and 5 b show a possibility of securing this transport position with the aid of the displaceable stops 30 and 32.
  • the nose 50 of the setpoint generator 22 is clamped by two stops 30, 32, so that the setpoint generator 22 is secured against unintentional adjustment.
  • Electro-hydraulic hoist control makes sense, so that the operator can even manually move the hoist. Would the scheme still be activated if that
  • Hoist control would always correct the position of the hoist according to the predetermined setpoint 52. If the operator then wishes to reactivate the electrohydraulic hitch control, this can be done by adjusting the setpoint generator 22 to the actual value 51 analogously to the sequence shown in FIGS. 3a to 3c. This is shown in FIGS. 6b to 6d.
  • the activation takes place according to the invention in the moment in which the control difference between the actual value 51 and the setpoint value 52 falls below the configured specific amount. At this moment, which is represented by the figure 6d, the control LED 44 starts to light again. Thus, the operator is informed that the electro-hydraulic hoist control is activated.
  • Figures 7a to 7d show a sequence of a fifth embodiment of a method according to the invention, in which a mixed control of the position and the tensile force is activated.
  • the operating unit 201 shown in FIGS. 7a to 7d represents a third exemplary embodiment.
  • the operating unit 201 deviates from the first one
  • Embodiment according to Figure 1 characterized in that a control LED 245, for displaying an activated mixing control, is integrated into a control element 246.
  • Stop 30 is in abutment.
  • the hoist is lowered to the ground, so that the attachment fulfills its work task.
  • the electrohydraulic hoist control is currently active as a position control, which is due to the illuminated control LED 44 and the
  • the mixing setpoint 252 must be approximated to the current actual value 251 in a known manner via an adjustment of the setpoint generator 22 until the control difference falls below the configured value.
  • the electro-hydraulic hitch control is active again, which can be seen on the illuminated control LED 44 according to Figure 7c.
  • the first displaceable stop 30 is applied to the nose 50 of the setpoint generator 22 according to FIG.
  • control LED 44 can transmit diagnostic messages via fixed flashing signals or flashing sequences. By defined sequences and pauses and lengths of flashes different states of the control unit or the control unit or of sensors or other devices of the control unit can be displayed.
  • the operating element 46 or 246 of the first or third embodiment of the operating unit 1 or 201 according to the invention via which the mixing control can be activated, has an additional function for initializing a calibration or adjustment of the
  • Deposit control unit Regardless of the exemplary embodiments of the operating unit or the method shown, a method for adjustment or calibration can proceed as follows:
  • the adjustment run is usually carried out without an attachment, since the hoist completely lifts and completely lowers.
  • control LED 44 flashes slowly so as to signal readiness for adjustment.
  • the setpoint generator 22 is slowly rotated clockwise to the sliding stop 32 and slowly back to the starting position of the movable stop 30.
  • the rotation must be so slow that the hoist can follow.
  • control LED 44 of the electrohydraulic hoist control starts flashing rapidly. Then, the operating element 46; 146; 246 let go. When the adjustment is completed, the flashing of the control LED 44 goes out.
  • Signal lines and wireless connections such as W-LAN or Bluetooth connections to be used for signal transmission.
  • an operating unit according to the invention may additionally have at least one further operating element, via which a desired value of a quick retraction, a vibration damping, a slip control or a lifting or lowering speed of the hoist can be specified, and on the
  • Operating unit and / or the control unit is adjustable or controllable. A method deviating from the exemplary embodiments shown has necessary steps for this purpose.
  • the setpoint generator embodied as a rotary potentiometer can be designed as a sliding potentiometer.
  • the setpoint generator can be an electrical or electronic operating or adjusting element that can be adjusted over a setpoint interval. The adjustment can also be done via a screening or incremental.
  • Adjustment of the setpoint takes place by additionally using the setpoint generator
  • Switching function for example, by a keying, can be fulfilled.
  • Standby mode of the control is a detection of a setpoint of a first controlled variable and according to the invention a switch from standby mode in a
  • Control mode in which a control of the first controlled variable is carried out via an adjustment of the setpoint.
  • control unit has a setpoint generator, via which a setpoint of a first controlled variable of the hoist is adjustable and the control unit according to the invention is configured such that the control of the setpoint generator, in particular on the adjustment, activated is.

Abstract

L'invention concerne un procédé d'un dispositif de réglage électro-hydraulique d'un mécanisme de levage d'une machine de travail mobile, notamment d'une machine de travail agricole mobile. Lorsque le dispositif de réglage est en mode d'attente, une valeur théorique (52) d'une première grandeur de réglage est détectée et, selon l'invention, une commutation du mode d'attente en un mode de réglage dans lequel la première grandeur de réglage est réglée, est effectuée par un réglage de la valeur théorique (52). L'invention concerne une unité de commande dotée d'une unité de réglage (3) destinée au réglage électro-hydraulique d'un mécanisme de levage d'une machine de travail mobile, notamment d'une machine de travail agricole mobile. L'unité de commande (3) est pourvue d'un capteur (22) de valeurs théoriques qui permet de régler une valeur théorique d'une première grandeur de réglage du mécanisme de levage et, selon l'invention, l'unité de commande (3) est conçue de façon que le réglage puisse être activé par l'intermédiaire du capteur (22) de valeurs théoriques, notamment par son réglage.
PCT/EP2012/002106 2011-05-17 2012-05-16 Procédé d'un dispositif de réglage électro-hydraulique d'un mécanisme de levage et unité de commande pour un dispositif de réglage électro-hydraulique d'un mécanisme de levage WO2012156085A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
BR112013029497-3A BR112013029497B1 (pt) 2011-05-17 2012-05-16 método para uma regulagem eletro-hidráulica de mecanismo de levantamento e unidade de comando para uma regulagem eletro-hidráulica de mecanismo de levantamento

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE201110101714 DE102011101714A1 (de) 2011-05-17 2011-05-17 Verfahren einer elektrohydraulischen Hubwerksregelung und Bedieneinheit für eine elektrohydraulische Hubwerksregelung
DE102011101714.7 2011-05-17

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Publication Number Publication Date
WO2012156085A1 true WO2012156085A1 (fr) 2012-11-22

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DE (1) DE102011101714A1 (fr)
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WO2014165178A1 (fr) * 2013-03-12 2014-10-09 Cnh Industrial America Llc Codeur de position d'attelage équipé d'un indicateur de référence pour véhicule agricole
CN110930570A (zh) * 2019-12-13 2020-03-27 江苏武进液压启闭机有限公司 一种液压启闭机远程保护系统

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CN103168519B (zh) * 2013-04-10 2015-06-17 中国农业大学 一种锄刀入土深度及入土角度连续调节机构
DE102017221003A1 (de) 2017-11-23 2019-05-23 Robert Bosch Gmbh Bedieneinheit für ein Hubwerk und Verfahren zum Steuern eines Hubwerks
DE102022200769A1 (de) * 2022-01-25 2023-07-27 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren, Steuerungseinheit und Steuerungssystem zur elektrohydraulischen Hubwerksregelung

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EP0153102A2 (fr) * 1984-02-10 1985-08-28 Deere & Company Système de contrôle pour véhicule pour le réglage de la profondeur de travail d'outils dans le sol
EP0377216A2 (fr) * 1989-01-06 1990-07-11 Deere & Company Système de contrôle de la force de traction pour un outil du travail de sol
US4969527A (en) * 1989-11-13 1990-11-13 Deere & Company Hitch control system
US6230817B1 (en) * 1999-08-10 2001-05-15 Case Corporation Hitch assembly for a work vehicle

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EP0153102A2 (fr) * 1984-02-10 1985-08-28 Deere & Company Système de contrôle pour véhicule pour le réglage de la profondeur de travail d'outils dans le sol
EP0377216A2 (fr) * 1989-01-06 1990-07-11 Deere & Company Système de contrôle de la force de traction pour un outil du travail de sol
US4969527A (en) * 1989-11-13 1990-11-13 Deere & Company Hitch control system
US6230817B1 (en) * 1999-08-10 2001-05-15 Case Corporation Hitch assembly for a work vehicle

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WO2014165178A1 (fr) * 2013-03-12 2014-10-09 Cnh Industrial America Llc Codeur de position d'attelage équipé d'un indicateur de référence pour véhicule agricole
CN105188340A (zh) * 2013-03-12 2015-12-23 维尔凯斯纽荷兰(中国)管理有限公司 用于农业作业车辆的具有参考指示器的挂钩位置编码器
US9989986B2 (en) 2013-03-12 2018-06-05 Cnh Industrial America Llc Hitch position encoder with reference indicator for agricultural work vehicle
AU2017276327B2 (en) * 2013-03-12 2020-01-30 Cnh Industrial America Llc Hitch position encoder with reference indicator for agricultural work vehicle
CN110930570A (zh) * 2019-12-13 2020-03-27 江苏武进液压启闭机有限公司 一种液压启闭机远程保护系统

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