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EP2620549B1 - Finisseuse de route dotée de dispositifs de transport pouvant être commandés - Google Patents

Finisseuse de route dotée de dispositifs de transport pouvant être commandés Download PDF

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Publication number
EP2620549B1
EP2620549B1 EP12000504.6A EP12000504A EP2620549B1 EP 2620549 B1 EP2620549 B1 EP 2620549B1 EP 12000504 A EP12000504 A EP 12000504A EP 2620549 B1 EP2620549 B1 EP 2620549B1
Authority
EP
European Patent Office
Prior art keywords
conveyor device
laying
finishing machine
control unit
road finishing
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.)
Revoked
Application number
EP12000504.6A
Other languages
German (de)
English (en)
Other versions
EP2620549A1 (fr
Inventor
Klaus Bertz
Tobias Noll
Ralf Weiser
Alessandro de Santis
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Joseph Voegele AG
Original Assignee
Joseph Voegele AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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Application filed by Joseph Voegele AG filed Critical Joseph Voegele AG
Priority to EP12000504.6A priority Critical patent/EP2620549B1/fr
Priority to PL12000504T priority patent/PL2620549T3/pl
Priority to JP2013012262A priority patent/JP5681735B2/ja
Priority to CN201310032533.3A priority patent/CN103225252B/zh
Priority to US13/751,303 priority patent/US9260827B2/en
Publication of EP2620549A1 publication Critical patent/EP2620549A1/fr
Application granted granted Critical
Publication of EP2620549B1 publication Critical patent/EP2620549B1/fr
Revoked legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C21/00—Apparatus or processes for surface soil stabilisation for road building or like purposes, e.g. mixing local aggregate with binder
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/48—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for laying-down the materials and consolidating them, or finishing the surface, e.g. slip forms therefor, forming kerbs or gutters in a continuous operation in situ
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/12—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for distributing granular or liquid materials
    • E01C19/20—Apparatus for distributing, e.g. spreading, granular or pulverulent materials, e.g. sand, gravel, salt, dry binders
    • E01C2019/2055—Details not otherwise provided for
    • E01C2019/2065—Sensing the quantity of the material actually being distributed

Definitions

  • the invention relates to a paver according to the preamble of claim 1 and to a method for operating a paver according to the preamble of claim 11.
  • a paver has a material handling system with which a built-in material required for road construction is conveyed from a bunker located in front in the direction of travel to the rear end of the paver in the direction of travel.
  • a longitudinal conveyor system which is usually designed as a scraper belt.
  • the longitudinal conveyor system conveys the mix against the direction of travel from front to back under the machine.
  • the arranged at the rear end of the paver cross conveyor system which is usually designed as a distributor screw, then serves the distribution of the mix in front of a screed and should ensure the most constant and uniform distribution of the mix in the transverse direction of the paver.
  • Such a paver is for example from the DE 93 08 170 U1 known.
  • the material throughput of the mixed material in the longitudinal conveyor system and in the transverse conveyor system depends on several parameters, for example the feed of the paver, the paving width, the installed thickness and the density of the mixed material. For this reason, for example, beat the US 3,678,817 the EP 0 279 795 A2 , the DE 20 2004 004 082 U1 and the DE 196 80 396 B4 Systems for controlling the longitudinal and / or transverse conveyor system to adjust the material throughput of the systems. These systems have in common that they have one or more sensors for detecting the current material throughput and regulate the conveying speeds or rates on the basis of this data.
  • a disadvantage of the proposed systems is that the interaction of a controller with the sensors for detecting the material throughput shows a certain, unavoidable latency, and so to a delay between the event - namely a detrimental change in the material throughput - and the reaction it comes on.
  • a controller for detecting the material throughput shows a certain, unavoidable latency, and so to a delay between the event - namely a detrimental change in the material throughput - and the reaction it comes on.
  • changes in the use of a pullout by pulling the same the pave width of the paver so suddenly an increased Mischgut pocket in the area of the screed arises.
  • This is the sensor or the sensors only with a certain time delay, so that the associated control or regulation in response to it and with a further increased latency tries to compensate for the increased Mischgut site by increasing the delivery rate of the longitudinal and / or the transverse conveyor system.
  • Object of the present invention is therefore to provide a paver with an improved conveyor system for the built-in material available, which increases the design quality of the paver with structurally simple means possible.
  • the paver is characterized in that the control device for setting a delivery rate of the longitudinal and / or the transverse conveyor system in addition to the response to the sensor signal in response to detected installation parameters by means of a pilot control is vor Kunststoffbar.
  • the control device for setting a delivery rate of the longitudinal and / or the transverse conveyor system in addition to the response to the sensor signal in response to detected installation parameters by means of a pilot control is vor Kunststoffbar.
  • a plurality of installation parameters can be detected simultaneously by the control device. For example, a calculation of the theoretically required delivery rate by the control device can take place as soon as the main vehicle switch of the paver is actuated.
  • the road paver according to the invention thus offers the advantage that a largely constant speed of the conveyor system and thus a constant pre-compression of the built-in cargo is achieved by the feedforward control of the regulator device. This has a positive effect on the quality of the road created.
  • the drive units of the paver are spared.
  • control device and / or the feedforward control can be taught on the basis of the detected installation parameters; that is, the system is a self-learning system. This allows a self-learning determination of the pilot control values and improves the quality of the pilot control.
  • the installation parameters that can be taken into account by the control device can be any selection (ie one or more installation parameters) of installation width, steering position, position of an extension screed, installation thickness, paving speed, material supply, travel drive speed, road speed of the paver and bank inclination ,
  • installation width can be detected by the detection and evaluation of the drive speed of the right and left side of the paver cornering the paver.
  • a left turn requires an increased amount of built-in material on the right side of the paver, and vice versa.
  • the feedforward control of the material conveyor system makes it possible to prevent a contraction caused by cornering, unsteady reaction of the conveyors in advance by the conveyors due to the detected cornering accordingly be pre-controlled.
  • the large number of possible installation parameters effectively increases the control quality of the conveyor system.
  • control device of the pilot control is overridden to increase the dependence of the delivery rate of the mounting parameters relative to the sensor. For example, if the sensors detect that there is currently too much built-in material in the area of the screed, the control device causes a reduction in the delivery rate of the longitudinal and / or transverse conveyor. However, if the driving speed of the paver is also increased or the paving width is increased, it is advantageous if these parameters are prioritized by the control device in order to avoid a hectic or sharp balancing. This has an advantageous effect on the quality of installation and also reduces load peaks in the drive units of the paver and the material handling system.
  • the ratio of the delivery rates of the longitudinal and transverse conveying device to one another is variably adjustable.
  • the conveyor system of the paver can be adapted even more precisely to the operating conditions and thus the quality of installation can be improved.
  • the delivery rate of the longitudinal and / or transverse conveying device can be set by speed-controlled drive units. If, for example, electrically adjustable, hydraulically operating drive units are used for the material delivery system, they can be adjusted in their rotational speed by simple control of the control current.
  • the sensor system comprises at least one non-contact level sensor.
  • any contactless level or flow rate sensor is suitable for this purpose.
  • Paddle, ultrasonic, and swing lever sensors have proven particularly useful.
  • the road paver according to the invention is a wheel paver or a tracked paver.
  • the invention can be used in any of the most commonly used designs of road pavers.
  • the invention also relates to a method for operating a road paver.
  • the method according to the invention is characterized in that the control device for the material delivery system can additionally be precontrolled by means of feedforward control as a function of installation parameters.
  • the advantage of this is that thereby a feedforward control of the drive components of the material handling system of the paver can be made. This increases the quality of installation, avoids a sharp adjustment and thus reduces the load peaks occurring in the material handling system.
  • the material handling system is a self-learning system that simplifies the handling of the paver and can improve the quality of installation.
  • the installation parameters to be considered can be any number (ie one or more) of the pave width, the installation thickness, the installation speed, the longitudinal position, the position of a Ausziehbohle, the stock of material in the bunker, the traction drive speed, the speed of the entire paver and the bank of the screed to be selected.
  • a wide selection of observable installation parameters is available, which allows a particularly efficient control of the conveyor system or the precontrol of the same.
  • FIG. 1 shows a highly schematic representation of a road finisher 1 according to the invention with a feedforward control 2 according to the invention for a material handling system 3 of the paver 1.
  • the paver 1 may be a wheeled paver or a paver.
  • the pilot control 2 is integrated, for example, in an electronic control unit with at least one arithmetic unit 2a, a data memory 2b and a switch 2c and further has a plurality of inputs 4 for detecting installation and / or machine parameters 4a, 4b, 4c, 4d and a Output 4e for outputting at least one calculable output signal 4f.
  • the paver 1 comprises a control panel 5.
  • the parameters 4a, 4b and 4c are, for example, the installation width (EB width), the installation thickness (EB thickness) and the installation speed (EB speed).
  • the material conveyor system 3 shown comprises a longitudinal conveyor 6 for conveying a built-in cargo from the front part in the direction of travel to the rear of the paver 1.
  • the longitudinal conveyor 6 is preferably a two-part scraper belt.
  • the paver 1 comprises a cross conveyor 7, which is preferably a transverse distributor screw. In FIG. 1 in each case only one side of the longitudinal or transverse conveyor 6, 7 is shown, the other side is constructed analogously thereto.
  • the material conveyor system 3 shown has a hydraulic drive unit 8, which drives the longitudinal conveyor 6 with an adjustable speed.
  • the material conveyor system 3 has another Hydraulic drive unit 9 for driving the cross conveyor 7.
  • the drive unit 9 drives for this purpose the transverse distributor screw with an adjustable speed.
  • the paver 1 has a in FIG. 1
  • the control device 10 can be summarized with the pilot control 2 to a common control unit, separately formed or integrated into any other control device of the paver 1.
  • the control device 10 has in each case a first controller 11a, 11b and in each case a second controller 12a, 12b for controlling the hydraulic drive units 8, 9.
  • the first controllers 11a, 11b are each configured to generate a control current for the hydraulic drive units 8, 9
  • the second regulators 12a, 12b are each configured to cooperate with the precontrol 2, ie they are set up to interact with a precontrol signal of the precontrol 2 generated at the output 4e.
  • the road paver 1 furthermore has a sensor system which comprises at least one sensor 13a for monitoring the longitudinal conveyor device 6 and a further sensor 13b for monitoring the transverse conveyor device 7.
  • Both sensors 13a, 13b may have the same embodiment, preferably as an ultrasonic, paddle or pivot lever sensor. All sensors 13a, 13b are configured for interaction with the control device 10 or connected thereto by means of electrical lines. It is also possible for each side of the longitudinal conveyor 6, i. for each individual scraper belt, and / or for each part of the cross conveyor 7, i. for each individual transverse distributor screw, to provide its own sensor.
  • the sensors 13a, 13b are each configured to generate an electrical signal 13c, 13d, which represents the filling level of the installation material in a specific area of the material conveying system 3.
  • FIG. 2 schematically shows the operating principle of the feedforward control 2.
  • the feedforward control 2 determines a basic speed 14a for the longitudinal conveyor on the basis of several installation and machine parameters applied to the input 4 6 and / or the cross conveyor 7.
  • the basic speed 14a is either by manual operation, ie by the manual input 4d of an operator on the control panel 5 of the paver 1, set, or it will be stored by the operator in the data memory 2b of the feedforward control 2 construction site data, so called PRESET data, called and set the base speed 14a accordingly.
  • PRESET data so called and set the base speed 14a accordingly.
  • Another possibility is the consideration of the installation parameters 4a, 4b, 4c.
  • the basic rotational speed 14a can be controlled as a function of the manually altered installation width or cornering.
  • the feedforward control 2 combines the basic speed 14a with an automatic mode 15 to a drive speed 14b of the drive units 8, 9 of the longitudinal and / or transverse conveyors 6, 7 to be adjusted.
  • the automatic mode 15 takes into account the signals 13c, 13d generated by the sensors 13a, 13b for this purpose current level of material delivery system 3.
  • the material delivery system 3 is a setpoint input 16 for a material height 16a of the longitudinal conveyor 6 and a further material height 16b of the cross conveyor 7 specified.
  • the material heights 16a, 16b are represented within the material conveying system 3 by a respective setpoint voltage 16c, 16d.
  • the signals 13c, 13d generated by the sensors 13a, 13b represent the current material height in the material conveying system 3 in the form of an electrical voltage, ie the actual voltage.
  • the control device 10 now calculates from the voltage signals 13a, 13b and 16c, 16d a deviation 17a, 17b of the desired heights 16a, 16b from the material actual heights.
  • the target voltage 16c, 16d adjusted to specify a control current 18a, 18b for the drive units 8, 9 of the material delivery system 3.
  • the switch 2c of the pilot control 2 the control currents 18a, 18b are switched on and the drive units 8, 9 are driven at the appropriate speed.
  • the value of the signals 13c, 13d representing the actual material height is influenced or changed.
  • the pilot control 2 also allows the control currents 18a, 18b for the drive units 8, 9 to be recorded in the data memory 2b. From the recorded or stored control currents 18a, 18b, the feedforward control 2 can close by a calculation on the present installation situation and generate further solo control currents 19a, 19b. When these desired control currents 19a, 19b determined from the recorded control currents 18a, 18b are present, the pilot control 2 activates these values by means of the switch 2c instead of the desired control currents 18a, 18b.
  • control currents 18a, 18b of the first controllers 11a, 11b or the desired control currents 19a, 19b influenced by the second controllers 12a, 12b and the precontrol 2 are activated by the switch 2c, ie supplied to the drive units 8, 9 ,
  • the paver 1 according to the invention or the operation of the feedforward control 2 can be modified in many ways.
  • the installation and / or machine parameters applied to the inputs 4 of the pilot control 2 can be taken into account for determining the desired control currents 19a, 19b for the drive units 8, 9. It is also possible to consider the installation width, the installation thickness and the installation speed of the right and left travel drive of the paver 1 together or separately for the calculation of the desired control currents 19a, 19b. It is also conceivable that the steering angle of a road paver 1 is calculated.
  • the feedforward control of the longitudinal conveying device 6 to additionally monitor the control flow 19b of the transverse conveying device 7 and to take it into account in the calculation of the desired control flow 19a.
  • the speed specification for the longitudinal conveyor 6 can be made simultaneously with the speed specification for the cross conveyor 7 and a material shortage in a range between longitudinal conveyor and cross conveyor 6, 7 can be prevented.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Road Paving Machines (AREA)

Claims (12)

  1. Finisseur de route (1) comprenant un dispositif de transport longitudinal (6) pouvant être commandé et, disposé à la suite dans le sens de la marche, un dispositif de transport transversal (7) pouvant être commandé, pour un enrobé à poser, et comprenant également un dispositif de régulation (10) pour régler un débit de transport du dispositif de transport longitudinal (6) et/ou du dispositif de transport transversal (7), finisseur de route
    dans lequel le dispositif de régulation (10) est relié à un système de capteurs (13a, 13b) pour la détermination d'une quantité ou d'un débit d'enrobé à poser, le débit de transport est réglable en fonction d'un signal (13c, 13d) du système de capteurs (13a, 13b), qui représente la quantité ou le débit d'enrobé à poser, et le dispositif de régulation (10) peut en plus être commandé de manière préalable au moyen d'une commande pilote (2) en fonction de paramètres de pose de revêtement (4a, 4b, 4c, 4d),
    caractérisé en ce que les paramètres de pose de revêtement (4a, 4b, 4c, 4d) comprennent des données introduites par l'utilisateur, et le dispositif de régulation (10) peut être sur-régulé par la commande pilote (2), en vue d'augmenter la dépendance du débit de transport vis-à-vis des paramètres de pose de revêtement (4a, 4b, 4c, 4d), par rapport au système de capteurs (13a, 13b).
  2. Finisseur de route selon la revendication 1, caractérisé en ce que le dispositif de régulation (10) et/ou la commande pilote (2) peuvent être soumis à un apprentissage à l'aide des paramètres de pose de revêtement (4a, 4b, 4c, 4d).
  3. Finisseur de route selon l'une des revendications précédentes, caractérisé en ce que les paramètres de pose de revêtement (4a, 4b, 4c, 4d) sont une sélection parmi la largeur de pose du revêtement, l'épaisseur de pose du revêtement, la vitesse de pose du revêtement, la position de la direction, la position d'une rallonge de table de finisseur, la réserve de matériaux, la vitesse d'un entraînement de marche, la vitesse de marche du finisseur de route (1) et l'inclinaison transversale de la table de finisseur.
  4. Finisseur de route selon l'une des revendications précédentes, caractérisé en ce qu'il est possible de calculer un débit de transport théoriquement nécessaire du dispositif de transport longitudinal (6) et/ou du dispositif de transport transversal (7), et le dispositif de régulation (10) peut être commandé de manière préalable en fonction de ce débit de transport.
  5. Finisseur de route selon l'une des revendications précédentes, caractérisé en ce que le rapport des débits de transport du dispositif de transport longitudinal (6) et du dispositif de transport transversal (7) l'un à l'autre est réglable de manière variable.
  6. Finisseur de route selon l'une des revendications précédentes, caractérisé en ce que le débit de transport du dispositif de transport longitudinal (6) et/ou du dispositif de transport transversal (7) est réglable par des unités d'entraînement (8, 9) commandées en vitesse de rotation.
  7. Finisseur de route selon l'une des revendications précédentes, caractérisé en ce que le système de capteurs (13a, 13b) comprend au moins un capteur de niveau de remplissage.
  8. Finisseur de route selon l'une des revendications précédentes, caractérisé en ce que le finisseur de route (1) est un finisseur de route sur roues ou un finisseur de route sur chenilles.
  9. Procédé pour faire fonctionner un finisseur de route (1) comprenant un dispositif de transport longitudinal (6) pouvant être commandé et, disposé à la suite dans le sens de la marche, un dispositif de transport transversal (7) pouvant être commandé, pour un enrobé à poser, et comprenant également un dispositif de régulation (10) pour régler un débit de transport du dispositif de transport longitudinal (6) et/ou du dispositif de transport transversal (7), procédé d'après lequel le dispositif de régulation (10) est relié à un système de capteurs (13a, 13b) pour la détermination d'une quantité d'enrobé à poser, le débit de transport est réglé en fonction d'un signal (13c, 13d) du système de capteurs (13a, 13b), qui représente la quantité ou le débit d'enrobé à poser, et le dispositif de régulation (10) est en plus commandé de manière préalable au moyen d'une commande pilote (2) en fonction de paramètres de pose de revêtement (4a, 4b, 4c, 4d), caractérisé en ce que concernant les paramètres de pose de revêtement (4a, 4b, 4c, 4d), on prend en considération des données introduites par l'utilisateur, et en ce que le dispositif de régulation (10) peut être sur-régulé par la commande pilote (2).
  10. Procédé selon la revendication 9, caractérisé en ce que l'on soumet le dispositif de régulation (10) et/ou la commande pilote (2) à un apprentissage à l'aide des paramètres de pose de revêtement (4a, 4b, 4c, 4d).
  11. Procédé selon la revendication 9 ou la revendication 10, caractérisé en ce que les paramètres de pose de revêtement (4a, 4b, 4c, 4d) sont sélectionnés parmi la largeur de pose du revêtement, l'épaisseur de pose du revêtement, la vitesse de pose du revêtement, la position de la direction, la position d'une rallonge de table de finisseur, la réserve de matériaux, la vitesse d'un entraînement de marche, la vitesse de marche du finisseur de route (1) et l'angle d'inclinaison du finisseur de route (1).
  12. Procédé selon l'une des revendications 9 à 11, caractérisé en ce qu'à partir des paramètres de pose de revêtement (4a, 4b, 4c, 4d), on calcule un débit de transport théoriquement nécessaire du dispositif de transport longitudinal (6) et/ou du dispositif de transport transversal (7), et le dispositif de régulation (10) est commandé de manière préalable en fonction de ce débit de transport.
EP12000504.6A 2012-01-26 2012-01-26 Finisseuse de route dotée de dispositifs de transport pouvant être commandés Revoked EP2620549B1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
EP12000504.6A EP2620549B1 (fr) 2012-01-26 2012-01-26 Finisseuse de route dotée de dispositifs de transport pouvant être commandés
PL12000504T PL2620549T3 (pl) 2012-01-26 2012-01-26 Wykańczarka ze sterowanymi urządzeniami przenoszącymi
JP2013012262A JP5681735B2 (ja) 2012-01-26 2013-01-25 制御可能なコンベヤ装置を備える路面仕上げ機
CN201310032533.3A CN103225252B (zh) 2012-01-26 2013-01-28 具有可控输送装置的路面整修机
US13/751,303 US9260827B2 (en) 2012-01-26 2013-01-28 Road finishing machine with controllable conveyor devices

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP12000504.6A EP2620549B1 (fr) 2012-01-26 2012-01-26 Finisseuse de route dotée de dispositifs de transport pouvant être commandés

Publications (2)

Publication Number Publication Date
EP2620549A1 EP2620549A1 (fr) 2013-07-31
EP2620549B1 true EP2620549B1 (fr) 2014-05-14

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EP12000504.6A Revoked EP2620549B1 (fr) 2012-01-26 2012-01-26 Finisseuse de route dotée de dispositifs de transport pouvant être commandés

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US (1) US9260827B2 (fr)
EP (1) EP2620549B1 (fr)
JP (1) JP5681735B2 (fr)
CN (1) CN103225252B (fr)
PL (1) PL2620549T3 (fr)

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CN105568825B (zh) * 2014-10-10 2018-07-03 中联重科股份有限公司 摊铺机
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EP3434825A1 (fr) * 2017-07-27 2019-01-30 Joseph Vögele AG Assistance de direction pour une finisseuse de route
EP3594409B1 (fr) * 2018-07-13 2022-03-09 Joseph Vögele AG Engin de construction doté d'une installation de bande transporteuse à capteur de poids
US10889945B2 (en) * 2018-10-10 2021-01-12 Caterpillar Paving Products Inc. Emulsion heating control for a paving machine
JP7352960B2 (ja) * 2020-02-10 2023-09-29 範多機械株式会社 道路舗装機械
WO2021193332A1 (fr) * 2020-03-27 2021-09-30 住友建機株式会社 Finisseuse d'asphalte et dispositif d'apprentissage machine
JP2023154945A (ja) 2022-04-08 2023-10-20 住友建機株式会社 道路機械の制御システム
PL4428303T3 (pl) * 2023-03-08 2025-05-26 Joseph Vögele AG Sposób i system budowy dróg do dynamicznego sterowania prędkością wbudowywania wykańczarki

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CN103225252A (zh) 2013-07-31
JP2013155597A (ja) 2013-08-15
EP2620549A1 (fr) 2013-07-31
CN103225252B (zh) 2016-05-18
US9260827B2 (en) 2016-02-16
PL2620549T3 (pl) 2014-10-31
JP5681735B2 (ja) 2015-03-11
US20130195550A1 (en) 2013-08-01

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