CN106193168B - Large-sized mining dredger and its crane arm control protective unit, control method - Google Patents
Large-sized mining dredger and its crane arm control protective unit, control method Download PDFInfo
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- CN106193168B CN106193168B CN201610529930.5A CN201610529930A CN106193168B CN 106193168 B CN106193168 B CN 106193168B CN 201610529930 A CN201610529930 A CN 201610529930A CN 106193168 B CN106193168 B CN 106193168B
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- 230000001681 protective effect Effects 0.000 title claims abstract description 33
- 238000005065 mining Methods 0.000 title claims abstract description 17
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000011217 control strategy Methods 0.000 claims abstract description 14
- 230000005540 biological transmission Effects 0.000 claims abstract description 13
- 230000033001 locomotion Effects 0.000 claims abstract description 7
- 229910000831 Steel Inorganic materials 0.000 claims description 13
- 238000009790 rate-determining step (RDS) Methods 0.000 claims description 13
- 239000010959 steel Substances 0.000 claims description 13
- 230000006698 induction Effects 0.000 claims description 6
- 239000007787 solid Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 238000004064 recycling Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
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- 230000007704 transition Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 238000005422 blasting Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000012217 deletion Methods 0.000 description 1
- 230000037430 deletion Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 238000007634 remodeling Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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
-
- 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
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2033—Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin
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- 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
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Jib Cranes (AREA)
Abstract
The invention discloses a kind of large-sized mining dredger and its crane arm control protective units, control method; the crane arm control protective unit includes attachment device, transmission device, sensing device, movable plate and control device, and attachment device with crane arm for being fixedly connected；Transmission device one end is connected to attachment device；Movable plate is connected to the other end of transmission device；Sensing device includes at least two sensors that different location is arranged in the movable plate direction of motion, and at least two sensor includes first sensor and second sensor；Control device is connected at least two sensors, when first sensor sense movable plate it is mobile when, with limit in advance angle control strategy control mine excavator pushing speed；When second sensor sense movable plate it is mobile when, the pushing speed is controlled with the control strategies of extreme angles.The present invention can effectively prevent crane arm from excessively being jacked up, and reduce equipment impact, eliminate safe hidden trouble.
Description
Technical field
The present invention relates to mining machinery more particularly to a kind of crane arm control protection dresses for large-sized mining dredger
It sets, the control method of the crane arm control protective unit and the large-scale mine with the crane arm control protective unit are excavated
Machine.
Background technique
Large-scale mine monobucket face shovel excavator has a wide range of applications in glory-hole, but due to each opencut
Blasting condition is different, and driver operation level is also different；When excavating material since local ground is harder, driver operation is not advised
The phenomenon that model, crane arm is jacked up, frequent occurrence, when being transferred due to crane arm by excessive jack-up generates whole equipment very big
How impact, avoid this phenomenon from directly affecting the reliability and service life of equipment.
The mine excavator of the prior art, due to not can solve the problem of crane arm cannot be jacked up by transition, because
This shortcomings that there are the following aspects:
1. causing guy wire to absorb impact power since crane arm excessively jacks up decentralization suddenly, the service life is greatly reduced；
Cause equipment to generate huge vibration 2. crane arm excessively jacks up decentralization suddenly, influences plant machinery mechanism and electrical system
The reliability and service life of system；
3. crane arm excessively jacks up decentralization suddenly and may cause guy wire and be broken suddenly, huge security risk and property are caused
Loss.
Therefore, it is necessary to develop a kind of relevant apparatus for large-sized mining dredger for being able to solve above-mentioned technical problem.
Above- mentioned information are only used for reinforcing the understanding to background of the invention, therefore it disclosed in the background technology part
It may include the information not constituted to the prior art known to persons of ordinary skill in the art.
Summary of the invention
A primary object of the present invention is to overcome at least one defect of the above-mentioned prior art, provide a kind of for big
The crane arm control protective unit of type mine excavator reduces equipment impact, disappears effectively to prevent crane arm from excessively being jacked up
Except security risk, the reliability and service life of equipment are improved.
Second main purpose of the invention be to overcome at least one defect of the above-mentioned prior art, provides a kind of hair
The control method of bright crane arm control protective unit reduces equipment impact, eliminates effectively to prevent crane arm from excessively being jacked up
Security risk improves the reliability and service life of equipment.
Third main purpose of the invention is to overcome at least one defect of the above-mentioned prior art, and providing one kind has
The large-sized mining dredger of crane arm control protective unit of the present invention, effectively to prevent crane arm from excessively being jacked up, reduction is set
Standby impact, eliminates safe hidden trouble, improves the reliability and service life of equipment.
For achieving the above object, the present invention adopts the following technical scheme:
According to an aspect of the invention, there is provided a kind of crane arm control protective unit:
A kind of crane arm control protective unit is used for large-sized mining dredger, which is characterized in that the crane arm control is protected
Protection unit includes attachment device, transmission device, sensing device, movable plate and control device, and attachment device is used for and the lifting
Arm is fixedly connected；Transmission device one end is connected to the attachment device；Movable plate is connected to the other end of the transmission device；Sense
Answering device includes at least two sensors that different location is arranged in the movable plate direction of motion, at least two sensing
Device includes first sensor and second sensor；Control device is connected at least two sensor, when first sensing
Device sense the movable plate it is mobile when, to limit the pushing speed that the control strategy of angle controls the mine excavator in advance；
When the second sensor sense the movable plate it is mobile when, it is fast that pushings is controlled with the control strategies of extreme angles
Degree.
The control method of crane arm control protective unit of the present invention, comprising: judge the angle of the crane arm；The lifting
When the angle of arm is pre- limit angle, pre- limit rate-determining steps are executed；When the angle of the crane arm is extreme angles, limit control is executed
Step processed.
According to another aspect of the present invention, a kind of large-scale mine with crane arm control protective unit of the present invention is provided
Excavator.
As shown from the above technical solution, the advantages and positive effects of the present invention are: by installing crane arm of the invention additional
Control protective unit can effectively prevent crane arm excessively to be jacked up, and reduce vibration equipment caused by being jacked up by crane arm, eliminate
Security risk.Guarantee slowly to transfer after crane arm is pushed up, while realizing crane arm " Soft landing ", by pushing speed
Control, realizes the maximization of production efficiency.
Detailed description of the invention
Consider following the following detailed description of the embodiment of the present invention in conjunction with the accompanying drawings, various targets of the invention,
Feature and advantage will become apparent.Attached drawing is only exemplary diagram of the invention, is not necessarily drawn to scale.
In the accompanying drawings, same appended drawing reference always shows same or similar component.
Fig. 1 is the schematic front view of the crane arm control protective unit of the embodiment of the present invention.
Fig. 2 is the schematic top plan view of the crane arm control protective unit of the embodiment of the present invention.
Fig. 3 is the left view schematic diagram of the crane arm control protective unit of the embodiment of the present invention.
Fig. 4 is the B direction view of Fig. 2.
Fig. 5 is the portion I enlarged drawing in Fig. 2.
Fig. 6 is the A direction view of Fig. 1.
Fig. 7 is the C-C cross-sectional view in Fig. 3.
Fig. 8 is the control strategy block diagram part of the crane arm control protective unit of the embodiment of the present invention.
Fig. 9 is the control strategy block diagram part of the crane arm control protective unit of the embodiment of the present invention.
Wherein, the reference numerals are as follows:
1 cargo boom mounting bracket
16 connection frames
17 contact plates
2 support frames
3 limit switch covers
4 idler wheels
5 plungers
51 plunger cases
6 springs
7 switch carriages
71 bottom plates
72 side plates
8 movable plates
80 guide rails
81 left ontologies
82 right ontologies
83 long holes
9 sensors
91 first sensors
92 second sensors
10 adjustment angle steel
101 channel steels
11 crane arms
12 canopy antethecas
Specific embodiment
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be with a variety of shapes
Formula is implemented, and is not understood as limited to embodiment set forth herein；On the contrary, thesing embodiments are provided so that the present invention will
Fully and completely, and by the design of example embodiment comprehensively it is communicated to those skilled in the art.Identical attached drawing in figure
Label indicates same or similar structure, thus the detailed description that will omit them.
Illustrate the present invention or the preferred embodiment of the present invention element when, word " one ", "one", "the" and it is " described " meaning
It is intended to refer to that there is one or more elements.The terms "include", "comprise" and " having " etc. are intended to be open and refer to
Be that other elements also may be present other than listed element.
The crane arm control protective unit of the embodiment of the present invention, the large-sized mining dredger for the embodiment of the present invention.This
The large-sized mining dredger of inventive embodiments, the crane arm control protective unit with the embodiment of the present invention.The embodiment of the present invention
Large-sized mining dredger and its crane arm control protective unit, using the embodiment of the present invention control method to pushing speed into
Row control.
It is alternatively referred to as that a kind of crane arm limit is opened as shown in Figure 1, the crane arm control protective unit of the embodiment of the present invention
Close device comprising attachment device, transmission device, movable plate 8, sensing device and control device.Wherein, attachment device is lifting
Fupport arm frame 1, and transmission device includes idler wheel 4, plunger 5, spring 6 and plunger case 51 etc., and sensing device includes at least two
Sensor 9, at least two sensors 9 include at least first sensor 91 and second sensor 92.
In addition, the crane arm control protective unit of the embodiment of the present invention may also include induction room, induction room may include support
Frame 2, limit switch cover 3, switch carriage 7, adjustment angle steel 10 etc., induction room is mainly enclosed by limit switch cover 3 and switch carriage 7
At movable plate 8 and sensor 9 etc. are arranged in induction room.And control device is, for example, PLC, may be provided at implementation of the present invention
The control room of the large-sized mining dredger of example can also be arranged in induction room as sensor 9.
Wherein, cargo boom mounting bracket 1 may include connection frame 16 and contact plate 17, and connection frame 16 therein can be bolted
On crane arm 11, and contact plate 17 is then, and for contacting with each other with idler wheel 4, the rotation of crane arm 11 is passed through transmission device
Pass to movable plate 8.
For incude room, support frame 2 can site welding on canopy antetheca 12, be used to support switch carriage 7, specifically
It is the bottom surface supporting switch bracket 7 from switch carriage 7.The cross section of switch carriage 7 is L-shaped, including bottom plate 71 and side plate 72, such as
Shown in Fig. 4 and Fig. 6.Limit switch cover 3 is used to movable plate 8, sensor 9 etc. covering on switch carriage 7, and 3, limit switch cover
Body is also the top that switch carriage 7 is arranged in.The bottom plate 71 of switch carriage 7 is supported by support frame 2, and the side plate of switch carriage 7
72 are bolted on canopy antetheca 12.
For transmission mechanism, shown in Fig. 3 and Fig. 5, idler wheel 4 is a pair, and one end of plunger 5 is connected to by pin shaft.Plunger 5
The other end movable plate 8 is bolted.Spring 6 is arranged in plunger case 51, the mobile compressed spring 6 simultaneously of plunger 5.Lifting
When arm 11 is jacked up, cargo boom mounting bracket 1 encounters idler wheel 4, and idler wheel 4 moves, and drives the mobile compressed spring 6 simultaneously of plunger 5, moves
Movable plate 8 is connect by bolt with plunger 5.Plunger case 51 is fixed on the side plate 72 of switch carriage 7, offers through-hole on side plate 72
70, plunger case 51 passes through through-hole and is vertically fixed on side plate 72.
Wherein, sensor 9 can be multiple or multipair, for sensing at the different location in 8 direction of advance of movable plate
The movement of movable plate 8, to sense the state of crane arm 11 jacked up.In the present embodiment, it is only provided with 91 He of first sensor
Second sensor 92.The sensitive surface of first sensor 91 therein, the distance of the plane where front end face apart from movable plate 8
For example, S1, and the sensitive surface of second sensor 92, the distance of the plane where front end face apart from movable plate 8 are, for example,
S2, here S2 > S1.
When crane arm 11 reaches A ° by jack-up angle, indicate that the angle of crane arm 11 has reached pre- limit angle A, this time shift
The corresponding sensed position for being moved to sensor 91 of movable plate 8, first sensor 91 sense the movement of movable plate 8, the first sensing
Signal is transferred to PLC by device 91, and control device control executes the first control strategy of corresponding pre- limit angle, to control the present invention
The pushing speed of the large-sized mining dredger of embodiment.
When crane arm 11 reaches B ° by jack-up angle, indicate that the angle of crane arm 11 has reached extreme angles B, this time shift
Movable plate 8 is moved to the sensed position of second sensor 92, and signal is transferred to PLC by second sensor 92, and control device control is held
Second control strategy of the corresponding extreme angles of row, come control the embodiment of the present invention large-sized mining dredger pushing speed.
Crane arm 11 lifts A ° of angle and can also adjust according to actual needs by adjusting angle steel 10 with B °；Such as Fig. 3 institute
Show, first sensor 91 and second sensor 92 are respectively arranged on a pair of of adjustment angle steel 10, this is to the spacing for adjusting angle steel 10
It is adjustable, and the position on 8 moving direction of movable plate also can adjust, and in order to more flexible setting sensor 9, adapt to different
The case where.Wherein, as shown in figure 3, adjustment angle steel 10 is arranged on channel steel 101, to the tune in the both direction of adjustment angle steel 10
It realizes the whole position mainly by adjustment channel steel 101.
As shown in figure 3, movable plate 8 includes left ontology 81 interconnected and right ontology 82, left ontology 81 and right ontology 83
Bottom end between there is gap, the adjustable guide rail 80 in position is equipped in gap, the bottom end of guide rail 80 is fixed on the switch and is held in the palm
On the bottom plate 71 of frame 7.Guide rail 80 can be realized by angle steel, and long hole 83 can be offered on the bottom plate of angle steel, in order to fixed guide rail
80 and the position of guide rail 80 is adjusted.The effect of guide rail 80 is to be oriented to, while can also arrive and play to the movement of movable plate 8
Position-limiting action, prevent its transition mobile and damage sensor 9.
When driver operation power shovel dipper is toward when bouncing back, control device (usually being realized by program) is according to different crane arms 11
Angle implements different control strategies, guarantees that crane arm 11 is slowly transferred under the premise of maximal efficiency, cargo boom mounting bracket 1 leaves
Idler wheel 4, spring 6 restore to the original state under the effect of elasticity, and movable plate 8 leaves the sensed position of sensor 91, and the embodiment of the present invention
The detailed control strategy of control method see Fig. 8 and Fig. 9, wherein Fig. 8 is connected with Fig. 9 by tri- common ground of A1, A2, A3
For a complete figure.
The control method of the embodiment of the present invention needs the angle for judging crane arm 11 first, since respectively determine required for hold
Capable step when the angle of crane arm 11 is pre- limit angle, executes pre- limit rate-determining steps；The angle of crane arm 11 is extreme angles
When, limit rate-determining steps are executed, in above-mentioned control process, the angle that also will appear crane arm 11 is between pre- limit angle and pole
The situation between angle is limited, at this point, being also required for corresponding step to control pushing speed.
Firstly, first introducing pre- limit rate-determining steps.
It is to alarm first in this step, the purpose of alarm is to cause operator vigilant.
Then, pushing speed is controlled, controls the maximum C% for being no more than normal speed of pushing speed recycling,
When 11 angle of crane arm is lower than pre- limit angle, then controls pushing speed and reach normal speed.Meanwhile when for advancing, control is pushed away
Press the maximum D% for being no more than normal speed of speed advance, wherein D < 10 are further jacked up to limit crane arm 11.
In short, the purpose of above-mentioned pre- limit rate-determining steps, when exactly preventing pushing speed too fast, crane arm 11 quickly lands,
By controlling pushing speed, guarantee that crane arm 11 slowly puts down and plays a protective role, while improving work efficiency again.
Limit rate-determining steps are introduced again.
It in this step, is also intended to alarm first, the purpose of alarm is still to cause operator vigilant.At this moment alarm with
Alarm in pre- limit rate-determining steps can have different ranks, to allow the operator to the jack-up journey for being more alerted to crane arm 11
Degree.
Then, pushing speed is controlled, controls the maximum E% for being no more than normal speed of pushing speed recycling, this
In E when 11 angle of crane arm is lower than pre- limit angle, then controls pushing speed and reach normal speed less than C before.Together
When, when for advancing, control pushing speed forward speed is 0, is further jacked up with limiting crane arm 11.
And the angle of crane arm 11 is between when limiting between angle and extreme angles in advance, the recycling of control pushing speed is most very much not
More than the C% of normal speed.
In short, the purpose of above-mentioned limit rate-determining steps, when exactly preventing pushing speed too fast, crane arm 11 quickly lands,
By controlling pushing speed, guarantee that crane arm slowly puts down and plays a protective role, while improving work efficiency again.
By implementing different rate-determining steps under above-mentioned different angle, the present invention can guarantee the crane arm 11 jacked up
It slowly puts down, namely " soft landing ", while ensure that production efficiency to the full extent again.
It should be understood that multiple examples described above can along multiple directions (such as inclination, reverse, horizontal, vertical, etc.) and
It is utilized with multiple constructions, without departing from the principle of the present invention.Embodiment shown in the accompanying drawings is only used as the principle of the present invention
The example effectively applied and be shown and described, any concrete details that invention is not limited to these embodiments.
Certainly, once thinking over the above description of representative embodiment, those skilled in the art are just it will be readily understood that can
A variety of remodeling, addition, substitution, deletion and other variations are made to these specific embodiments, and these variations are in this hair
In the range of bright principle.Therefore, the detailed description of front should be clearly understood that it is only to come by way of illustration and example
It provides, the spirit and scope of the present invention are only limited by the appended claims and its equivalent.
Claims (8)
1. a kind of crane arm control protective unit is used for large-sized mining dredger, which is characterized in that the crane arm control protection
Device includes:
Attachment device, for being fixedly connected with the crane arm；
Transmission device, one end are connected to the attachment device；
Movable plate is connected to the other end of the transmission device；
Sensing device, including in the movable plate direction of motion different location be arranged at least two sensors, it is described at least
Two sensors include first sensor and second sensor；And
Control device is connected at least two sensor, when the first sensor senses the movement of the movable plate
When, to limit the pushing speed that the control strategy of angle controls the mine excavator in advance；When the second sensor senses institute
State movable plate it is mobile when, the pushing speed is controlled with the control strategies of extreme angles；
The control strategy of the pre- limit angle includes the following steps:
Alarm；
Control pushing speed is recovered as the maximum First Speed for being no more than normal speed；
Controlling pushing speed to advance is second speed, which is less than the 10% of normal speed；
The control strategy of the extreme angles including including: as follows
Alarm；
Control pushing speed is recovered as the maximum third speed for being no more than normal speed,
When the crane arm angle is between the pre- limit angle and the extreme angles, controls the pushing speed and be recovered as
Maximum is no more than the First Speed of normal speed, and First Speed is greater than third speed；
Controlling pushing speed forward speed is 0.
2. crane arm control protective unit as described in claim 1, which is characterized in that the attachment device is lifting fupport arm
Frame, the cargo boom mounting bracket include connection frame and contact plate, and the connection frame is fixedly connected with the crane arm.
3. crane arm control protective unit as claimed in claim 2, which is characterized in that the transmission device includes idler wheel, column
Plug, spring and plunger case, the idler wheel are connected to one end of the plunger by pin shaft, and the other end of the plunger passes through bolt
The movable plate is connected, the spring is arranged in the plunger case, and the plunger compresses the spring, the lifting when mobile
Arm touches the idler wheel and the plunger is driven to move in the plunger case when mobile.
4. crane arm control protective unit as claimed in claim 3, which is characterized in that the sensing device is set to limit and opens
The induction interior that cover is surrounded with switch carriage is closed, the bottom plate of the switch carriage is supported by support frame, and the plunger case is solid
Due to the side plate of the switch carriage.
5. crane arm control protective unit as claimed in claim 4, which is characterized in that the first sensor and described second
Sensor is respectively arranged at a pair of of spacing and on the adjustable adjustment angle steel in the position on the movable plate moving direction, described
Movable plate includes left ontology interconnected and right ontology, has gap between the left ontology and the bottom end of the right ontology,
The adjustable guide rail in position is equipped in the gap, the bottom end of the guide rail is fixed on the bottom plate of the switch carriage.
6. a kind of control method of any crane arm control protective unit of claim 1-5, which is characterized in that the control
Method includes:
Judge the angle of the crane arm；
When the angle of the crane arm is pre- limit angle, pre- limit rate-determining steps are executed；
When the angle of the crane arm is extreme angles, limit rate-determining steps are executed；
The pre- limit rate-determining steps include；
Alarm；
Control pushing speed is recovered as the maximum First Speed for being no more than normal speed；
Controlling pushing speed to advance is second speed, which is less than the 10% of normal speed；
The limit rate-determining steps include；
Alarm；
Control pushing speed is recovered as the maximum third speed for being no more than normal speed,
When the crane arm angle is between the pre- limit angle and the extreme angles, controls the pushing speed and be recovered as
Maximum is no more than the First Speed of normal speed, and third speed is greater than First Speed；
Controlling pushing speed forward speed is 0.
7. control method as claimed in claim 6, which is characterized in that when the crane arm angle is lower than the pre- limit angle,
It controls the pushing speed and reaches normal speed.
8. a kind of large-sized mining dredger, which is characterized in that the large-sized mining dredger has claim 1-5 any described
Crane arm control protective unit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610529930.5A CN106193168B (en) | 2016-07-06 | 2016-07-06 | Large-sized mining dredger and its crane arm control protective unit, control method |
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| CN201610529930.5A CN106193168B (en) | 2016-07-06 | 2016-07-06 | Large-sized mining dredger and its crane arm control protective unit, control method |
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| CN106193168B true CN106193168B (en) | 2019-01-25 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107089627A (en) * | 2017-06-26 | 2017-08-25 | 捷尔杰（天津）设备有限公司 | A kind of protection system applied to aerial work platform arm support end of travel protecting against shock |
| CN108179778B (en) * | 2018-01-26 | 2023-07-04 | 山东临工工程机械有限公司 | Flat-laying induction structure of loader |
| CN109322338B (en) * | 2018-10-30 | 2021-07-16 | 太原重工股份有限公司 | Excavator and pushing pressure control method thereof |
| CN111636499A (en) * | 2020-05-29 | 2020-09-08 | 中联重科股份有限公司 | Rotation limiting system and excavator |
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