Back to results
US 2021/0291647 A1Published application
Work machine and control method thereof
AssigneeKomatsu Ltd.
InventorNaoto TAKASE
Life of this patent
Estimating the term…
Abstract
The differential control device prohibits or limits a differential motion generated by the differential device. The sensor detects a turning angular velocity of the motor grader. Based on the turning angular velocity detected by the sensor, the controller controls the differential control device to perform the differential prohibition or limitation.
Claims9
1:
- A work machine comprising:
- a differential device;
- a differential control device that prohibits or limits a differential motion generated by the differential device;
- a sensor that detects a turning angular velocity of the work machine;
- and
- a controller that based on the turning angular velocity detected by the sensor, controls the differential control device to perform the differential prohibition or limitation.
3 more elements
2:
- The work machine according to claim 1, wherein
- the sensor detects a travelling velocity of the work machine, and
- the controller calculates a turning radius based on the turning angular velocity and the travelling velocity detected by the sensor, and based on the calculated turning radius, controls the differential control device to perform the differential prohibition or limitation.
3:
- The work machine according to claim 2, wherein
- the controller determines a turning motion by comparing the calculated turning radius with a threshold, and based on the comparison result, controls the differential control device to perform the differential prohibition or limitation.
4:
- The work machine according to claim 3, wherein
- the threshold includes a first threshold,
- the first threshold is a turning radius of the work machine when a steering angle of the work machine is ½ of a maximum steering angle, and
- based on a determination result that the calculated turning radius is equal to or less than the first threshold, the controller controls the differential control device to cancel the differential prohibition or limitation.
1 more element
5:
- The work machine according to claim 3, wherein
- the threshold includes a second threshold,
- the second threshold is a turning radius of the work machine when an articulation angle of the work machine is ½ of a maximum articulation angle, and
- based on a determination result that the calculated turning radius is equal to or less than the second threshold, the controller controls the differential control device to cancel the differential prohibition or limitation.
1 more element
6:
- The work machine according to claim 3, wherein
- the threshold includes a third threshold,
- the third threshold is a minimum turning radius of the work machine, and
- based on a determination result that the calculated turning radius is less than the third threshold, the controller controls the differential control device to perform the differential prohibition or limitation.
1 more element
7:
- The work machine according to claim 2 further includes:
- a selector capable of switching between an actuation mode in which the differential control device is actuated to perform the differential prohibition or limitation, a cancellation mode in which the differential control device is controlled to cancel the differential prohibition or limitation, and an automatic differential control mode in which the differential control device automatically performs the differential prohibition or limitation, and
- the controller calculates the turning radius after the selector is switched to any mode among the actuation mode, the cancellation mode and the automatic differential control mode.
8:
- A control method of a work machine equipped with a right wheel and a left wheel, the control method comprising:
- detecting a turning angular velocity of the work machine;
- and
- prohibiting or limiting a differential motion between the right wheel and the left wheel based on the detected turning angular velocity of the work machine.
1 more element
9:
- The control method of a work machine according to claim 8, further includes detecting a travelling velocity of the work machine,
- wherein the prohibiting or limiting a differential motion between the right wheel and the left wheel during a turning motion includes calculating a turning radius based on the detected turning angular velocity and the detected travelling velocity.