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Crawler work machine

A technology of working machinery and crawler type, which is applied in steering mechanism, earth mover/excavator, non-deflectable wheel steering, etc., and can solve approximation problems

Active Publication Date: 2022-02-08
KOMATSU LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, it may be difficult to approximate the actual radius of gyration to the target radius of gyration when driving on a slope or during bulldozing operations.

Method used

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  • Crawler work machine
  • Crawler work machine
  • Crawler work machine

Examples

Experimental program
Comparison scheme
Effect test

Deformed example 1

[0084] In the above-described embodiment, the bulldozer 1 is provided with the steering rod 35 , but the bulldozer 1 may not be provided with the steering rod 35 when the bulldozer 1 is remotely operated by an unmanned person. In this case, the information indicating the target radius of gyration Ra may be directly input to the control unit 30 .

Deformed example 2

[0086] In the above-described embodiment, the control unit 30 calculated the actual radius of gyration Rb based on the output rotational speeds of the left and right steering brakes 13L, 13R, but the present invention is not limited thereto. The control unit 30 may calculate the actual radius of gyration Rb using an IMU (inertial measurement unit), GPS (global positioning system), acceleration sensor, gyro sensor, yaw rate speed sensor, azimuth sensor, or the like.

Deformed example 3

[0088] In the above embodiment, the control unit 30 switches between the clutch control mode and the brake control mode using the deviation ΔR between the actual turning radius Rb and the target turning radius Ra, but the present invention is not limited thereto. Switching of the control mode can also be performed using a deviation Δ between the actual orientation and the target orientation specified in the global coordinate system. The actual position can be obtained from GNSS radio waves.

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Abstract

A bulldozer (1) is provided with a control unit (30) that caries out vehicle turn control by way of controlling left and right steering clutches (12L, 12R) and left and right steering brakes (13L, 13R). The control unit (30) switches between clutch control and brake control on the basis of the deviation (deltaR) between the actual turning radius (Rb) and a target turning radius (Ra).

Description

technical field [0001] The present disclosure relates to tracked work machines. Background technique [0002] In crawler-type work machines (for example, bulldozers, etc.), power from an engine is transmitted to left and right drive wheels via a transmission, and left and right crawlers are driven by the left and right drive wheels. [0003] In such a crawler-type work machine, left and right turning is performed by hydraulically controlling left and right steering clutches and steering brakes provided corresponding to left and right drive wheels. [0004] For example, when turning slowly to the left during driving, the left steering clutch is partially engaged and the left steering brake is released. In addition, when turning sharply to the left during running, the left steering clutch is released, and the left steering brake is fully engaged or partially engaged. [0005] Patent Document 1 proposes a method of approximating an actual radius of gyration to a target radius...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D11/08E02F9/22
CPCB62D11/08E02F9/22B62D11/183E02F9/202E02F9/2083E02F9/2087E02F3/7604
Inventor 菊池孝高竹岛宏明吉川刚史
Owner KOMATSU LTD