JPS59100020A - Running gear of hydraulically driven vehicle - Google Patents
Running gear of hydraulically driven vehicleInfo
- Publication number
- JPS59100020A JPS59100020A JP20842682A JP20842682A JPS59100020A JP S59100020 A JPS59100020 A JP S59100020A JP 20842682 A JP20842682 A JP 20842682A JP 20842682 A JP20842682 A JP 20842682A JP S59100020 A JPS59100020 A JP S59100020A
- Authority
- JP
- Japan
- Prior art keywords
- hydraulic
- operating section
- regulator
- lever
- value
- Prior art date
- 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.)
- Granted
Links
- 238000006073 displacement reaction Methods 0.000 claims description 17
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 2
- 230000000875 corresponding effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000000844 anti-bacterial effect Effects 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location or kind of gearing
- B60K17/10—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location or kind of gearing of fluid gearing
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Motor Power Transmission Devices (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は油圧、駆動車輌の走行装置に係り、特に走行力
を与える２つの油圧走行モータと、これらの油圧走行モ
ータな作動させる信号を出力する２つのレバー操作部と
を有する走行装置に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a hydraulic drive system for a vehicle, and particularly relates to two hydraulic drive motors that provide running force, two lever operation units that output signals to operate these hydraulic drive motors, and The present invention relates to a traveling device having:
従来この種の走行装置として、第１の油圧走行モータを
駆動させる第１の駆動回路および第２の油圧走行モータ
を駆動させる第２の駆動回路を、油圧閉回路あるいは油
圧開回路によって構成するとともに、第１の油圧走行モ
ータおよび第２の油圧走行モータのそれぞれに対応して
、レバー操作量を油圧信号あるいは電気信号として出力
する２つのレバー操作部を有するものがある。Conventionally, as this type of traveling device, a first drive circuit that drives a first hydraulic travel motor and a second drive circuit that drives a second hydraulic travel motor are configured by a hydraulic closed circuit or a hydraulic open circuit. Some motors have two lever operation sections that output the amount of lever operation as a hydraulic signal or an electric signal, corresponding to each of the first hydraulic travel motor and the second hydraulic travel motor.
しかし、これらの従来の走行装置はいずれも、２つのレ
バー操作部から出力される信号のそれぞれに直接に対応
させて第１の油圧走行モータおよび第２の油圧走行モー
タを駆動させるようにしであることから、すなわち走行
動作が２つのレバー操作部におけるそれぞれの操作量と
相関関係にあることから、特に微速発進時等のように直
進走行を実施したい場合に、２つのレバー操作部の操作
量の間に多少の相違があるときは、第１の油圧走行モー
タの駆動力と第２の油圧走行モータの駆動力との間に差
異を生じ、その結果、蛇行を生じてしまうことがあった
。However, in all of these conventional traveling devices, the first hydraulic traveling motor and the second hydraulic traveling motor are driven in direct response to each signal output from the two lever operation parts. Therefore, since the driving operation is correlated with the amount of operation of each of the two lever operation parts, especially when you want to drive straight, such as when starting at a slow speed, the amount of operation of the two lever operation parts can be adjusted. If there is some difference between them, a difference may occur between the driving force of the first hydraulic traveling motor and the driving force of the second hydraulic traveling motor, resulting in meandering.
本発明はこのような従来技術における実情に鑑みてなさ
れたもので、その目的は、直進走行に際し２つのレバー
操作部の關作量の違いによる影響を受けることなく２つ
の油圧走行モータを同じ駆動力で駆動することのできる
油圧駆動車輌の走行装置を提供することにある。The present invention has been made in view of the actual situation in the prior art, and its purpose is to drive two hydraulic travel motors with the same driving force without being affected by the difference in the amount of engagement of the two lever operation parts when traveling straight. An object of the present invention is to provide a traveling device for a hydraulically driven vehicle that can be driven.
この目的を達成するために本発明は、第１の油圧走行モ
ータを駆動させる第１の駆動回路を第１の可変容量油圧
ポンプと、この第１のり変容量油圧ポンプの吐出容量を
制御する第１のレギュレータを含む第１の閉回路とし、
第２の油圧走行モータを駆動させる第２の駆動回路を第
２の可変容量油圧ポンプと、この第２の可変容量油圧ポ
ンプの吐出容量を制御する第２のレギーレータを含む第
２の閉回路とし、第１の油圧走行モータおよび第２の油
圧走行モータに関連して設けられる第１のレバー操作部
および第２のレバー操作部を電気信号を出力するものに
よって構成するとともに、第１のレバー操作部および第
２のレバー操作部と、詔１のレギュレータおよび第２の
レギュレータとの間に、第１のレバー操作部から出力さ
れる電気信号の信号値と第２のレバー操作部から出力さ
れる電気信号の信号値との差が所定の設定値以下のとき
に、同じ値を有する指令信号を第１のレギュレータおよ
び第２のレギュレータに出力するレギュレータ制御手段
を備えた構成にしである。To achieve this object, the present invention includes a first drive circuit that drives a first hydraulic travel motor, a first variable displacement hydraulic pump, and a first variable displacement hydraulic pump that controls the discharge displacement of the first hydraulic displacement hydraulic pump. a first closed circuit including a regulator;
A second drive circuit for driving the second hydraulic travel motor is a second closed circuit including a second variable displacement hydraulic pump and a second regirator for controlling the discharge capacity of the second variable displacement hydraulic pump. , a first lever operating section and a second lever operating section provided in relation to the first hydraulic traveling motor and the second hydraulic traveling motor are configured to output an electric signal, and the first lever operating section is configured to output an electric signal. The signal value of the electric signal output from the first lever operation part and the signal value output from the second lever operation part are provided between the first lever operation part and the second lever operation part and the first regulator and the second regulator. The configuration includes a regulator control means for outputting a command signal having the same value to the first regulator and the second regulator when the difference between the signal value of the electric signal and the signal value is equal to or less than a predetermined set value.
以下、本発明の油圧駆動車輌の走行装置を図に基づいて
説明する。DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a traveling device for a hydraulically driven vehicle according to the present invention will be explained based on the drawings.
第１図は本発明の一実施例を示す概略構成図、第２図は
第１図に示す一実施例に具備されるレギュレータ制御手
段の一例を示すブロック図、第３図は第１図に示す一実
施例に具備されるレギュレータ制菌手段において実施さ
れる制御手順の一しリを示すフローチャートである。FIG. 1 is a schematic configuration diagram showing an embodiment of the present invention, FIG. 2 is a block diagram showing an example of regulator control means included in the embodiment shown in FIG. 1, and FIG. It is a flowchart which shows the control procedure carried out in the regulator antibacterial means provided in one Example shown.
第１図において、１．１′は走行力を与える第１の油圧
走行モータおよび第２の油圧走行モータ、２．２′はそ
れぞれ油圧走行モータ１．１′に圧油を供給する第１の
可変容置油圧ポンプおよび第２の可変容量油圧ポンプ、
３．３′はそれぞれ油圧ポンプ２、τの吐出容量を制御
する第１のレギーレータおよび第２のレギュレータ、６
は油圧ポンプ２．２を駆動する鳴動源である。なお、第
１の油圧走行モータ１、第１の可変容量油圧ポンプ２、
第１のレギュレータ３とによって第１の閉回路、すなわ
ち第１の油圧走行モータ１を駆動させる駆動回路を構成
しており、第２の油圧走行モータ１′、第２の可変容量
油圧ポンプτ、第２のレギュレータ３′とによって別の
第２の閉回路、すなわち第２の油圧走行モータ１′を駆
動させる駆動回路を構成しである。In Fig. 1, 1.1' is a first hydraulic travel motor and a second hydraulic travel motor that provide running force, and 2.2' is a first hydraulic travel motor that supplies pressure oil to the hydraulic travel motor 1.1'. a variable displacement hydraulic pump and a second variable displacement hydraulic pump;
3.3' are a first regirator and a second regulator, 6 each controlling the discharge capacity of the hydraulic pump 2, τ.
is the noise source that drives the hydraulic pump 2.2. Note that the first hydraulic travel motor 1, the first variable displacement hydraulic pump 2,
The first regulator 3 constitutes a first closed circuit, that is, a drive circuit that drives the first hydraulic travel motor 1, and includes a second hydraulic travel motor 1', a second variable displacement hydraulic pump τ, The second regulator 3' constitutes another second closed circuit, that is, a drive circuit for driving the second hydraulic travel motor 1'.
また、４．４′は第１のレバー陣作部および第２のレバ
ー操作部で、それぞれ第１の油圧走行モータ１、第２の
油圧走行モータ１′に関連して設けられ、レバー操作量
を電気信号として出力する。同第１図中、ＥＬ％Ｅ１は
第１のレバー操作部４、第２のレバー操作部４′のそれ
ぞれから出力される電気信号の信号値である。５はレバ
ー操作部４．４′と、レギーレータ３．３′との間に介
設したレギュレータ制御手段で、第１のレバー操作部４
から出力される電−気信号の信号値ＥＬと第２のレバー
操作部４′から出力される電気信号の信号値ＥＢとの差
、すなわち１ＥＬ−Ｅ、ｌが所定値ΔＥ以下のときに、
同じ値、例えば（Ｅ、＋ ”Ｉｔ） ／ ２の値を有す
る指令信号をしギエレータ３．３′に出力する。このよ
うなレギュレータ制御手段５は１例えば第２図に示すよ
うに、比較、演算機能を有する中央処理装置（ＣＰＵ）
５ａと、入力装ｆ１５ｂと、記憶装置〆５Ｃと、出力装
置５ｄを含むマイクロコンピュータによって構成するこ
とができる。なお上記した設定値ΔＥとは、直進走行に
関連して設定される値で、第１のレバー操作部４のレバ
ー操作部と第２のレバー模作部４′のレバー操作量との
差の限界値に相応する値、つまり直進走行を意図してい
るときに生じる差のうちで、許容される最も大きい差に
相応する値として決定されるものである。Further, 4.4' is a first lever operation part and a second lever operation part, which are provided in relation to the first hydraulic travel motor 1 and the second hydraulic travel motor 1', respectively, and are provided in relation to the lever operation amount. output as an electrical signal. In FIG. 1, EL%E1 is the signal value of the electric signal output from each of the first lever operating section 4 and the second lever operating section 4'. 5 is a regulator control means interposed between the lever operating section 4.4' and the regirator 3.3';
When the difference between the signal value EL of the electric signal output from the second lever operation part 4' and the signal value EB of the electric signal output from the second lever operation part 4', that is, 1EL-E,l is less than a predetermined value ΔE,
A command signal having the same value, for example (E, + ``It) / 2, is outputted to the gearerator 3.3'. Central processing unit (CPU) with arithmetic functions
5a, an input device f15b, a storage device 5C, and an output device 5d. The set value ΔE mentioned above is a value set in relation to straight traveling, and is the limit of the difference between the lever operation amount of the first lever operation section 4 and the lever operation amount of the second lever imitation section 4'. This value is determined as a value corresponding to the largest allowable difference among the differences that occur when the driver intends to travel straight ahead.
このように構成しである一実施例にあっては、例えば第
３図に示す制御手順によってレギュレータ３．３′を制
御し、油圧走行モータ１．１′を駆動させることができ
る。In one embodiment constructed in this manner, the regulator 3.3' can be controlled by the control procedure shown in FIG. 3, for example, to drive the hydraulic travel motor 1.1'.
すなわち、手順１０で示すように、あらかじめレギュレ
ータ制御手段５の記憶装置５０に設定値ΔＥが記憶され
る。この状態において、レバー操作部４．４′のレバー
が操作されると、それぞれ信号値比、Ｅ、を有する電気
信号がこのレノく一操作部４．４′から入力装置５ｂに
出力され、手順１１で示すようにこの入力装置５ｂから
中央処理装置５ａに読み込まれる。そして、手順１２で
示すように、言己１意装置５Ｃに記憶されている設定値
ΔＥが中央処理装置５ａに呼出され、この中央処理装置
５ａで、ＩＥＬ−Ｅ、ｌ≦ΔＥかどうかの判断、すなわ
ちＩＥＬ−Ｂ、１が設定値ΔＥ以下で、直進走行を意図
して（・るものかどうかの判断がおこなわれる。その結
果、ＩＢＬ−Ｅ、ｌ≦ΔＥが満足された場合は直進走行
を意図していることになり、手順１３に移る。この手）
１直１３では、同中央処理装置５ａで（凰＋Ｅｌ）／２
の演算がおこなわれ、その演算値が出力装置５ｄを介し
て指令信号としてレギュレータ３．３′の双方に出力さ
れる。したがって、第１の可変容量油圧ポンプ２および
第２の可変容量油圧ポンプ２′の吐出容量は同じになり
、これに伴って油圧走行モータ１．１′は同じ駆動力で
駆動される。特に微速発進時にあっては、油圧走行モー
タ１．１′をま互し１に同じ加速度で立上る。That is, as shown in step 10, the set value ΔE is stored in advance in the storage device 50 of the regulator control means 5. In this state, when the lever of the lever operating section 4.4' is operated, an electric signal having a signal value ratio, E, is output from this lever operating section 4.4' to the input device 5b, and the procedure As shown at 11, the data is read into the central processing unit 5a from this input device 5b. Then, as shown in step 12, the set value ΔE stored in the self-identification device 5C is called to the central processing unit 5a, and the central processing unit 5a determines whether IEL-E, l≦ΔE. , that is, if IEL-B, 1 is less than the set value ΔE, it is determined whether the intention is to drive straight (・). As a result, if IBL-E, l≦ΔE is satisfied, the driver will drive straight. This means that you are intending to do this, so move on to step 13. (This method)
In the 1st shift 13, the central processing unit 5a outputs (凰+El)/2.
The calculated value is output as a command signal to both regulators 3 and 3' via the output device 5d. Therefore, the discharge capacities of the first variable displacement hydraulic pump 2 and the second variable displacement hydraulic pump 2' are the same, and accordingly, the hydraulic travel motor 1.1' is driven with the same driving force. Particularly when starting at a slow speed, the hydraulic travel motors 1 and 1' are started up at the same acceleration.
また、上記の手順１２における判断が満足されない場合
には、ターンを意図していることになり、手順１４に移
る。この手順１４では、中央処理装置５ａから出力装置
５ｄを介して、信号値Ｅ、、を有する指令信号をレギー
レータ３に、信号値Ｅ、を有する指令信号をレギュレー
タ３′にそのまま出力することがおこなわれる。これに
よって油圧ポンプ゛２．２′の吐出量は適宜変化し、油
圧走行モータ１．１′にはレバー操作部４．４′のレノ
く一操作量のそれぞれに相応した異なる駆動力が与えら
れ、所望のターンがおこなわれる。Further, if the judgment in step 12 above is not satisfied, it means that the player intends to turn, and the process moves to step 14. In step 14, the central processing unit 5a directly outputs a command signal having a signal value E to the regulator 3 and a command signal having a signal value E to the regulator 3' via the output device 5d. It will be done. As a result, the discharge amount of the hydraulic pump 2.2' changes as appropriate, and different driving forces are applied to the hydraulic drive motor 1.1' in accordance with the amount of lever operation of the lever operating section 4.4'. , the desired turn is taken.
このように構成した一実施例にあってしす、第１のレバ
ー操作部４のレノく一操作量と第２のレノ（−操作部４
′のレバー操作量との差が設定値ΔＥ以下であるときは
、直進走行を意図して（・るものと自動的に判断されて
、同じ値の指令信号力；レギュレータ３．３′の双方に
出力され、した力；って２つのレバー操作量の違いによ
る影響は何ら受けろことなく、第１の油圧走行モータ１
、第２の油圧走行モータ１′を同じ駆動力で駆動するこ
とカーできる。In one embodiment configured in this way, the amount of operation of the first lever operating section 4 and the amount of operation of the second lever (-operating section 4) are different.
When the difference between the amount of lever operation and the lever operation amount of ' is less than the set value ΔE, it is automatically determined that the intention is to travel straight, and the command signal force of the same value is applied to both regulators 3 and 3'. The force outputted to the first hydraulic drive motor 1 is not affected by the difference in the amount of operation of the two levers.
, the second hydraulic travel motor 1' can be driven with the same driving force.
なお、上記実施例では、中央処理装置５ａでＩＥＬ−Ｅ
３１≦ΔＥが満足された場合に、（Ｅｔ、＋ Ｅｘ）
／ ２の演算がおこなわれ、その演算値が出力装置５ｄ
を介してレギユレータ３．３′の双方に出力されると述
べたが、（ＥＬ＋ Ｅｌ） ／ ２の演算をおこなわな
イテ、信号値ＥＬ−Ｅｘのうちのいずれか一方を選択し
、その選択された値を指令信号としてレギュレータ３．
３′の双方に出力するように構成してもよ（ゝＯ
本発明の油圧駆動車輌の走行装置は以上のように構成し
であることから、直進走行が意図されているときには、
２つのレギーレータに同じ値の指令信号が出力され、し
たがって、２つのレノく−の操作部の違いによる影響を
受けることなく２つの油圧走行モータを同じ駆動力で駆
動することカーでき、それ故、直進走行時の蛇行を完全
に防止できる効果がある。In the above embodiment, the central processing unit 5a performs IEL-E
If 31≦ΔE is satisfied, (Et, + Ex)
/ 2 calculation is performed, and the calculated value is output device 5d.
As mentioned above, the signal is output to both regulators 3 and 3' via Using the value as a command signal, regulator 3.
3' (O) Since the traveling device of the hydraulically driven vehicle of the present invention is constructed as described above, when straight traveling is intended,
A command signal of the same value is output to the two regirators, and therefore the two hydraulic travel motors can be driven with the same driving force without being affected by the difference in the operating parts of the two regirators. This has the effect of completely preventing meandering when driving straight.
第１図は本発明の油圧駆動車輌の走行装置の一実施例を
示す概略構成図、第２図は第１図に示す一実施例に具備
されるレギュレータ制御手段の− ：例を示すブロック
図、第３図は第１図に示す一実１：１
流側に具備されるレギュレータ制御手段において ）ヵ
、あ、□１ｊヮ％ ｌｊ［Ｏ−ｆ。ヶオオ、。−７７−
１１）
である。
１１・・・・・・第１の油圧走行モータ、１′・・・・
・・第２の油１圧走行モータ、２・・・・・・第１の可
変容量油圧ポンプ、；τ・・・・・・第２の可変容量油
圧ポンプ、３・・・・・・第１の１・蒐
５・・・・・・レギュレータ制御手段、５ａ・・・・・
・中央処理１１ｊｗＪFIG. 1 is a schematic configuration diagram showing an embodiment of a traveling device for a hydraulically driven vehicle according to the present invention, and FIG. 2 is a block diagram showing an example of regulator control means provided in the embodiment shown in FIG. , FIG. 3 shows the same ratio as shown in FIG. 1.In the regulator control means provided on the downstream side, the ratio is 1:1. Wow,. -77-
11).
11...First hydraulic travel motor, 1'...
...Second hydraulic single-pressure travel motor, 2...First variable displacement hydraulic pump; τ...Second variable displacement hydraulic pump, 3...First variable displacement hydraulic pump; 1-1・蒐5...Regulator control means, 5a...
・Central processing 11jwJ
Claims (1)
ータを駆動させる第１の駆動回路と、第１の油圧走行モ
ータに関連して設けられ、レバー操作部を信号として出
力する第１のレバー操作部と、第２の油圧走行モータと
、この第２の油圧走行モータを駆動させる第２の駆動回
路と、第２の油圧走行モータに関連して設けられ、レバ
ー操作量を信号として出力する第２のレバー操作部とを
備え、第１のレバー操作部および第２のレバー操作部か
ら出力される信号に応じて第１の油圧走行モータおよび
第２の油圧走行モータを駆動させるようにした油圧駆動
車輌の走行装置において、上記第１の駆動回路を第１の
可変容量油圧ポンプと、この第１の可変容量油圧ボンダ
の吐出容量を制御する第１のレギュレータとを含む第１
の閉回路とし、上記第２の駆動回路を第２の可変容量油
圧ボンダと、この第２の可変容量油圧ボンダの吐出容量
を制御する第一２のレギュレータを含む第２の閉回路と
し、上記第１のレバー操作部および第２のレバー操作部
を電気信号を出力するものによって構成するとともに、
上記第１のレバー操作部および第２のレバー操作部と、
上記第１のレギュレータおよび第２のレギュレータとの
間に、第１のレバー操作部から出力される電気信号の信
号値と第２のレバー操作部から出力される電気信号の信
号値との差が所定の設定値以下のときに、同じ値の指令
信号を上記第１のレギュレータおよび第２のレギュレー
タ釦出力するレギエレータ制御手段を設けたことを特徴
とする油圧駆動車輌の走行装置。1. A first hydraulic travel motor, a first drive circuit that drives the first hydraulic travel motor, and a first drive circuit that is provided in association with the first hydraulic travel motor and that outputs a lever operating section as a signal. A lever operation unit, a second hydraulic travel motor, a second drive circuit for driving the second hydraulic travel motor, and a lever operation unit that is provided in association with the second hydraulic travel motor and uses the lever operation amount as a signal. and a second lever operating section for driving the first hydraulic traveling motor and the second hydraulic traveling motor in accordance with the signals output from the first lever operating section and the second lever operating section. In the traveling device for a hydraulically driven vehicle, the first drive circuit is configured to include a first variable displacement hydraulic pump and a first regulator that controls the discharge capacity of the first variable displacement hydraulic bonder.
The second drive circuit is a second closed circuit including a second variable capacity hydraulic bonder and a first second regulator that controls the discharge capacity of the second variable capacity hydraulic bonder, The first lever operating section and the second lever operating section are configured to output electrical signals, and
The first lever operating section and the second lever operating section;
There is a difference between the signal value of the electric signal output from the first lever operation part and the signal value of the electric signal output from the second lever operation part between the first regulator and the second regulator. 1. A traveling device for a hydraulically driven vehicle, comprising regiator control means for outputting a command signal of the same value to the first regulator button and the second regulator button when the value is equal to or less than a predetermined set value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20842682A JPS59100020A (en) | 1982-11-30 | 1982-11-30 | Running gear of hydraulically driven vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20842682A JPS59100020A (en) | 1982-11-30 | 1982-11-30 | Running gear of hydraulically driven vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS59100020A true JPS59100020A (en) | 1984-06-09 |
| JPH0310531B2 JPH0310531B2 (en) | 1991-02-13 |
Family
ID=16556018
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP20842682A Granted JPS59100020A (en) | 1982-11-30 | 1982-11-30 | Running gear of hydraulically driven vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59100020A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6422678A (en) * | 1987-07-20 | 1989-01-25 | Kubota Ltd | Crawler vehicle |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58101870A (en) * | 1981-12-14 | 1983-06-17 | Komatsu Ltd | Rectilinear movement compensating device in hydraulically driven vehicle |
-
1982
- 1982-11-30 JP JP20842682A patent/JPS59100020A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58101870A (en) * | 1981-12-14 | 1983-06-17 | Komatsu Ltd | Rectilinear movement compensating device in hydraulically driven vehicle |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6422678A (en) * | 1987-07-20 | 1989-01-25 | Kubota Ltd | Crawler vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0310531B2 (en) | 1991-02-13 |
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