• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to off-road working machines and the control of the brakes in an off-road working machine and in particular to an arrangement and method for controlling the working brakes in a hydraulic or electric-powered work machine. The method according to the invention for controlling the brakes, advantageously the working brakes, in a hydraulic or electric driven machine (10), (50), in which the hydraulic or electric powered machine (10), (50) comprises one or more body parts (11), (12), (51), (52), and moving means (13), (53), are characterized in that the procedure comprises the following phases: observed (31), (41) driver control action to initiate the hydraulic or electric drive machine (10), (50) movement, the brakes of the hydraulic or electric driven machine (10), (50) are kept (32), (42) coupled, the torque value is measured (33), (43) from the hydraulic or electric driven machine ( 10), (50) drive transmission, and (35), (45) the hydraulic or electric drive machine (10), (50) brakes when said measured (33), (43) torque value exceeds a predetermined calculated torque value.
    公开号:FI20185719A1
    申请号:FI20185719
    申请日:2018-08-30
    公开日:2020-03-01
    发明作者:Markku Savolainen
    申请人:Ponsse Oyj；
    IPC主号:
    专利说明:

    ARRANGEMENT AND METHOD FOR CONTROLLING THE WORK BRAKES OF A HYDRAULIC OR ELECTRIC MACHINE
    FIELD OF THE INVENTION The invention relates to off-road implements and control of the brakes of an off-road implement, and in particular to an arrangement and method for controlling the service brakes of a hydraulic or electric implement.
    BACKGROUND OF THE INVENTION Commonly used implements 10 in off-road implements are hydraulic or electric implements. Hydraulic or electric implements can include forestry machines.
    Forest machines are used in mechanical logging for felling, pruning and felling, collecting, transporting and stacking trees. Forest machines include, for example, harvesters, forwarders and combinations thereof, the so-called combination machines.
    Forest machines are off-road implements that often have to work on rather uneven terrain. Especially when working on a sloping slope and still moving, there is a risk of the uncontrolled run-off or rush of the forest machine down 20 downhill.
    The traditionally used method of controlling the working brakes of a forestry machine works by releasing the brakes at the same time as the propulsion components are controlled. When working on a slope and when starting uphill, the control method according to the prior art can be such that when starting uphill, the forest machine initially moves uncontrollably in the downhill direction, before
    2180291FI
    20185719 prh 30 -08- 2018 as the forest machine starts to move in the direction of the uphill. This phenomenon is due to the fact that the brakes are released before the propulsion components have sufficient torque for the propulsion to move the forest machine uphill. Especially when working on a steep slope with winch assistance, this above-mentioned phenomenon is very unpleasant and may, at worst, lead to damage to the wire.
    Similarly, when working on a slope and starting downhill, according to the prior art control method 10, it may happen that when starting downhill, the forest machine initially rushes uncontrollably downhill, the forest machine initially moves downhill, before the forest, downhill.
    Attempts have been made to solve this problem by various solutions according to the prior art. One such prior art solution is presented in Finnish patent publication FI126906B, which describes a calculated time delay after starting, after which time the implement brakes are released for starting. However, said computational delay is a rather inaccurate estimate of 20 times and is not able to prevent the forest machine from running down or rushing downhill in all situations.
    Thus, there is a clear need for a solution that When working on slopes and working on uneven terrain, it is better to prevent the uncontrolled spillage or rush downhill of a hydraulic or electric implement, such as a forestry machine, when starting off.
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    20185719 prh 30 -08- 2018
    BRIEF DESCRIPTION OF THE INVENTION The object of the present invention is to provide a new solution for controlling the service brakes of a hydraulic or electric implement, which can better prevent uncontrolled spillage or rushing downhill of a hydraulic or electric implement when starting than previous solutions. the problems and disadvantages of starting up an electric machine can be minimized.
    The arrangement according to the invention for controlling the brakes of a hydraulic or electric driven machine 10, preferably the working brakes, wherein the hydraulic or electric driven machine comprises one or more body parts, and the moving means, which further comprises a hydraulic or electric driven machine control system and measuring equipment, is characterized by that said measuring apparatus is adapted to measure 15 torque values from the propulsion transmission of a hydraulic or electric working machine; and wherein said steering system is adapted to: detect a driver's steering action to initiate movement of the hydraulic or electric implement, keep the brakes of the hydraulic or electric implement engaged, and release the brakes of the hydraulic or electric implement when said measured torque value exceeds a predetermined torque value.
    Preferably, in the arrangement, at least one of said one or more parts 25 of the hydraulically or electrically driven working machine is located on a sloping work platform.
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    20185719 prh 30 -08- 2018 Preferably, said measuring apparatus in the arrangement is adapted to measure the inclination of the working platform of a hydraulically or electrically driven machine relative to the horizontal.
    Preferably, said measuring apparatus in the arrangement is adapted to measure the position of the hydraulically or electrically driven working machine or the angle of inclination with respect to the gravity vector.
    Preferably, said calculated torque value in the arrangement is determined on the basis of the slope slope and / or the weight of the hydraulically or electrically driven implement and / or the weight of the load of the hydraulically or electrically driven implement.
    Preferably, said calculated torque value in the arrangement is defined to correspond to the torque required to hold the hydraulically or electrically driven implement in place.
    Preferably, said arrangement is adapted as a safety feature for a hydraulic or electric implement.
    Preferably, the hydraulically or electrically driven working machine mentioned in the arrangement is a forestry machine.
    The method according to the invention for controlling the brakes of a hydraulic or electric driven machine, preferably the service brakes, in which the hydraulic or electric driven machine comprises one or more body parts and means of movement, is characterized in that the method comprises the steps of: detecting driver control of a hydraulic or electric driven machine to start the movement, keep the brakes of the hydraulic or electric implement engaged, measure 25 torques from the propulsion of the hydraulic or electric implement, and release the hydraulic or electric implement;
    2180291FI
    20185719 prh 30 -08- 2018 when said measured torque value exceeds a predetermined calculated torque value.
    Preferably, in the method, at least one of said one or more parts of the frame 5 of a hydraulically or electrically driven working machine is located on an inclined working platform.
    Preferably, said measuring apparatus in the method is adapted to measure the inclination of the working platform of a hydraulically or electrically driven working machine with respect to the horizontal.
    Preferably, in the method, said measuring apparatus is adapted to measure the position or angle of inclination of a hydraulically or electrically driven working machine relative to the gravity vector.
    Preferably, said calculated torque value in the method is determined on the basis of the slope slope and / or the weight of the hydraulically or electrically driven implement and / or the weight of the load of the hydraulically or electrically driven implement.
    Preferably, said calculated torque value in the method is defined to correspond to the torque required to hold the hydraulically or electrically driven working machine in place.
    Preferably, the hydraulically or electrically driven working machine 20 mentioned in the method is a forestry machine.
    BRIEF DESCRIPTION OF THE DRAWINGS Some embodiments of the invention will now be described in more detail in connection with some preferred embodiments, with reference to the accompanying drawings, in which:
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    20185719 prh 30 -08- 2018
    Figure 1 illustrates a forest machine according to an embodiment of the invention in slope work on an uphill side view.
    Fig. 2 shows a block diagram of the structure of a service brake control arrangement of a forest machine according to an embodiment of the invention.
    Figure 3 shows a flow chart of a method for controlling the service brakes of a forest machine according to an embodiment of the invention.
    Figure 4 illustrates a forest machine according to an embodiment of the invention working downhill on a downhill side view.
    Figure 5 shows a flow chart of a method for controlling the service brakes of a forest machine according to an alternative embodiment 10 of the invention.
    Figure 6 illustrates a forest machine according to an alternative embodiment of the invention in slope work on an uphill side view.
    The figures are not shown to scale and some features may have been simplified, highlighted or obscured in the figures to improve the clarity of the essential features.
    EMBODIMENT DESCRIPTION OF THE INVENTION In the solution according to the invention
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    20185719 prh 30 -08- 2018 The hydraulically or electrically driven working machine is preferably a forestry machine, such as a harvester or a forwarder.
    Figure 1 illustrates a forest machine according to an embodiment of the invention in downhill work on an uphill side view. Figure 1 shows a forest machine 10 according to an embodiment of the invention, more particularly a harvester 10. The forest machine 10 according to the invention is illustrated here on an inclined working platform 1, which working platform 1 is inclined upwards in the forward direction of the forest machine. In Figure 1, the slope is illustrated by the angle a.
    In various embodiments, the forest machine 10 may also comprise another forest machine, for example a forwarder or other type of driving machine suitable for transporting a load, or a combination of a forwarder and a harvester or other forest machine moving on a slope or uneven terrain.
    The forest machine 10 according to the invention may comprise one or more frame parts 11, 12. The forest machine 10 may further comprise movement means 13, which movement means 13 may comprise at least one of: axle-mounted wheels, swing-axle wheels, bogie-axle wheels, track or other means 20 known per se for guiding a forest machine relative to its work platform.
    The forest machine 10 may further comprise a cab 14 arranged in at least one body. It will be apparent to one skilled in the art that the forest machine further typically comprises a number of different structural and functional forest machine type dependent components and assemblies, such as a boom 15, tool 16, power source and so on. The tool 16 may comprise, for example, a wood processing tool 16, such as a harvester head 16, and / or a lifting means, such as a load bucket.
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    20185719 prh 30 -08- 2018 The forest machine 10 according to the invention may further comprise an arrangement for controlling the service brakes of the forest machine. Work brakes in this context refer to brakes which can be used in a forest machine 10 when working on a sloping work platform 1. 5 Control of work brakes in this context means controlled release of work brakes, e.g. it is possible to keep the brakes 10 engaged and to release them only when the uncontrolled movement of the forest machine downhill can be prevented by means of propulsion.
    Fig. 2 shows a block diagram of the structure of the control arrangement of the working brakes 15 of a forest machine according to an embodiment of the invention. According to an embodiment of the invention, the forest machine service brake control arrangement 20 comprises a control system 21, a measuring device 22 and forest machine actuators 26. The control device 20 measuring device 22 according to the invention may comprise at least two measuring devices 23-25 by means of measuring the required measurement quantities, such as platform inclination and traction the position of the hydraulically or electrically driven implement or the angle of inclination in relation to the gravity vector.
    The at least two measuring devices 23-25 of the measuring device 22 of the control arrangement 20 according to the invention may comprise pressure sensors 23-25, for example on a hydraulically operated working machine 25 or on a CVT (Continuously Variable Transmission) working machine. Correspondingly, at least two measuring devices 23-25 of the measuring device 22 of the control arrangement 20 according to the invention can, for example, be electrically operated
    2180291FI
    20185719 prh 30 -08- 2018 on the working machine comprises electric current measuring sensors 23-25. Alternatively, at least two measuring devices 23-25 of the measuring device 22 of the control arrangement 20 according to the invention may comprise torque sensors 23-25 located in the mechanics of a hydraulic or electric working machine. Further, at least two measuring devices 23-25 of the measuring apparatus 22 of the control arrangement 20 according to the invention 5 may comprise IMU sensor modules 23-25 (IMU), which IMU sensor modules 23-25 measure the position of the machine and / or the sensor module with respect to the gravity vector. The measuring sensors 23-25 of said IMU sensor modules can be, for example, a 3D acceleration sensor and a 3D 10 angular acceleration sensor. The position of the machine thus determines the tilt angle of the machine and the inclination of the work platform is further determined from said tilt angle of the machine.
    By means of said at least two measuring devices 23-25 of the measuring device 22 of the working brake control arrangement of the forest machine according to the invention, a torque value is measured from the transmission of the forest machine. Likewise, the inclination of the work platform is measured by means of said at least two measuring devices 23-25. Likewise, by means of said at least two measuring devices 23-25, the position or angle of inclination of the hydraulically or electrically driven working machine with respect to the gravity vector is measured. 20 Said measured torque value is compared with the calculated torque value required to hold the forest machine in place. Said calculated torque value, i.e. the torque level at which the service brakes are released is determined, for example, by the slope of the slope and / or the weight of the forest machine and / or the weight of the forest machine load. The control arrangement of the working brakes of the forest machine according to the invention makes it possible to keep the brakes engaged and to release them only when the uncontrolled movement of the forest machine downhill can be prevented by means of propulsion.
    2180291FI
    20185719 prh 30 -08- 2018 Figure 3 shows a flow chart of a method for controlling the service brakes of a forest machine according to an embodiment of the invention. In a method according to an embodiment of the invention for controlling the service brakes of a forest machine, the driver 5 first controls the forest machine 31 to start moving up the slope in a situation where the brakes of the forest machine are engaged. In the solution according to the invention, the control arrangement of the service brakes detects the steering action of the driver to start the movement of the forest machine. Said control action 31 by the driver may comprise, for example, releasing the brake pedal / brake switch and / or depressing the accelerator pedal.
    Next, the service brake control arrangement still keeps the brakes 32. Next, a torque value of 33 is measured from the drive transmission of the forest machine. Said measured torque value 33 is compared with the calculated torque value 34 required to hold the 15 forest machines in place. The control system determines the calculated torque value either before the control arrangement of the service brakes detects a control action to start the movement of the forest machine or at the stage when said control arrangement detects a control action to start the movement of the forest machine.
    If said measured torque value 33 is not sufficient to hold the forest machine in place, the service brake control arrangement keeps the brakes still engaged, repeats the measurement of the torque value 33 from the driving force transmission of the forest machine and further repeats the comparison of the measured torque value 33 to said torque value 34. If said measured torque value 33 is sufficient to hold the forest machine in place, the service brake control arrangement
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    20185719 prh 30 -08- 2018 releases 35 brakes. After releasing the brakes 35, the upward movement of the forestry machine is allowed 36.
    Figure 4 illustrates a forest machine according to an embodiment of the invention in downhill work on a downhill as seen from the side. Figure 4 shows a forest machine 10 according to an embodiment of the invention, more particularly a harvester 10. The forest machine 10 according to the invention is illustrated here on an inclined work platform 2, which work platform 2 is inclined downwards when viewed in the forward direction of the forest machine. In Figure 4, the slope is illustrated at angle α. In various embodiments, the forest machine 10 may also comprise another forest machine, for example a forwarder or other type of driving machine, or a combination of forwarder and harvester or other forest machine moving on slopes or uneven terrain.
    The forest machine 10 according to the invention may comprise one or more frame parts 11, 12. The forest machine 10 may further comprise movement means 13, which movement means 13 may comprise at least one of: axle-mounted wheels, swing-axle wheels, bogie-axle wheels, track or other means 20 known per se for guiding a forest machine relative to its work platform.
    The forest machine 10 may further comprise a cab 14 arranged in at least one body. It will be apparent to one skilled in the art that the forest machine further typically comprises a number of different structural and functional forest machine type dependent components and assemblies, such as a boom 15, tool 16, power source and so on. The tool 16 may comprise, for example, a wood processing tool 16, such as a harvester head 16, and / or a lifting means, such as a load bucket.
    2180291FI
    20185719 prh 30 -08- 2018 The forest machine 10 according to the invention may further comprise an arrangement for controlling the service brakes of the forest machine. Working brakes in this context refer to brakes which can be used in a forest machine 10 when working on a sloping work platform 1.
    Work brake control in this context means controlled release of the service brakes, for example in a situation where one or more forest machine body parts 11, 12 are located on a downwardly sloping work platform 2. The service brake control arrangement according to the invention allows the brakes 10 to be kept engaged and released only when driving. uncontrolled downhill movement of the forest machine.
    Figure 5 shows a flow chart of a method for controlling the service brakes of a forest machine 15 according to an alternative embodiment of the invention. In a method according to an embodiment of the invention for controlling the working brakes of a forest machine, the driver first controls 41 the forest machine to start moving down the slope in a situation where the brakes of the forest machine are engaged. Said control action 41 of the driver may comprise, for example, releasing the brake 20 pedal / brake switch and / or depressing the accelerator pedal.
    Next, the service brake control arrangement keeps the brakes still engaged 42. Next, a torque value 43 is measured from the propulsion transmission of the forest machine. Said measured torque value 43 is compared with the calculated torque value 44 required to hold the forest machine 25 in place.
    If said measured torque value 43 is not sufficient to hold the forestry machine in place, the service brake control arrangement keeps the brakes still engaged, repeats the torque measurement
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    20185719 prh 30 -08- 2018 from the propulsion of the forest machine and further repeats the comparison of the torque value 43 thus measured with said calculated torque value 44. If said measured torque value 43 is sufficient to hold the forest machine in place, the service brake control arrangement 5 releases the brakes 45. After releasing the brakes 45, the downward movement of the forest machine is allowed 46.
    Fig. 6 illustrates a forest machine according to an alternative embodiment of the invention in slope work on an uphill side view. Figure 6 shows a forest machine 50 according to an embodiment of the invention 10, more particularly a forwarder 50. The forest machine 10 according to the invention is illustrated here on an inclined work platform 3, which work platform 3 is upwardly inclined in the forward direction of the forest machine. In Figure 6, the slope is illustrated at an angle α. The forest machine 50 according to the invention may comprise one or more frame parts 51, 52. The forest machine 10 may further comprise moving means 53, which moving means 53 may comprise at least one of: axle-mounted wheels , wheels mounted on the bogie axle, a track or other means known per se for guiding the forest machine relative to its work platform 20. The forest machine 50 may further comprise a cab 54 fitted to at least one body. It will be apparent to one skilled in the art that the forest machine typically further comprises a number of different structural and functional forest machine type dependent components and assemblies such as a boom 55, a tool (not shown), a power source still. The tool may comprise, for example, a lifting means such as a bucket and / or a wood handling tool such as a harvester head.
    The forest machine 50 according to an alternative embodiment of the invention may further comprise an arrangement of a forest machine
    2180291EN For controlling the service brakes. Work brakes in this context mean brakes which can be used in a forest machine 50 when working on a sloping work platform 3. Work brake control in this context means a controlled release of work brakes 5, for example in a situation where one or more it is possible to keep the brakes engaged and to release them only when the uncontrolled movement of the forest machine 10 downhill can be prevented by means of propulsion.
    The idea according to the invention is to use the torque value measured from the propulsion system to control the service brakes of a hydraulic or electric implement so that the brakes are only released when the propulsion components have provided sufficient torque to hold the forest machine in place when the head is in place.
    20185719 prh 30 -08- 2018 If hydraulic components are involved in the implementation of the propulsion, the torque can be deduced on the basis of the hydraulic pressure, and correspondingly in the electric propulsion, the torque can be deduced on the basis of the electric current level, etc.
    The level of torque at which the service brakes are released is determined by the slope and / or the weight of the forest machine and / or the weight of the forest machine load.
    Correspondingly, the control principle according to the solution of the invention can also be utilized when starting on a steep slope in the downhill direction, so that first the propulsion components first generate a sufficient torque for braking the movement of the forest machine, and
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    20185719 prh 30 -08- 2018 only then will the brakes be released. In this case, an unwanted momentary rush of the forest machine downhill when the brakes are released can be prevented.
    The control principle according to the invention also makes it possible to implement a separate safety function for slope work of a hydraulically or electrically driven working machine, such as a forest machine, which said safety function does not release the service brakes until it has been determined that By means of the safety function 10 according to the present invention, the propulsion components 10 can thus be tested before each start-up and before the service brakes are released.
    The above solutions are particularly advantageous in connection with forest machines working on demanding slope work and on uneven terrain, for example harvesters, forwarders or combinations thereof, and have a direct effect on the work comfort and safety of the forest machine operator.
    It will be apparent to one skilled in the art that as technology advances, the basic idea of the invention may be implemented in many different ways. The invention and its embodiments are thus not limited to the examples described above but may vary within the scope of the claims.
    权利要求:
    Claims (15)
    [1]
    An arrangement (20) for controlling the brakes, preferably the service brakes, of a hydraulically or electrically driven implement (10), (50)
    5 in slope work, in which the hydraulically or electrically driven working machine (10), (50) comprises one or more frame parts (11), (12), (51), (52), and moving means (13) (53), which arrangement (20) further comprises a hydraulically or electrically driven implement (10), (50) a control system (21) and a measuring apparatus (22), wherein:
    10 - said measuring apparatus (22) is adapted to measure a torque value from the propulsion transmission of a hydraulically or electrically driven working machine (10), (50); and where:
    said control system (21) is adapted to:
    detecting the driver's steering action to start the movement of the hydraulic or electric implement (10), (50), keeping the brakes of the hydraulic or electric implement (10), (50) engaged, and releasing the brakes of the hydraulic or electric implement (10), (50) , when said measured torque value exceeds a predetermined calculated torque value.
    [2]
    An arrangement (20) according to claim 1, wherein at least one of said one or more body parts (11), (12), (51), (52) of the hydraulically or electrically driven working machine (10), (50) is located
    25 on inclined work platforms (1), (2), (3).
    [3]
    An arrangement (20) according to claim 1 or 2, wherein said measuring apparatus (22) is adapted to measure hydraulic or
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    20185719 prh 30 -08- 2018 the inclination of the work platform (1), (2), (3) of the electric working machine (10), (50) with respect to the horizontal.
    [4]
    An arrangement according to any one of the preceding claims 1-3
    [5]
    5 (20), wherein said measuring apparatus (22) is adapted to measure the position or angle of inclination of the hydraulically or electrically driven working machine (10), (50) with respect to the gravity vector.
    Arrangement according to one of the preceding claims 1 to 4
    10 (20), wherein said calculated torque value is determined by the slope slope and / or the weight of the hydraulic or electric driven machine (10), (50) and / or the weight of the hydraulic or electric driven machine (10), (50).
    15
    [6]
    The arrangement (20) of claim 5, wherein said calculated torque value is defined to correspond to a torque required to hold the hydraulically or electrically driven implement (10), (50) in place.
    20
    [7]
    An arrangement (20) according to any one of the preceding claims 1 to 6, said arrangement (20) being adapted as a safety measure for a hydraulically or electrically driven working machine (10), (50).
    [8]
    An arrangement according to any one of the preceding claims 1-7
    25 (20), wherein said hydraulically or electrically driven working machine (10), (50) is a forestry machine (10), (50).
    [9]
    A method for controlling the brakes, preferably working brakes, of a hydraulically or electrically driven working machine (10), (50), wherein the hydraulic
    2180291FI
    20185719 prh 30 -08- 2018 or an electrically operated working machine (10), (50) comprises one or more body parts (11), (12), (51), (52), and moving means (13) (53) which the method comprises the steps of:
    detect (31), (41) the driver's steering action to start the movement of the hydraulic or electric power implement (10), (50), keep (32), (42) the brakes of the hydraulic or electric power implement (10), (50) engaged, measure (33), (43) a torque value for the propulsion of a hydraulically or electrically driven implement (10), (50), and
    [10]
    10 - releasing the brakes of (35), (45) the hydraulic or electric driven machine (10), (50) when said measured torque value (33), (43) exceeds a predetermined calculated torque value.
    A method according to claim 9, wherein at least one of said one or more frame parts (11), (12), (51), (52) of the hydraulically or electrically driven working machine (10), (50) is located on a sloping work platform (1). ), (2), (3).
    [11]
    The method of claim 9 or 10, wherein the method comprises the step of:
    measuring the inclination of the working platform (1), (2), (3) of the hydraulically or electrically driven working machine (10), (50) with respect to the horizontal.
    [12]
    A method according to any one of claims 9 to 11, which method comprises the step of:
    measuring the position or angle of inclination of the hydraulically or electrically driven implement (10), (50) in relation to the gravity vector.
    2180291FI
    [13]
    A method according to any one of the preceding claims 9-12, wherein said calculated torque value is determined by the slope slope and / or the weight of the hydraulically or electrically driven implement (10), (50) and / or the hydraulically or electrically driven
    5 based on the weight of the load of the working machine (10), (50).
    [14]
    The method of claim 13, wherein said calculated torque value is defined to correspond to a torque required for a hydraulically or electrically driven machine.
    10 flO), (50).
    [15]
    A method according to any one of the preceding claims 9-14, wherein said hydraulically or electrically driven working machine (10), (50) is a forestry machine (10), (50).
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    WO2020043953A8|2020-07-02|
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    法律状态:
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    优先权:
    申请号 | 申请日 | 专利标题
    FI20185719A|FI129354B|2018-08-30|2018-08-30|Arrangement and method for controlling the working brakes of a hydraulically or electrically driven work machine|FI20185719A| FI129354B|2018-08-30|2018-08-30|Arrangement and method for controlling the working brakes of a hydraulically or electrically driven work machine|
    BR112021002927-3A| BR112021002927A2|2018-08-30|2019-08-29|arrangement and method for controlling work brakes of a hydraulically or electronically operated work machine|
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    US17/271,805| US20210339721A1|2018-08-30|2019-08-29|Arrangement and method for controlling working brakes of a hydraulically or electrically operated work machine|
    PCT/FI2019/050616| WO2020043953A1|2018-08-30|2019-08-29|Arrangement and method for controlling working brakes cabin of a hydraulically or electrically operated work machine|
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