CA2288572A1 - Motor grader steerable by a joystick and a steering wheel - Google Patents
Motor grader steerable by a joystick and a steering wheel Download PDFInfo
- Publication number
- CA2288572A1 CA2288572A1 CA002288572A CA2288572A CA2288572A1 CA 2288572 A1 CA2288572 A1 CA 2288572A1 CA 002288572 A CA002288572 A CA 002288572A CA 2288572 A CA2288572 A CA 2288572A CA 2288572 A1 CA2288572 A1 CA 2288572A1
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- Canada
- Prior art keywords
- hydraulic
- steering cylinder
- electro
- joystick
- cylinder
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- Legal status (The legal status 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 status listed.)
- Abandoned
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Classifications
-
- 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
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/844—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically
-
- 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
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/841—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
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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)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Operation Control Of Excavators (AREA)
Abstract
A dual steering system for controlling the steering of a motor grader is disclosed. The dual steering system comprises a joystick moveable along a plurality of axes. Movement of the joystick a first direction along a first axis transmits a first electrical input signal to an electronic control computer which in turn transmits a first control signal to electro-hydraulic actuators associated with the right steering cylinder and left steering cylinder of the motor grader. The right steering cylinder and left steering cylinder cause rotation of the front tires in a first direction in response to the first control signal. Movement of the joystick a second direction along the first axis transmits a second electrical input signal to an electronic control computer which in turn transmits a second control signal to electro-hydraulic actuators associated with the right steering cylinder and left steering cylinder of the motor grader. The right steering cylinder and left steering cylinder cause rotation of the front tires in a second direction in response to the second control signal.
The motor grader can also be steered by rotation of a steering wheel also acting through the right steering cylinder and the left steering cylinder.
The motor grader can also be steered by rotation of a steering wheel also acting through the right steering cylinder and the left steering cylinder.
Description
a Description MOTOR GRADER STEERABLE BY A JOYSTICK
AND A STEERING WHEEL
Technical Field This invention relates generally to a motor grader and specifically to a motor grader that includes dual steering controls.
Background Art This invention relates generally to a motor grader that includes two mechanisms for controlling the steering of the motor grader.
Motor graders include many hand-operated controls to perform functions such positioning an implement or a blade in several orientations, articulating the frame of the grader, and adjusting other grader settings. In most graders steering is accomplished by means of a steering wheel that acts through the hydraulic system of the motor grader.
Current motor graders require numerous hand-operated controls because typically each hand-operated control is used to control only one or two functions.
Often, the operator of the motor grader must steer the grader while performing many other functions, such as adjusting the blade tip, adjusting the blade angle relative to the frame, and adjusting the articulation of the grader frame. Performing all of these functions using hand-operated controls while steering ..
AND A STEERING WHEEL
Technical Field This invention relates generally to a motor grader and specifically to a motor grader that includes dual steering controls.
Background Art This invention relates generally to a motor grader that includes two mechanisms for controlling the steering of the motor grader.
Motor graders include many hand-operated controls to perform functions such positioning an implement or a blade in several orientations, articulating the frame of the grader, and adjusting other grader settings. In most graders steering is accomplished by means of a steering wheel that acts through the hydraulic system of the motor grader.
Current motor graders require numerous hand-operated controls because typically each hand-operated control is used to control only one or two functions.
Often, the operator of the motor grader must steer the grader while performing many other functions, such as adjusting the blade tip, adjusting the blade angle relative to the frame, and adjusting the articulation of the grader frame. Performing all of these functions using hand-operated controls while steering ..
the vehicle with the steering wheel is difficult, inefficient, and fatiguing for the operator. The operator must frequently remove one or both hands from the steering wheel to operate the other controls. To reduce difficulty, increase efficiency, and reduce operator fatigue, it is desirable to provide an apparatus that permits an operator to steer a motor grader without requiring the operator to release the hand-operated controls that control motor grader implements. Also it is desirable to provide an apparatus that is ergonomically advantageous for controlling both steering and these other functions.
Disclosure of the Invention The present invention provides an efficient and ergonomic steering control system for a motor grader. The system permits the motor grader to be steered by one of two mechanisms that can be selected by the operator.
In a preferred embodiment, the steering mechanism comprises an electro-hydraulic control system and a joystick that is movable on a plurality of axes including a first axis. The electro-hydraulic control system comprises an electronic control computer, a plurality of electro-hydraulic actuators, a hydraulic right steering cylinder associated with one of the plurality of electro-hydraulic actuators and a hydraulic left steering cylinder associated with another of the plurality of electro-hydraulic actuators. The hydraulic right steering cylinder and the hydraulic left steering cylinder are each connected to one of a pair of front tires of the motor grader. Movement of the joystick a first direction on the first axis transmits a first electronic input S signal to the electronic control computer and the electronic control computer transmits a first control signal to the electro-hydraulic actuators associated with the hydraulic right steering cylinder and the hydraulic left steering cylinder in response to the first electronic input signal. The first control signal actuates the electro-hydraulic actuators associated with the hydraulic right steering cylinder and the hydraulic left steering cylinder, and the hydraulic right steering cylinder and the hydraulic left steering cylinder rotate the pair of front tires a first rotational direction in response to actuation of the associated electro-hydraulic actuators by the first control signal. Movement of the joystick on the first axis a second direction opposite the first direction transmits a second electronic input signal to the electronic control computer and the electronic control computer transmits a second control signal to the electro-hydraulic actuators associated with the hydraulic right steering cylinder and the hydraulic left steering cylinder in response to the second electronic input signal. The second control signal actuates the electro-hydraulic actuators associated with the hydraulic right steering cylinder and the hydraulic left steering cylinder and the hydraulic right steering cylinder and the hydraulic left steering cylinder rotate the pair of front tires a second rotational direction in response to actuation of the associated electro-hydraulic actuators by the second control signal. The second rotational direction is opposite to the first rotational direction.
In a most preferred embodiment, the steering control system further includes a steering wheel hydraulically connected to the hydraulic right steering cylinder and the hydraulic left steering cylinder. Rotation of the steering wheel a first direction actuates the right steering cylinder and the left steering cylinder to rotate the pair of front tires the first rotational direction. Rotation of the steering wheel a second direction actuates the right steering cylinder and the left steering cylinder to rotate the pair of front tires the second rotational direction.
Thus, the present invention permits an operator to steer a motor grader while maintaining control of an electronic hand control that is used to control other motor grader functions. In addition, the present invention permits the operator to utilize the steering wheel when it is advantageous.
Brief Description of the Drawings Figure 1 is a side view of a motor grader;
Figure 2 is a top view of the motor grader;
Disclosure of the Invention The present invention provides an efficient and ergonomic steering control system for a motor grader. The system permits the motor grader to be steered by one of two mechanisms that can be selected by the operator.
In a preferred embodiment, the steering mechanism comprises an electro-hydraulic control system and a joystick that is movable on a plurality of axes including a first axis. The electro-hydraulic control system comprises an electronic control computer, a plurality of electro-hydraulic actuators, a hydraulic right steering cylinder associated with one of the plurality of electro-hydraulic actuators and a hydraulic left steering cylinder associated with another of the plurality of electro-hydraulic actuators. The hydraulic right steering cylinder and the hydraulic left steering cylinder are each connected to one of a pair of front tires of the motor grader. Movement of the joystick a first direction on the first axis transmits a first electronic input S signal to the electronic control computer and the electronic control computer transmits a first control signal to the electro-hydraulic actuators associated with the hydraulic right steering cylinder and the hydraulic left steering cylinder in response to the first electronic input signal. The first control signal actuates the electro-hydraulic actuators associated with the hydraulic right steering cylinder and the hydraulic left steering cylinder, and the hydraulic right steering cylinder and the hydraulic left steering cylinder rotate the pair of front tires a first rotational direction in response to actuation of the associated electro-hydraulic actuators by the first control signal. Movement of the joystick on the first axis a second direction opposite the first direction transmits a second electronic input signal to the electronic control computer and the electronic control computer transmits a second control signal to the electro-hydraulic actuators associated with the hydraulic right steering cylinder and the hydraulic left steering cylinder in response to the second electronic input signal. The second control signal actuates the electro-hydraulic actuators associated with the hydraulic right steering cylinder and the hydraulic left steering cylinder and the hydraulic right steering cylinder and the hydraulic left steering cylinder rotate the pair of front tires a second rotational direction in response to actuation of the associated electro-hydraulic actuators by the second control signal. The second rotational direction is opposite to the first rotational direction.
In a most preferred embodiment, the steering control system further includes a steering wheel hydraulically connected to the hydraulic right steering cylinder and the hydraulic left steering cylinder. Rotation of the steering wheel a first direction actuates the right steering cylinder and the left steering cylinder to rotate the pair of front tires the first rotational direction. Rotation of the steering wheel a second direction actuates the right steering cylinder and the left steering cylinder to rotate the pair of front tires the second rotational direction.
Thus, the present invention permits an operator to steer a motor grader while maintaining control of an electronic hand control that is used to control other motor grader functions. In addition, the present invention permits the operator to utilize the steering wheel when it is advantageous.
Brief Description of the Drawings Figure 1 is a side view of a motor grader;
Figure 2 is a top view of the motor grader;
Figure 3 is a schematic block diagram of an electro-hydraulic control system for the motor grader;
and Figure 4 is a side perspective of an electronic hand control designed in accordance with the present invention.
Best Mode for Carrying Out the Invention Referring to the Figures, wherein like numerals indicate like or corresponding parts throughout the several views, a motor grader is shown generally at 10 in Figures 1 and 2. The motor grader 10 is used primarily as a finishing tool to sculpt a surface of earth 11 to a final arrangement. Rather than moving large quantities of earth in the direction of travel like other machines, such as a bulldozer, the motor grader 10 moves relatively small quantities of earth from side to side.
The motor grader 10 includes a front frame 12, a rear frame 14, and a blade 16 having a top 15 and a cutting edge 17. The front and rear frames 12 and 14 are supported by front tires 18 and rear tires 19. An operator cab 20 containing the many controls including a steering wheel 80 and a plurality of electronic hand controls 90 necessary to operate the motor grader 10 is mounted on the front frame 12. An engine, shown generally at 21, is used to drive or power the motor grader 10. The engine 21 is mounted on the rear frame 14. The blade 16, sometimes referred to as a moldboard, is used to move earth.
and Figure 4 is a side perspective of an electronic hand control designed in accordance with the present invention.
Best Mode for Carrying Out the Invention Referring to the Figures, wherein like numerals indicate like or corresponding parts throughout the several views, a motor grader is shown generally at 10 in Figures 1 and 2. The motor grader 10 is used primarily as a finishing tool to sculpt a surface of earth 11 to a final arrangement. Rather than moving large quantities of earth in the direction of travel like other machines, such as a bulldozer, the motor grader 10 moves relatively small quantities of earth from side to side.
The motor grader 10 includes a front frame 12, a rear frame 14, and a blade 16 having a top 15 and a cutting edge 17. The front and rear frames 12 and 14 are supported by front tires 18 and rear tires 19. An operator cab 20 containing the many controls including a steering wheel 80 and a plurality of electronic hand controls 90 necessary to operate the motor grader 10 is mounted on the front frame 12. An engine, shown generally at 21, is used to drive or power the motor grader 10. The engine 21 is mounted on the rear frame 14. The blade 16, sometimes referred to as a moldboard, is used to move earth.
The blade 16 is mounted on a linkage assembly shown generally at 22. The linkage assembly 22 allows the blade 16 to be moved to a variety of different positions with respect to the motor grader 10.
Starting at the front of the motor grader 10 and working rearward toward the blade 16, the linkage assembly 22 includes a drawbar 24.
The drawbar 24 is mounted to the front frame 12 with a ball joint. The position of the drawbar 24 is controlled by three hydraulic cylinders, commonly referred to as a right lift cylinder 28, a left lift cylinder 30, and a center shift cylinder 32. A
coupling, shown generally at 34, connects the three cylinders 28, 30, and 32 to the front frame 12. The coupling 34 can be moved during blade repositioning but is fixed stationary during earthmoving operations.
The height of the blade 16 with respect to the surface of earth 11 below the motor grader 10, commonly referred to as the blade height, is controlled primarily with the right lift cylinder 28 and the left lift cylinder 30. Each lift cylinder, 28 and 30, functions to raise and lower the associated end of the blade 16. Thus, the right lift cylinder 28 raises and lowers the right end of blade 16. The center shift cylinder 32 moves the drawbar 24 from side to side relative to the front frame 12.
The drawbar 24 includes a large, flat plate commonly referred to as a yoke plate 36, as shown in Figure 2. Beneath the yoke plate 36 is a large gear, commonly referred to as a circle 38. The circle 38 is rotated by a hydraulic motor commonly referred to as a circle drive 40, as shown in Figure 1. Rotation of the circle 38 by the circle drive 40 pivots the blade 16 about an axis A fixed to the drawbar 24. The blade 16 is mounted to a hinge (not shown) on the circle 38 with a bracket (not shown). A hydraulic blade tip cylinder 46 is used to pitch the bracket forward or rearward and thus pitch the top 15 of the blade 16 forward and rearward relative to the cutting edge 17.
The blade 16 is mounted to a sliding joint in the bracket allowing the blade 16 to be slid or shifted from side to side with respect to the bracket. A
hydraulic side shift cylinder 50, shown in Figure 2, is used to control the side to side shift of the blade 16.
Referring now to Figure 2, a right articulation cylinder, shown generally at 52, is mounted to the right side of the rear frame 14 and a left articulation cylinder, shown generally at 54, is mounted to the left side of the rear frame 14. The right and left articulation cylinders 52 and 54 are hydraulic and used to rotate the front frame 12 about an axis B shown in Figure 1. The axis B is commonly referred to as the articulation axis. In Figure 2, the motor grader 10 is positioned in a neutral or zero articulation angle. The rear tires 19 are driven by a differential (not shown) as is well known in the art.
Adjacent the front tires is a hydraulic right steering cylinder 82 and a hydraulic left steering cylinder 84.
The right steering cylinder 82 and the left steering _g_ cylinder 84 are used to control the position of front tires 18 and thus steer motor grader 10. In a conventional motor grader 10 rotation of the steering wheel 80 is used to actuate the right steering cylinder 82 and the left steering cylinder 84. As would be understood by one of ordinary skill in the art, the front tires 18 could be rotated using only a single steering cylinder mounted to either the left or the right front tire 18.
Figure 3 is a schematic block diagram of an electro-hydraulic control system 60 for the motor grader 10. The control system 60 is designed to operate the various hydraulic controls of the motor grader 10 described above. The system 60 includes a plurality of electronic hand controls 90 (see Figure 4) represented by block 62, which transform the actions of an operators hands on the hand controls 90 into a plurality of electrical input signals. These input signals carry operational information to an electronic control computer, represented by block 64.
The control computer 64 receives the electrical input signals produced by the hand controls 62, processes the operational information carried by the input signals, and transmits control signals to a plurality of drive solenoids, each of which is located in an electro-hydraulic actuator, represented by block 66.
The hydraulic portion of the control system 60 requires both high hydraulic pressure and low pilot pressure. High hydraulic pressure is provided by a _g_ hydraulic pump, represented by block 68. The hydraulic pump 68 receives a rotary motion, typically from the engine 21 of the motor grader 10, and produces high hydraulic pressure. Low pilot pressure is provided by a hydraulic pressure reducing valve, represented by block 70. The hydraulic pressure reducing valve 70 receives high hydraulic pressure from the hydraulic pump 68 and supplies low pilot pressure to the electro-hydraulic actuators 66.
Each electro-hydraulic actuator 66 includes an electrical drive solenoid and a hydraulic valve.
The solenoid receives control signals from the electronic control computer 64 and produces a controlled mechanical movement of a core stem of the actuator 66. The hydraulic valve receives both the controlled mechanical movement of the core stem of the actuator 66 and low pilot pressure from the hydraulic pressure reducing valve 70 and produces controlled pilot hydraulic pressure for hydraulic valves, represented by block 72.
The hydraulic valves 72 receive both controlled pilot hydraulic pressure from the electro-hydraulic actuators 66 and high hydraulic pressure from the hydraulic pump 68 and produce controlled high hydraulic pressure for hydraulic actuators, cylinders, and motors, represented by block 74.
The hydraulic actuators, cylinders, and motors 74 receive controlled high hydraulic pressure from the hydraulic valves 72 and produce mechanical force to move the front frame 12 of the grader 10 and several mechanical linkages, represented by block 76.
As described above, movement of the front frame 12 of the grader 10 with respect to the rear frame 14 of the grader 10 establishes the articulation angle.
Movement of the mechanical linkages establishes the position of the blade 16 or other implements.
Each hydraulic actuator, cylinder, and motor 74, such as the lift cylinders 28 and 30 and the circle drive motor 40, includes an electronic position sensor, represented by block 78. The electronic position sensors 78 transmit information regarding the position of its respective hydraulic actuator, cylinder, or motor 76 to the electronic control computer 64. In this manner, the control computer 64 can, for example, determine the articulation angle of the grader 10 and position the blade 16. With such information, the control computer 64 can perform additional operations.
In Figure 4 an electronic hand control is generally shown at 90. Hand control 90 comprises a joystick 92. Joystick 92 is movable along a first axis 94 and a second axis 96, which is generally perpendicular to the first axis 94. Joystick 92 is also movable along axes that are intermediate between the first axis 94 and the second axis 96. Joystick 92 is rotatable about a third axis 98 that is perpendicular to both first axis 94 and second axis 96. In this specification and the accompanying claims the phrase movable on an axis encompasses both linear movement of joystick 92 on either the first axis 94 or the second axis 96 and rotation of joystick 92 about third axis 98.
The hydraulic right steering cylinder 82 and the hydraulic left steering cylinder 84 are controlled through the electro-hydraulic control system 60 by movement of joystick 92 on first axis 94, second axis 96, or about third axis 98. Both the hydraulic right steering cylinder 82 and the hydraulic left steering cylinder 84 are each associated with one of the electro-hydraulic actuators 66. Movement of joystick 92 a first direction on one of the axes 94, 96 or 98, transmits a first electronic input signal to the electronic control computer 64. The electronic control computer 64 then transmits a first control signal to the electro-hydraulic actuators 66 associated with the hydraulic right steering cylinder 82 and the hydraulic left steering cylinder 84 in response to the first electronic input signal. The first control signal actuates the electro-hydraulic actuators 66 associated with the hydraulic right steering cylinder 82 and the hydraulic left steering cylinder 84. Actuation of these electro-hydraulic actuators 66 causes hydraulic right steering cylinder 82 and hydraulic left steering cylinder 84 to rotate the pair of front tires 18 a first rotational direction. Preferably, the rotation of front tires 18 is intuitive so that, for example, movement of joystick 92 left or rotation of joystick 92 to the left rotates front tires 18 to the left. It is to be understood that a manufacturing decision must be made of which axis, first axis 94, second axis 96, or third axis 98 will be used to control steering. The non-steering axes are then available for other functions as described below.
Moving joystick 92 a second direction, opposite the first direction, on the same axis transmits a second electronic input signal to the electronic control computer 64, which then transmits a second control signal to the electro-hydraulic actuators 66 associated with the hydraulic right steering cylinder 82 and the hydraulic left steering cylinder 84. The second control signal actuates the electro-hydraulic actuators 66 associated with the hydraulic right steering cylinder 82 and the hydraulic left steering cylinder 84 to cause them to rotate the pair of front tires 18 a second rotational direction opposite to the first rotational direction. Thus, an operator can steer the motor grader 10 with out needing to remove a hand from an electronic control to rotate the steering wheel 80. The steering wheel 80 can still be used if desired. Rotation of steering wheel 80 overrides control of steering of motor grader 10 by joystick 92. Thus, if steering wheel 80 is rotated, front tires 18 are rotated in the direction indicated by the position of steering wheel 80 even if the position of joystick 92 would rotate front tires 18 a different direction.
As described above, joystick 92 is movable along the first axis 94, the second axis 96, or the third axis 98. Movement of joystick 92 along either of the other axes not used for steering motor grader 10 also transmits electrical input signals to the electronic control computer 64. The electronic control computer 64 then transmits a control signal to at least one of the electro-hydraulic actuators 66 in response to each input signal. As described above, actuating one of the electro-hydraulic actuators 66 actuates either a hydraulic cylinder, a hydraulic motor, or a hydraulic actuator 74 such as the blade tip cylinder 46. Movement of joystick 92 along an axis intermediate to the first axis 94 and the second axis 96 produces a combination electrical input signal that reflects proportionally the angle of movement of the joystick 92 between the first axis 94 and the second axis 96. The combination signal is used to simultaneously perform the functions associated with each axis. Thus, joystick 92 can be used to both steer motor grader 10 and control other motor grader 10 functions.
Industrial Applicability The present invention relates generally to a steering system for a motor grader 10. Motor grader 10 is provided with a dual mechanism for steering control that comprises a joystick 92 and a steering wheel 80. Joystick 92 is moveable on a plurality of axes. Movement of joystick 92 in a first direction on one of the axes transmits a first electronic input signal to an electronic control computer 64. The electronic control computer 64 transmits a first control signal to an electro-hydraulic actuator 66 associated with a hydraulic right steering cylinder 82 and an electro-hydraulic actuator 66 associated with a left steering cylinder 84. The first control signal actuates these electro-hydraulic actuators 66 and causes the left steering cylinder 84 and right steering cylinder 82 to rotate the front wheels 18 of the motor grader 10 a first rotational direction. Movement of the joystick 92 on the first axis a second direction, opposite the first direction, transmits a second electrical input signal to the electronic control computer 64 which in turn transmits a second control signal to the electro-hydraulic actuators 66 associated with the right steering cylinder 82 and the left steering cylinder 84. Actuation of these electro-hydraulic actuators 66 by the second control signal causes the right steering cylinder 82 and the left steering cylinder 84 to rotate the front tires 18 of the motor grader 10 a second rotational direction opposite the first rotational direction. In addition, the front tires 18 can be moved in the first rotational direction and the second rotational direction by rotation of a steering wheel 80 as is conventional in motor graders.
Movement of the joystick 92 on any of the other axes also transmits electrical input signals to the electronic control computer 64 which in turn transmits appropriate control signals to actuate electro-hydraulic actuators 66 associated with hydraulic cylinders, hydraulic actuators or hydraulic motors 74 that control a variety of other implements on a motor grader 10. Thus, the present invention enables an, operator of a motor grader 10 to maintain steering control of the motor grader 10 while also maintaining hand contact with implement control levers.
The present invention has been described in accordance with the relevant legal standards, thus the foregoing description is exemplary rather than limiting in nature. Variations and modifications to the disclosed embodiment may become apparent to those skilled in the art and do come within the scope of this invention. Accordingly, the scope of legal protection afforded this invention can only be determined by studying the following claims.
Starting at the front of the motor grader 10 and working rearward toward the blade 16, the linkage assembly 22 includes a drawbar 24.
The drawbar 24 is mounted to the front frame 12 with a ball joint. The position of the drawbar 24 is controlled by three hydraulic cylinders, commonly referred to as a right lift cylinder 28, a left lift cylinder 30, and a center shift cylinder 32. A
coupling, shown generally at 34, connects the three cylinders 28, 30, and 32 to the front frame 12. The coupling 34 can be moved during blade repositioning but is fixed stationary during earthmoving operations.
The height of the blade 16 with respect to the surface of earth 11 below the motor grader 10, commonly referred to as the blade height, is controlled primarily with the right lift cylinder 28 and the left lift cylinder 30. Each lift cylinder, 28 and 30, functions to raise and lower the associated end of the blade 16. Thus, the right lift cylinder 28 raises and lowers the right end of blade 16. The center shift cylinder 32 moves the drawbar 24 from side to side relative to the front frame 12.
The drawbar 24 includes a large, flat plate commonly referred to as a yoke plate 36, as shown in Figure 2. Beneath the yoke plate 36 is a large gear, commonly referred to as a circle 38. The circle 38 is rotated by a hydraulic motor commonly referred to as a circle drive 40, as shown in Figure 1. Rotation of the circle 38 by the circle drive 40 pivots the blade 16 about an axis A fixed to the drawbar 24. The blade 16 is mounted to a hinge (not shown) on the circle 38 with a bracket (not shown). A hydraulic blade tip cylinder 46 is used to pitch the bracket forward or rearward and thus pitch the top 15 of the blade 16 forward and rearward relative to the cutting edge 17.
The blade 16 is mounted to a sliding joint in the bracket allowing the blade 16 to be slid or shifted from side to side with respect to the bracket. A
hydraulic side shift cylinder 50, shown in Figure 2, is used to control the side to side shift of the blade 16.
Referring now to Figure 2, a right articulation cylinder, shown generally at 52, is mounted to the right side of the rear frame 14 and a left articulation cylinder, shown generally at 54, is mounted to the left side of the rear frame 14. The right and left articulation cylinders 52 and 54 are hydraulic and used to rotate the front frame 12 about an axis B shown in Figure 1. The axis B is commonly referred to as the articulation axis. In Figure 2, the motor grader 10 is positioned in a neutral or zero articulation angle. The rear tires 19 are driven by a differential (not shown) as is well known in the art.
Adjacent the front tires is a hydraulic right steering cylinder 82 and a hydraulic left steering cylinder 84.
The right steering cylinder 82 and the left steering _g_ cylinder 84 are used to control the position of front tires 18 and thus steer motor grader 10. In a conventional motor grader 10 rotation of the steering wheel 80 is used to actuate the right steering cylinder 82 and the left steering cylinder 84. As would be understood by one of ordinary skill in the art, the front tires 18 could be rotated using only a single steering cylinder mounted to either the left or the right front tire 18.
Figure 3 is a schematic block diagram of an electro-hydraulic control system 60 for the motor grader 10. The control system 60 is designed to operate the various hydraulic controls of the motor grader 10 described above. The system 60 includes a plurality of electronic hand controls 90 (see Figure 4) represented by block 62, which transform the actions of an operators hands on the hand controls 90 into a plurality of electrical input signals. These input signals carry operational information to an electronic control computer, represented by block 64.
The control computer 64 receives the electrical input signals produced by the hand controls 62, processes the operational information carried by the input signals, and transmits control signals to a plurality of drive solenoids, each of which is located in an electro-hydraulic actuator, represented by block 66.
The hydraulic portion of the control system 60 requires both high hydraulic pressure and low pilot pressure. High hydraulic pressure is provided by a _g_ hydraulic pump, represented by block 68. The hydraulic pump 68 receives a rotary motion, typically from the engine 21 of the motor grader 10, and produces high hydraulic pressure. Low pilot pressure is provided by a hydraulic pressure reducing valve, represented by block 70. The hydraulic pressure reducing valve 70 receives high hydraulic pressure from the hydraulic pump 68 and supplies low pilot pressure to the electro-hydraulic actuators 66.
Each electro-hydraulic actuator 66 includes an electrical drive solenoid and a hydraulic valve.
The solenoid receives control signals from the electronic control computer 64 and produces a controlled mechanical movement of a core stem of the actuator 66. The hydraulic valve receives both the controlled mechanical movement of the core stem of the actuator 66 and low pilot pressure from the hydraulic pressure reducing valve 70 and produces controlled pilot hydraulic pressure for hydraulic valves, represented by block 72.
The hydraulic valves 72 receive both controlled pilot hydraulic pressure from the electro-hydraulic actuators 66 and high hydraulic pressure from the hydraulic pump 68 and produce controlled high hydraulic pressure for hydraulic actuators, cylinders, and motors, represented by block 74.
The hydraulic actuators, cylinders, and motors 74 receive controlled high hydraulic pressure from the hydraulic valves 72 and produce mechanical force to move the front frame 12 of the grader 10 and several mechanical linkages, represented by block 76.
As described above, movement of the front frame 12 of the grader 10 with respect to the rear frame 14 of the grader 10 establishes the articulation angle.
Movement of the mechanical linkages establishes the position of the blade 16 or other implements.
Each hydraulic actuator, cylinder, and motor 74, such as the lift cylinders 28 and 30 and the circle drive motor 40, includes an electronic position sensor, represented by block 78. The electronic position sensors 78 transmit information regarding the position of its respective hydraulic actuator, cylinder, or motor 76 to the electronic control computer 64. In this manner, the control computer 64 can, for example, determine the articulation angle of the grader 10 and position the blade 16. With such information, the control computer 64 can perform additional operations.
In Figure 4 an electronic hand control is generally shown at 90. Hand control 90 comprises a joystick 92. Joystick 92 is movable along a first axis 94 and a second axis 96, which is generally perpendicular to the first axis 94. Joystick 92 is also movable along axes that are intermediate between the first axis 94 and the second axis 96. Joystick 92 is rotatable about a third axis 98 that is perpendicular to both first axis 94 and second axis 96. In this specification and the accompanying claims the phrase movable on an axis encompasses both linear movement of joystick 92 on either the first axis 94 or the second axis 96 and rotation of joystick 92 about third axis 98.
The hydraulic right steering cylinder 82 and the hydraulic left steering cylinder 84 are controlled through the electro-hydraulic control system 60 by movement of joystick 92 on first axis 94, second axis 96, or about third axis 98. Both the hydraulic right steering cylinder 82 and the hydraulic left steering cylinder 84 are each associated with one of the electro-hydraulic actuators 66. Movement of joystick 92 a first direction on one of the axes 94, 96 or 98, transmits a first electronic input signal to the electronic control computer 64. The electronic control computer 64 then transmits a first control signal to the electro-hydraulic actuators 66 associated with the hydraulic right steering cylinder 82 and the hydraulic left steering cylinder 84 in response to the first electronic input signal. The first control signal actuates the electro-hydraulic actuators 66 associated with the hydraulic right steering cylinder 82 and the hydraulic left steering cylinder 84. Actuation of these electro-hydraulic actuators 66 causes hydraulic right steering cylinder 82 and hydraulic left steering cylinder 84 to rotate the pair of front tires 18 a first rotational direction. Preferably, the rotation of front tires 18 is intuitive so that, for example, movement of joystick 92 left or rotation of joystick 92 to the left rotates front tires 18 to the left. It is to be understood that a manufacturing decision must be made of which axis, first axis 94, second axis 96, or third axis 98 will be used to control steering. The non-steering axes are then available for other functions as described below.
Moving joystick 92 a second direction, opposite the first direction, on the same axis transmits a second electronic input signal to the electronic control computer 64, which then transmits a second control signal to the electro-hydraulic actuators 66 associated with the hydraulic right steering cylinder 82 and the hydraulic left steering cylinder 84. The second control signal actuates the electro-hydraulic actuators 66 associated with the hydraulic right steering cylinder 82 and the hydraulic left steering cylinder 84 to cause them to rotate the pair of front tires 18 a second rotational direction opposite to the first rotational direction. Thus, an operator can steer the motor grader 10 with out needing to remove a hand from an electronic control to rotate the steering wheel 80. The steering wheel 80 can still be used if desired. Rotation of steering wheel 80 overrides control of steering of motor grader 10 by joystick 92. Thus, if steering wheel 80 is rotated, front tires 18 are rotated in the direction indicated by the position of steering wheel 80 even if the position of joystick 92 would rotate front tires 18 a different direction.
As described above, joystick 92 is movable along the first axis 94, the second axis 96, or the third axis 98. Movement of joystick 92 along either of the other axes not used for steering motor grader 10 also transmits electrical input signals to the electronic control computer 64. The electronic control computer 64 then transmits a control signal to at least one of the electro-hydraulic actuators 66 in response to each input signal. As described above, actuating one of the electro-hydraulic actuators 66 actuates either a hydraulic cylinder, a hydraulic motor, or a hydraulic actuator 74 such as the blade tip cylinder 46. Movement of joystick 92 along an axis intermediate to the first axis 94 and the second axis 96 produces a combination electrical input signal that reflects proportionally the angle of movement of the joystick 92 between the first axis 94 and the second axis 96. The combination signal is used to simultaneously perform the functions associated with each axis. Thus, joystick 92 can be used to both steer motor grader 10 and control other motor grader 10 functions.
Industrial Applicability The present invention relates generally to a steering system for a motor grader 10. Motor grader 10 is provided with a dual mechanism for steering control that comprises a joystick 92 and a steering wheel 80. Joystick 92 is moveable on a plurality of axes. Movement of joystick 92 in a first direction on one of the axes transmits a first electronic input signal to an electronic control computer 64. The electronic control computer 64 transmits a first control signal to an electro-hydraulic actuator 66 associated with a hydraulic right steering cylinder 82 and an electro-hydraulic actuator 66 associated with a left steering cylinder 84. The first control signal actuates these electro-hydraulic actuators 66 and causes the left steering cylinder 84 and right steering cylinder 82 to rotate the front wheels 18 of the motor grader 10 a first rotational direction. Movement of the joystick 92 on the first axis a second direction, opposite the first direction, transmits a second electrical input signal to the electronic control computer 64 which in turn transmits a second control signal to the electro-hydraulic actuators 66 associated with the right steering cylinder 82 and the left steering cylinder 84. Actuation of these electro-hydraulic actuators 66 by the second control signal causes the right steering cylinder 82 and the left steering cylinder 84 to rotate the front tires 18 of the motor grader 10 a second rotational direction opposite the first rotational direction. In addition, the front tires 18 can be moved in the first rotational direction and the second rotational direction by rotation of a steering wheel 80 as is conventional in motor graders.
Movement of the joystick 92 on any of the other axes also transmits electrical input signals to the electronic control computer 64 which in turn transmits appropriate control signals to actuate electro-hydraulic actuators 66 associated with hydraulic cylinders, hydraulic actuators or hydraulic motors 74 that control a variety of other implements on a motor grader 10. Thus, the present invention enables an, operator of a motor grader 10 to maintain steering control of the motor grader 10 while also maintaining hand contact with implement control levers.
The present invention has been described in accordance with the relevant legal standards, thus the foregoing description is exemplary rather than limiting in nature. Variations and modifications to the disclosed embodiment may become apparent to those skilled in the art and do come within the scope of this invention. Accordingly, the scope of legal protection afforded this invention can only be determined by studying the following claims.
Claims (11)
1. A steering mechanism for a motor grader comprising:
an electro-hydraulic control system and a joystick movable on a plurality of axes including a first axis;
said electro-hydraulic control system comprising an electronic control computer; a plurality of electro-hydraulic actuators, a hydraulic right steering cylinder associated with one of said plurality of electro-hydraulic actuators and a hydraulic left steering cylinder associated with another of said plurality of electro-hydraulic actuators, said hydraulic right steering cylinder and said hydraulic left steering cylinder each connected to one of a pair of front tires of a motor grader;
movement of said joystick a first direction on said first axis transmitting a first electronic input signal to said electronic control computer, said electronic control computer transmitting a first control signal to said electro-hydraulic actuators associated with said hydraulic right steering cylinder and said hydraulic left steering cylinder in response to said first electronic input signal;
said first control signal actuating said electro-hydraulic actuators associated with said hydraulic right steering cylinder and said hydraulic left steering cylinder, and said hydraulic right steering cylinder and said hydraulic left steering cylinder rotating said pair of front tires a first rotational direction in response to actuation of said associated electro-hydraulic actuators by said first control signal;
movement of said joystick on said first axis a second direction opposite said first direction transmitting a second electronic input signal to said electronic control computer, said electronic control computer transmitting a second control signal to said electro-hydraulic actuators associated with said hydraulic right steering cylinder and said hydraulic left steering cylinder in response to said second electronic input signal; and said second control signal actuating said electro-hydraulic actuators associated with said hydraulic right steering cylinder and said hydraulic left steering cylinder, and said hydraulic right steering cylinder and said hydraulic left steering cylinder rotating said pair of front tires a second rotational direction in response to actuation of said associated electro-hydraulic actuators by said second control signal, said second rotational direction opposite said first rotational direction.
an electro-hydraulic control system and a joystick movable on a plurality of axes including a first axis;
said electro-hydraulic control system comprising an electronic control computer; a plurality of electro-hydraulic actuators, a hydraulic right steering cylinder associated with one of said plurality of electro-hydraulic actuators and a hydraulic left steering cylinder associated with another of said plurality of electro-hydraulic actuators, said hydraulic right steering cylinder and said hydraulic left steering cylinder each connected to one of a pair of front tires of a motor grader;
movement of said joystick a first direction on said first axis transmitting a first electronic input signal to said electronic control computer, said electronic control computer transmitting a first control signal to said electro-hydraulic actuators associated with said hydraulic right steering cylinder and said hydraulic left steering cylinder in response to said first electronic input signal;
said first control signal actuating said electro-hydraulic actuators associated with said hydraulic right steering cylinder and said hydraulic left steering cylinder, and said hydraulic right steering cylinder and said hydraulic left steering cylinder rotating said pair of front tires a first rotational direction in response to actuation of said associated electro-hydraulic actuators by said first control signal;
movement of said joystick on said first axis a second direction opposite said first direction transmitting a second electronic input signal to said electronic control computer, said electronic control computer transmitting a second control signal to said electro-hydraulic actuators associated with said hydraulic right steering cylinder and said hydraulic left steering cylinder in response to said second electronic input signal; and said second control signal actuating said electro-hydraulic actuators associated with said hydraulic right steering cylinder and said hydraulic left steering cylinder, and said hydraulic right steering cylinder and said hydraulic left steering cylinder rotating said pair of front tires a second rotational direction in response to actuation of said associated electro-hydraulic actuators by said second control signal, said second rotational direction opposite said first rotational direction.
2. A steering mechanism for a motor grader as recited in Claim 1 wherein movement of said joystick in said first direction and said second direction on said first axis comprises linear movement.
3. A steering mechanism for a motor grader as recited in Claim 1 wherein movement of said joystick in said first direction and said second direction on said first axis comprises rotation of said joystick about said first axis.
4. A steering mechanism for a motor grader as recited in Claim 1 wherein movement of said joystick on one of said plurality of axes other than said first axis transmits a third electrical input signal to said electronic control computer;
said electronic control computer transmitting a third control signal to at least one of said plurality of electro-hydraulic actuators in response to said third electrical input signal; and said third control signal actuating said at least one of said electro-hydraulic actuators, said actuated electro-hydraulic actuator actuating one of a hydraulic cylinder, a hydraulic motor, or a hydraulic actuator.
said electronic control computer transmitting a third control signal to at least one of said plurality of electro-hydraulic actuators in response to said third electrical input signal; and said third control signal actuating said at least one of said electro-hydraulic actuators, said actuated electro-hydraulic actuator actuating one of a hydraulic cylinder, a hydraulic motor, or a hydraulic actuator.
5. A steering mechanism for a motor grader as recited in Claim 1 further including a steering wheel hydraulically connected to said hydraulic right steering cylinder and said hydraulic left steering cylinder;
rotation of said steering wheel a first direction actuating said right steering cylinder and said left steering cylinder to rotate said pair of front tires said first rotational direction; and rotation of said steering wheel a second direction actuating said right steering cylinder and said left steering cylinder to rotate said pair of front tires said second rotational direction.
rotation of said steering wheel a first direction actuating said right steering cylinder and said left steering cylinder to rotate said pair of front tires said first rotational direction; and rotation of said steering wheel a second direction actuating said right steering cylinder and said left steering cylinder to rotate said pair of front tires said second rotational direction.
6. A steering mechanism for a motor grader as recited in Claim 5 wherein rotation of said steering wheel overrides rotation of said pair of front tires by said joystick.
7. A steering mechanism for a motor grader comprising:
an electro-hydraulic control system, a joystick movable on a plurality of axes including a first axis, and a steering wheel;
said electro-hydraulic control system comprising an electronic control computer, a plurality of electro-hydraulic actuators, a hydraulic right steering cylinder associated with one of said plurality of electro-hydraulic actuators and a hydraulic left steering cylinder associated with another of said plurality of electro-hydraulic actuators, said hydraulic right steering cylinder and said hydraulic left steering cylinder each connected to one of a pair of front tires of a motor grader;
movement of said joystick a first direction on said first axis transmitting a first electronic input signal to said electronic control computer, said electronic control computer transmitting a first control signal to said electro-hydraulic actuators associated with said hydraulic right steering cylinder and said hydraulic left steering cylinder in response to said first electronic input signal;
said first control signal actuating said electro-hydraulic actuators associated with said hydraulic right steering cylinder and said hydraulic left steering cylinder, and said hydraulic right steering cylinder and said hydraulic left steering cylinder rotating said pair of front tires a first rotational direction in response to actuation of said associated electro-hydraulic actuators by said first control signal;
movement of said joystick on said first axis a second direction opposite said first direction transmitting a second electronic input signal to said electronic control computer, said electronic control computer transmitting a second control signal to said electro-hydraulic actuators associated with said hydraulic right steering cylinder and said hydraulic left steering cylinder in response to said second electronic input signal;
said second control signal actuating said electro-hydraulic actuators associated with said hydraulic right steering cylinder and said hydraulic left steering cylinder, and said hydraulic right steering cylinder and said hydraulic left steering cylinder rotating said pair of front tires a second rotational direction in response to actuation of said associated electro-hydraulic actuators by said second control signal, said second rotational direction opposite said first rotational direction;
said steering wheel hydraulically connected to said hydraulic right steering cylinder and said hydraulic left steering cylinder;
rotation of said steering wheel a first direction actuating said right steering cylinder and said left steering cylinder to rotate said pair of front tires said first rotational direction; and rotation of said steering wheel a second direction actuating said right steering cylinder and said left steering cylinder to rotate said pair of front tires said second rotational direction.
an electro-hydraulic control system, a joystick movable on a plurality of axes including a first axis, and a steering wheel;
said electro-hydraulic control system comprising an electronic control computer, a plurality of electro-hydraulic actuators, a hydraulic right steering cylinder associated with one of said plurality of electro-hydraulic actuators and a hydraulic left steering cylinder associated with another of said plurality of electro-hydraulic actuators, said hydraulic right steering cylinder and said hydraulic left steering cylinder each connected to one of a pair of front tires of a motor grader;
movement of said joystick a first direction on said first axis transmitting a first electronic input signal to said electronic control computer, said electronic control computer transmitting a first control signal to said electro-hydraulic actuators associated with said hydraulic right steering cylinder and said hydraulic left steering cylinder in response to said first electronic input signal;
said first control signal actuating said electro-hydraulic actuators associated with said hydraulic right steering cylinder and said hydraulic left steering cylinder, and said hydraulic right steering cylinder and said hydraulic left steering cylinder rotating said pair of front tires a first rotational direction in response to actuation of said associated electro-hydraulic actuators by said first control signal;
movement of said joystick on said first axis a second direction opposite said first direction transmitting a second electronic input signal to said electronic control computer, said electronic control computer transmitting a second control signal to said electro-hydraulic actuators associated with said hydraulic right steering cylinder and said hydraulic left steering cylinder in response to said second electronic input signal;
said second control signal actuating said electro-hydraulic actuators associated with said hydraulic right steering cylinder and said hydraulic left steering cylinder, and said hydraulic right steering cylinder and said hydraulic left steering cylinder rotating said pair of front tires a second rotational direction in response to actuation of said associated electro-hydraulic actuators by said second control signal, said second rotational direction opposite said first rotational direction;
said steering wheel hydraulically connected to said hydraulic right steering cylinder and said hydraulic left steering cylinder;
rotation of said steering wheel a first direction actuating said right steering cylinder and said left steering cylinder to rotate said pair of front tires said first rotational direction; and rotation of said steering wheel a second direction actuating said right steering cylinder and said left steering cylinder to rotate said pair of front tires said second rotational direction.
8. A steering mechanism for a motor grader as recited in Claim 7 wherein movement of said joystick in said first direction and said second direction on said first axis comprises linear movement.
9. A steering mechanism for a motor grader as recited in Claim 7 wherein movement of said joystick in said first direction and said second direction on said first axis comprises rotation of said joystick about said first axis.
10. A steering mechanism for a motor grader as recited in Claim 7 wherein movement of said joystick on one of said plurality of axes other than said first axis transmits a third electrical input signal to said electronic control computer;
said electronic control computer transmitting a third control signal to at least one of said plurality of electro-hydraulic actuators in response to said third electrical input signal; and said third control signal actuating said at least one of said electro-hydraulic actuators, said actuated electro-hydraulic actuator actuating one of a hydraulic cylinder, a hydraulic motor, or a hydraulic actuator.
said electronic control computer transmitting a third control signal to at least one of said plurality of electro-hydraulic actuators in response to said third electrical input signal; and said third control signal actuating said at least one of said electro-hydraulic actuators, said actuated electro-hydraulic actuator actuating one of a hydraulic cylinder, a hydraulic motor, or a hydraulic actuator.
11. A steering mechanism for a motor grader as recited in Claim 7 wherein rotation of said steering wheel overrides rotation of said pair of front tires by said joystick.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US21364798A | 1998-12-16 | 1998-12-16 | |
| US09/213,647 | 1998-12-16 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA2288572A1 true CA2288572A1 (en) | 2000-06-16 |
Family
ID=22795937
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA002288572A Abandoned CA2288572A1 (en) | 1998-12-16 | 1999-11-05 | Motor grader steerable by a joystick and a steering wheel |
Country Status (2)
| Country | Link |
|---|---|
| CA (1) | CA2288572A1 (en) |
| DE (1) | DE19956102A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7334658B2 (en) | 2004-12-23 | 2008-02-26 | Caterpillar Inc. | Steering system with joystick mounted controls |
| CN103770636A (en) * | 2014-01-23 | 2014-05-07 | 长安大学 | Single-axle hydraulic driving device for large-sized mining dump vehicle |
| CN103866807A (en) * | 2014-03-12 | 2014-06-18 | 长安大学 | Bridge-free hydraulic driving device of large-power land leveler |
| CN107254892A (en) * | 2017-07-31 | 2017-10-17 | 安徽意诚智能科技有限公司 | A kind of low noise scraper land leveller |
-
1999
- 1999-11-05 CA CA002288572A patent/CA2288572A1/en not_active Abandoned
- 1999-11-22 DE DE19956102A patent/DE19956102A1/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7334658B2 (en) | 2004-12-23 | 2008-02-26 | Caterpillar Inc. | Steering system with joystick mounted controls |
| CN103770636A (en) * | 2014-01-23 | 2014-05-07 | 长安大学 | Single-axle hydraulic driving device for large-sized mining dump vehicle |
| CN103770636B (en) * | 2014-01-23 | 2016-03-30 | 长安大学 | A kind of large-scale mine dumping car list bridge fluid pressure drive device |
| CN103866807A (en) * | 2014-03-12 | 2014-06-18 | 长安大学 | Bridge-free hydraulic driving device of large-power land leveler |
| CN103866807B (en) * | 2014-03-12 | 2016-08-24 | 长安大学 | A kind of high-power land leveller is without bridge fluid pressure drive device |
| CN107254892A (en) * | 2017-07-31 | 2017-10-17 | 安徽意诚智能科技有限公司 | A kind of low noise scraper land leveller |
Also Published As
| Publication number | Publication date |
|---|---|
| DE19956102A1 (en) | 2000-06-21 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| FZDE | Dead |