WO2016137018A1 - 作業車両 - Google Patents
作業車両 Download PDFInfo
- Publication number
- WO2016137018A1 WO2016137018A1 PCT/JP2016/060675 JP2016060675W WO2016137018A1 WO 2016137018 A1 WO2016137018 A1 WO 2016137018A1 JP 2016060675 W JP2016060675 W JP 2016060675W WO 2016137018 A1 WO2016137018 A1 WO 2016137018A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- steering
- lever
- engine
- switch
- main switch
- Prior art date
Links
- 238000010586 diagram Methods 0.000 description 7
- 230000007257 malfunction Effects 0.000 description 6
- 239000007858 starting material Substances 0.000 description 3
- 230000004913 activation Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/12—Hand levers
- B62D1/14—Tillers, i.e. hand levers operating on steering columns
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/22—Alternative steering-control elements, e.g. for teaching purposes
-
- 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
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/0841—Articulated frame, i.e. having at least one pivot point between two travelling gear units
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2004—Control mechanisms, e.g. control levers
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2004—Control mechanisms, e.g. control levers
- E02F9/2012—Setting the functions of the control levers, e.g. changing assigned functions among operations levers, setting functions dependent on the operator or seat orientation
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2087—Control of vehicle steering
-
- 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
- E02F9/24—Safety devices, e.g. for preventing overload
-
- 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
- E02F9/26—Indicating devices
- E02F9/267—Diagnosing or detecting failure of vehicles
- E02F9/268—Diagnosing or detecting failure of vehicles with failure correction follow-up actions
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/34—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines
-
- 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
- E02F9/16—Cabins, platforms, or the like, for drivers
Definitions
- the present invention relates to a work vehicle.
- work machines such as wheel loaders have a steering wheel for steering operation during traveling on public roads and work sites, as well as a steering lever for efficient steering operation during repeated short-distance driving and steering operation. Is provided.
- the present invention has been made in view of the above-described problems, and an object thereof is to provide a work vehicle that can easily suppress malfunction of a steering lever.
- the work vehicle includes a steering lever, an engine, a main switch, a rear frame, a front frame, a steering actuator, a lever switch, and a lever steering control unit.
- the main switch instructs the engine to start.
- the front frame is pivotally attached to the rear frame.
- the steering actuator is attached between the front frame and the rear frame, and is operated according to the operation state with respect to the steering lever.
- the lever switch can select the operation of the steering actuator by the steering lever in either the valid state or the invalid state.
- the lever steering control unit disables the operation of the steering actuator by the steering lever when the valid state is selected by the lever switch and the start of the engine is instructed by the main switch.
- the operation of the steering actuator by the steering lever can be disabled, so that the malfunction by the steering lever at the time of engine startup Can be prevented from occurring. Further, since only the engine start is used as a trigger and there is no need to monitor the traveling state of the work vehicle, the operating state of the engine, etc., the invalidation of the steering lever can be executed easily.
- a work vehicle relates to the first aspect, wherein the main switch is a first position where power is not supplied to the lever steering control unit, a second position where power is supplied to the lever steering control unit, or the engine. Any one of the third positions instructing the start can be selected.
- the lever steering control unit invalidates the operation of the steering actuator by the steering lever when the main switch is switched from the second position to the third position when the engine is stopped when the valid state is selected by the lever switch. Put it in a state.
- a work vehicle relates to the second aspect, and the lever steering control unit is configured such that the main switch is moved from the second position when the engine is stopped when the effective state is selected by the lever switch. Until the switch to the third position, the operation of the steering actuator by the steering lever is maintained in an effective state.
- the steering lever can be steered while the work vehicle is traveling inertial after the engine is stopped, so that the operability of traveling can be improved.
- a work vehicle relates to the second or third aspect, and when the lever steering control unit receives a signal instructing start of the engine, the work vehicle is applied to the steering actuator according to the operation of the steering lever. Stops output of operation instructions.
- a work vehicle relates to the second or third aspect, and includes a battery connected to the main switch.
- the lever steering control unit includes a relay circuit that cuts off power supplied from the battery when the main switch is switched from the second position to the third position.
- the steering lever is automatically invalidated by the relay circuit when the engine start is instructed. There is no need to execute.
- FIG. 1st Embodiment Schematic diagram for explaining the relationship between the driving state of the wheel loader and the valid / invalid state of the steering lever
- FIG. 2nd Embodiment The block diagram which shows the structure of the wheel loader which concerns on 2nd Embodiment.
- FIG. 1 is a side view showing an overall configuration of a wheel loader 1 according to the present embodiment.
- FIG. 2 is a perspective view for explaining the internal configuration of the cab 5.
- FIG. 3 is a diagram viewed from the direction of arrow Z in FIG.
- the wheel loader 1 includes a vehicle body frame 2, a work implement 3, a cab 5, an engine room 6, and an engine 7.
- the body frame 2 has a so-called articulate structure, and includes a front frame 11, a rear frame 12, and a connecting portion 13.
- the front frame 11 is disposed in front of the rear frame 12.
- the front frame 11 is rotatably attached to the rear frame 12 via a connecting portion 13.
- a steering cylinder (steering actuator) 9 is attached between the front frame 11 and the rear frame 12.
- the front frame 11 is provided so as to be rotatable with respect to the rear frame 12 by expansion and contraction of the steering cylinder 9.
- the steering cylinder 9 is provided to be extendable and retractable by operation of a steering wheel 21 and a steering lever (steering lever) 22 provided in the cab 5.
- the cab 5 and the engine room 6 are placed on the rear frame 12.
- An engine 7 is accommodated in the engine room 6.
- the rotational speed of the engine 7 is detected by the engine rotational speed sensor 24 (see FIG. 5).
- the controller 10 receives the engine speed detected by the engine speed sensor 24 (see FIG. 5).
- the work machine 3 has a lift arm 15 and a bucket 16.
- the lift arm 15 and the bucket 16 are driven by pressure oil supplied from a hydraulic pump (not shown).
- the lift arm 15 is rotatably supported at the base end by the front frame 11.
- the bucket 16 is rotatably attached to the tip of the lift arm 15.
- an operator seat 19, a steering device 20, and a main switch (key switch) 23 are provided in the cab 5.
- the operator seat 19 is a seat for an operator who gets in and out of the cab 5 to sit down and perform a driving operation.
- the steering device 20 is a steering device for steering the vehicle by rotating the front frame 11 with respect to the rear frame 12. When the steering device 20 is steered, the steering cylinder 9 is driven accordingly. As a result, the wheel loader 1 turns left and right according to the steering of the steering device 20.
- the steering device 20 includes a steering wheel 21 and a steering lever (steering lever) 22.
- the steering wheel 21 is disposed in front of the operator seat 19.
- the steering wheel 21 can be rotated while the operator is seated.
- the steering wheel 21 is mainly used for steering operation during high speed traveling on public roads and work sites.
- the steering lever 22 is disposed on the side of the operator seat 19.
- the steering lever 22 is mainly used for a steering operation in a work that repeats a short distance traveling and a steering operation.
- the steering lever 22 can be tilted left and right while the operator is seated.
- the steering lever 22 transmits a steering instruction signal corresponding to the tilting operation by the operator to the controller 10 (see FIG. 5) described later. That is, the steering cylinder 9 is operated according to the operation state with respect to the steering lever 22.
- a lever switch 22a is provided for the operator to switch the steering lever 22 between a valid state and an invalid state.
- the lever switch 22a can select the operation of the steering cylinder 9 by the steering lever 22 between the valid state and the invalid state.
- a push button switch or a tactile switch can be used as the lever switch 22a, but the lever switch 22a is not limited thereto.
- the main switch 23 is disposed on the side of the steering wheel 21.
- the main switch 23 can instruct the controller 10 to start the engine 7 or the like by inserting and operating a key.
- FIG. 4 is a front view of the main switch 23.
- the main switch 23 can be switched to the first position P1, the second position P2, and the third position P3.
- the main switch 23 When the main switch 23 is in the first position P1, the power supply from the battery 8 (see FIG. 5) of the wheel loader 1 to various electric devices is cut off. In the first position P1, the controller 10 does not operate. When the main switch 23 is in the second position P2, power is supplied from the battery to various electric devices. In the second position P2, the controller 10 operates. When the main switch 23 is in the third position P3, the starter motor 7b (see FIG. 5) of the engine 7 is activated and the engine 7 is started. When the engine 7 is started, the main switch 23 is switched from the third position P3 to the second position P2. If the main switch 23 is switched from the second position P2 to the first position P1 while the engine 7 is being driven, the engine 7 stops.
- FIG. 5 is a block diagram showing the configuration of the wheel loader 1.
- the controller 10 When power is supplied to the controller 10, the controller 10 activates the steering lever 22 when receiving an instruction to validate the steering lever 22 from the lever switch 22 a.
- the activation of the steering lever 22 means that the controller 10 receives a steering instruction from the steering lever 22 and the controller 10 controls the steering cylinder 9 according to the steering instruction. Therefore, when the steering lever 22 is activated, a steering instruction from the steering lever 22 is transmitted as an operation instruction to the steering cylinder 9 via the controller 10.
- the controller 10 supplies the hydraulic oil to the steering cylinder 9 by supplying a current corresponding to the operation instruction to the electromagnetic valve in order to operate the steering cylinder 9.
- the controller 10 When power is supplied to the controller 10, the controller 10 invalidates the steering lever 22 when receiving an invalid instruction after receiving the valid instruction for the steering lever 22 from the lever switch 22a.
- the invalidation of the steering lever 22 means that the controller 10 does not receive a steering instruction from the steering lever 22 or does not control the steering cylinder 9 even if the controller 10 receives a steering instruction. Therefore, when the steering lever 22 is invalidated, the steering instruction from the steering lever 22 is invalidated in the controller 10.
- the steering lever 22 When the engine 7 is stopped (abnormally stopped) while the main switch 23 is in the second position P2, power is continuously supplied to the controller 10, so that the steering lever 22 is in an effective state before the engine 7 is stopped. If the steering lever 22 is in an invalid state before the engine 7 is stopped, the invalid state is maintained. Examples of the case where the engine 7 is stopped while the main switch 23 is located at the second position P2 include failure of the engine 7 and the like.
- the effective state of the steering lever 22 When the effective state of the steering lever 22 is maintained after the engine 7 is stopped, the steering lever 22 can be steered if the hydraulic pump is driven by the rotational driving of the wheels. However, if the wheel loader 1 is stopped and the hydraulic pump is not driven, the steering lever 22 is in an effective state, but the steering by the steering lever 22 becomes impossible.
- Controller 10 disables lever switch 22a when main switch 23 is switched from second position P2 to third position P3. That is, the controller 10 disables the operation of the steering cylinder 9 by the steering lever 22 when the main switch 23 instructs the start of the engine 7.
- the controller 10 moves the main switch 23 from the first position P1 to the second position P2.
- the steering lever 22 is disabled.
- the controller 10 also starts the engine 7 by switching the main switch 23 from the second position P2 to the third position P3 after the engine 7 is stopped (abnormally stopped) while the main switch 23 is in the second position P2. In this case, the steering lever 22 is disabled.
- the controller 10 does not turn the steering lever 22 until the main switch 23 is switched from the second position P2 to the third position P3 after the engine 7 is stopped while the main switch 23 is in the second position P2. Keep it valid. Therefore, before the engine 7 is started, if the steering lever 22 is in an effective state, the controller 10 continues to output an operation instruction to the steering cylinder 9 in accordance with the operation of the steering lever 22. However, the controller 10 stops the output of the operation instruction to the steering cylinder 9 in response to the operation of the steering lever 22 when the signal instructing the start of the engine 7 is received from the main switch 23.
- the controller 10 constitutes the lever steering control unit 40.
- the lever steering control unit 40 operates the steering cylinder 9 by the steering lever 22. Disable state.
- FIG. 6 is a schematic diagram for explaining the relationship between the driving state of the wheel loader 1 and the valid / invalid state of the steering lever 22.
- the main switch 23 is switched from the first position P1 to the second position P2. At this time, power is supplied to the controller 10, but the steering lever 22 is in an invalid state.
- the main switch 23 is switched from the second position P2 to the third position P3, whereby the engine 7 is started.
- the steering lever 22 is in an invalid state, but the controller 10 invalidates the steering lever 22.
- the main switch 23 automatically returns from the third position P3 to the second position P2.
- the steering lever 22 is activated in response to the lever switch 22a being pressed.
- the wheel loader 1 starts traveling.
- the engine 7 is abnormally stopped due to an unintended cause of the operator.
- the wheel loader 1 continues to travel with inertia.
- the steering lever 22 is maintained in an effective state. Therefore, until the wheel loader 1 stops at time T6, the hydraulic pump is driven by the rotational driving of the wheels, and thus the steering lever 22 can be steered until time T6. After the wheel loader 1 stops at time T6, the steering lever 22 is in an effective state, but the hydraulic pump is not driven, so that the steering by the steering lever 22 is impossible.
- the main switch 23 is maintained in the second position P2 after the time T1, the power is continuously supplied to the controller 10.
- the main switch 23 is switched from the second position P2 to the third position P3, whereby the engine 7 is restarted.
- the controller 10 invalidates the steering lever 22.
- the steering lever 22 is activated in response to the lever switch 22a being pressed. Then, with the normal stop of the engine 7 at time T9, the controller 10 invalidates the steering lever 22.
- the controller 10 (lever steering control unit 40) is activated by the steering lever 22 when the effective state is selected by the lever switch 22a and the start of the engine 7 is instructed by the main switch 23. Disable operation.
- the operation of the steering cylinder 9 by the steering lever 22 can be disabled, so that the malfunction of the steering lever 22 when the engine 7 is started can be suppressed.
- the invalidation of the steering lever 22 can be executed easily.
- the controller 10 controls the steering lever 22 until the main switch 23 is switched from the second position P2 to the third position P3 when the engine 7 is stopped when the valid state is selected by the lever switch 22a.
- the operation of the steering cylinder 9 is maintained in an effective state.
- the steering lever 22 can be steered, so that the operability of traveling can be improved.
- FIG. 7 is a block diagram showing a configuration of the wheel loader 1.
- the difference of the second embodiment from the first embodiment is that a relay circuit 30 is provided between the controller 10 and the main switch 23. In the following, the difference will be mainly described.
- the relay circuit 30 includes a switch 31 and a coil 32.
- the switch 31 is connected to the controller 10 and the second position P2 of the main switch 23.
- the switch 31 can be switched between an operating position L1 and a non-operating position L2. Since the switch 31 is biased to the operating position L1, it is normally located at the operating position L1.
- the coil 32 is electrically connected to the third position P3 of the main switch 23.
- the coil 32 is adjacent to the switch 31.
- the starter motor 7b is energized and the coil 32 is energized.
- the switch 31 is attracted to the coil 32 and switched to the non-operation position L2, so that the power supply from the battery 8 to the controller 10 is cut off. Then, at the same time as the supply of power to the controller 10 is interrupted, the steering lever 22 is automatically disabled.
- the controller 10 and the relay circuit 30 constitute a lever steering control unit 40.
- the lever steering control unit 40 includes a relay circuit 30 that cuts off power supplied from the battery 8 to the controller 10 when the main switch 23 is switched from the second position P2 to the third position P3.
- the lever steering control unit 40 includes a relay circuit 30 that cuts off power supplied from the battery 8 to the controller 10 when the main switch 23 is switched from the second position P2 to the third position P3.
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Abstract
Description
(ホイールローダ1の構成)
図1は、本実施形態に係るホイールローダ1の全体構成を示す側面図である。図2は、運転室5の内部構成を説明するための斜視図である。図3は、図2の矢印Z方向から見た図である。
図5は、ホイールローダ1の構成を示すブロック図である。
図6は、ホイールローダ1の運転状態とステアリングレバー22の有効・無効状態との関係を説明するための模式図である。
(1)コントローラ10(レバー操舵制御部40)は、レバースイッチ22aにより有効状態が選択されており、かつ、メインスイッチ23によりエンジン7の始動が指示されたとき、ステアリングレバー22によるステアリングシリンダ9の動作を無効状態にする。
本発明の第2実施形態について、図面を参照しながら説明する。図7は、ホイールローダ1の構成を示すブロック図である。第2実施形態の第1実施形態との相違点は、コントローラ10とメインスイッチ23の間にリレー回路30が設けられている点である。以下においては、当該相違点について主に説明する。
レバー操舵制御部40は、メインスイッチ23が第2位置P2から第3位置P3に切り換えられたとき、バッテリ8からコントローラ10に供給される電力を遮断するリレー回路30を備える。
2 車体フレーム
3 作業機
5 運転室
6 エンジンルーム
7 エンジン
7b スタータモータ
9 ステアリングシリンダ(操舵アクチュエータ)
10 コントローラ
11 フロントフレーム
12 リアフレーム
19 オペレータシート
20 ステアリング装置
21 ステアリングホイール
22 ステアリングレバー(操舵レバー)
22a レバースイッチ
23 メインスイッチ
P1 第1位置
P2 第2位置
P3 第3位置
30 リレー回路
31 スイッチ
32 コイル
40 レバー操舵制御部
Claims (5)
- 操舵レバーと、
エンジンと、
前記エンジンの始動を指示するメインスイッチと、
リアフレームと、
前記リアフレームに回動可能に取り付けられたフロントフレームと、
前記フロントフレームと前記リアフレームの間に取り付けられ、前記操舵レバーに対する操作状態に応じて動作される操舵アクチュエータと、
前記操舵レバーによる前記操舵アクチュエータの動作を有効状態または無効状態のいずれかに選択可能なレバースイッチと、
前記レバースイッチにより前記有効状態が選択されており、かつ、前記メインスイッチにより前記エンジンの始動が指示されたとき、前記操舵レバーによる前記操舵アクチュエータの動作を無効状態にするレバー操舵制御部と、
を備える作業車両。 - 前記メインスイッチは、前記レバー操舵制御部へ電力を供給しない第1位置、前記レバー操舵制御部へ電力を供給する第2位置または前記エンジンの始動を指示する第3位置のいずれかの位置を選択可能であり、
前記レバー操舵制御部は、前記レバースイッチにより前記有効状態が選択されているときに前記エンジンが停止した場合において、前記メインスイッチが前記第2位置から前記第3位置に切り換えられたとき、前記操舵レバーによる前記操舵アクチュエータの動作を無効状態にする、
請求項1に記載の作業車両。 - 前記レバー操舵制御部は、前記レバースイッチにより前記有効状態が選択されているときに前記エンジンが停止した場合において、前記メインスイッチが前記第2位置から前記第3位置に切り換えられるまで、前記操舵レバーによる前記操舵アクチュエータの動作を有効状態に維持する、
請求項2に記載の作業車両。 - 前記レバー操舵制御部は、前記エンジンの始動を指示する信号を受信したとき、前記操舵レバーの操作に応じた前記操舵アクチュエータへの動作指示の出力を停止する、
請求項2または3に記載の作業車両。 - 前記メインスイッチに接続されるバッテリを備え、
前記レバー操舵制御部は、前記メインスイッチが前記第2位置から前記第3位置に切り換えられたとき、前記バッテリから供給される電力を遮断するリレー回路を備える、
請求項2または3に記載の作業車両。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2016/060675 WO2016137018A1 (ja) | 2016-03-31 | 2016-03-31 | 作業車両 |
EP16727928.0A EP3199425B1 (en) | 2016-03-31 | 2016-03-31 | Work vehicle |
JP2016521809A JP6027292B1 (ja) | 2016-03-31 | 2016-03-31 | 作業車両 |
US15/108,354 US10227083B2 (en) | 2016-03-31 | 2016-03-31 | Work vehicle |
CN201680000553.4A CN106029467B (zh) | 2016-03-31 | 2016-03-31 | 作业车辆 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2016/060675 WO2016137018A1 (ja) | 2016-03-31 | 2016-03-31 | 作業車両 |
Publications (1)
Publication Number | Publication Date |
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WO2016137018A1 true WO2016137018A1 (ja) | 2016-09-01 |
Family
ID=56789412
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2016/060675 WO2016137018A1 (ja) | 2016-03-31 | 2016-03-31 | 作業車両 |
Country Status (5)
Country | Link |
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US (1) | US10227083B2 (ja) |
EP (1) | EP3199425B1 (ja) |
JP (1) | JP6027292B1 (ja) |
CN (1) | CN106029467B (ja) |
WO (1) | WO2016137018A1 (ja) |
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JP7195872B2 (ja) * | 2018-10-26 | 2022-12-26 | 株式会社小松製作所 | 作業車両 |
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Also Published As
Publication number | Publication date |
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CN106029467B (zh) | 2018-06-12 |
EP3199425A1 (en) | 2017-08-02 |
JP6027292B1 (ja) | 2016-11-16 |
US20170282961A1 (en) | 2017-10-05 |
US10227083B2 (en) | 2019-03-12 |
JPWO2016137018A1 (ja) | 2017-04-27 |
EP3199425A4 (en) | 2018-07-04 |
CN106029467A (zh) | 2016-10-12 |
EP3199425B1 (en) | 2020-01-15 |
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