Crawler-type work machine

Patent metadata

Field	Value
Publication number	US-12351234-B2
Application number	US-202017622098-A
Country	US
Kind code	B2
Filing date	Jun 29, 2020
Priority date	Aug 30, 2019
Publication date	Jul 8, 2025
Grant date	Jul 8, 2025

Abstract

A bulldozer includes a control unit for controlling left and right steering clutches and left and right steering brakes, thereby executing a turning control of the vehicle. The control unit switches between a clutch control and a brake control on the basis of a differential between an actual turning radius and a target turning radius.

First claim

What is claimed is:

1. A work machine comprising:
an engine;
left and right crawler belts;
left and right drive wheels configured to drive the left and right crawler belts;
a power transmission device configured to transmit power of the engine to the left and right drive wheels;
left and right steering clutches respectively disposed between the power transmission device and the left and right drive wheels, the left and right steering clutches being configured to transmit or block transmission of the power;
left and right steering brakes respectively disposed between the left and right steering clutches and the left and right drive wheels, the left and right steering brakes being configured to brake rotation of the left and right drive wheels; and
a control unit configured to execute a turning control of the work machine by controlling the left and right steering clutches and the left and right steering brakes,
the control unit being configured to switch between a clutch control and a brake control in accordance with a differential between an actual turning radius and a target turning radius, or a differential between an actual bearing and a target bearing,
the actual turning radius being calculated based on output rotation speeds of the left and right steering brakes.

2. The work machine according to claim 1 , wherein
during the clutch control, the control unit is configured to cause one of the left and right steering clutches to be partially engaged and cause one of the left and right steering brakes to be disengaged, the one steering clutch being positioned on a turning direction side among the left and right steering clutches, the one steering brake being positioned on the turning direction side among the left and right steering brakes; and
during the brake control, the control unit is configured to cause the one steering clutch to be disengaged and cause the one steering brake to be fully engaged or partially engaged.

3. The work machine according to claim 2 , wherein
the control unit,
when executing the turning control with the clutch control, transitions from the clutch control to the brake control when the actual turning radius is greater than the target turning radius by at least a first threshold, and
when executing the turning control with the brake control, transitions from the brake control to the clutch control when the target turning radius is greater than the actual turning radius by at least a second threshold.

4. The work machine according to claim 1 , wherein
the target turning radius is set in accordance with an operating amount of a steering lever used during a steering operation by an operator.

5. A work machine comprising:
an engine;
left and right crawler belts;
left and right drive wheels configured to drive the left and right crawler belts;
a power transmission device configured to transmit power of the engine to the left and right drive wheels;
left and right steering clutches configured to respectively transmit or block the power transmitted from the power transmission device to the left and right drive wheels;
left and right steering brakes configured to respectively brake rotation of the left and right drive wheels; and
a control unit configured to execute a turning control of the work machine by controlling the left and right steering clutches and the left and right steering brakes,
the control unit being configured to switch between a clutch control and a brake control in accordance with a differential between an actual turning radius and a target turning radius, or a differential between an actual bearing and a target bearing,
the actual turning radius being calculated based on output rotation speeds of the left and right steering brakes.

6. The work machine according to claim 5 , wherein
during the clutch control, the control unit is configured to cause one of the left and right steering clutches to be partially engaged and cause one of the left and right steering brakes to be disengaged, the one steering clutch being positioned on a turning direction side among the left and right steering clutches, the one steering brake being positioned on the turning direction side among the left and right steering brakes; and
during the brake control, the control unit is configured to cause the one steering clutch to be disengaged and cause the one steering brake to be fully engaged or partially engaged.

7. The work machine according to claim 6 , wherein
the control unit,
when executing the turning control with the clutch control, transitions from the clutch control to the brake control when the actual turning radius is greater than the target turning radius by at least a first threshold, and
when executing the turning control with the brake control, transitions from the brake control to the clutch control when the target turning radius is greater than the actual turning radius by at least a second threshold.

8. The work machine according to claim 5 , wherein
the target turning radius is set in accordance with an operating amount of a steering lever used during a steering operation by an operator.

Assignees

• Komatsu Mfg Co Ltd

Inventors

• Kikuchi Yoshitaka
• Takeshima Hiroaki
• Yoshikawa Takeshi

Classifications

• E02F9/22

  Hydraulic or pneumatic drives {(for dipper or bucket arm position control E02F3/43, for blade position control for graders E02F3/844; for turntables E02F9/121; for fork-lift trucks B66F9/22)} · CPC title

• B62D11/183

  Control systems therefor · CPC title

• E02F3/7604

  Combinations of scraper blades with soil loosening tools working independently of scraper blades (soil loosening attachments fixed on blades E02F3/8152, E02F3/8155) · CPC title

• E02F9/2087

  Control of vehicle steering (for steering with hydraulic or pneumatic drives E02F9/225) · CPC title

• E02F9/2083

  Control of vehicle braking systems · CPC title