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AssigneeVolvo Construction Equipment AB
InventorsReno Filla, Joakim Unneback, Bobbie Frank, Andreas Nordstrand
Estimating the term…
A method is provided for controlling a working machine that includes a front section having a frame and a pair of wheels arranged on a geometrical front wheel axis, and a rear section having a frame and a pair of wheels arranged on a first geometrical rear wheel axis and a pair of wheels arranged on a second geometrical rear wheel axis arranged behind the first rear wheel axis. The front section and the rear section are pivotally connected to each other for pivoting about a substantially vertical pivot axis. In a first control mode the wheels of the second geometrical rear wheel axis are steered to substantially follow the same tracks as the wheels of the geometrical front wheel axis when driving the working machine during cornering, and in a second control mode steering the wheels of the second geometrical rear wheel axis follow tracks which are different from the tracks of the wheels of the geometrical front wheel axis.
A method for controlling a working machine, the working machine comprising a front section having a frame and a pair of wheels arranged on a geometrical front wheel axis, and a rear section having a frame and a pair of wheels arranged on a first geometrical rear wheel axis and a pair of wheels arranged on a second geometrical rear wheel axis arranged behind the first geometrical rear wheel axis, the front section and the rear section being pivotally connected to each other for pivoting about a substantially vertical pivot axis, the distance from the geometrical front wheel axis to the vertical pivot axis being shorter than the distance from the vertical pivot axis to the second geometrical rear wheel axis, comprising:
A working machine comprising:
A computer comprising computer code on a non-transitory, computer readable medium for performing a method for controlling a working machine, the working machine comprising a front section having a frame and a pair of wheels arranged on a geometrical front wheel axis, and a rear section having a frame and a pair of wheels arranged on a first geometrical rear wheel axis and a pair of wheels arranged on a second geometrical rear wheel axis arranged behind the first geometrical rear wheel axis, the front section and the rear section being pivotally connected to each other for pivoting about a substantially vertical pivot axis, the distance from the geometrical front wheel axis to the vertical pivot axis being shorter than the distance from the vertical pivot axis to the second geometrical rear wheel axis, comprising
A non-transitory computer readable medium comprising computer code for performing a method for controlling a working machine, the working machine comprising a front section having a frame and a pair of wheels arranged on a geometrical front wheel axis, and a rear section having a frame and a pair of wheels arranged on a first geometrical rear wheel axis and a pair of wheels arranged on a second geometrical rear wheel axis arranged behind the first geometrical rear wheel axis, the front section and the rear section being pivotally connected to each other for pivoting about a substantially vertical pivot axis, the distance from the geometrical front wheel axis to the vertical pivot axis being shorter than the distance from the vertical pivot axis to the second geometrical rear wheel axis, comprising
Dependencies are inferred from the claim text.
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From the US filing history. Foreign family members aren’t listed.
Arrangements for automatically controlling steering depending on driving conditions sensed and responded
Conjoint control of vehicle sub-units of different type or different function: including control of steering systems
Related to particular drive situations: cornering
Propelling the vehicle: preventing, or responsive to skidding of wheels
About 4 years 6 months of term left · ends 6 May 2031 (estimated)
The invention relates to a method for controlling a working machine. References to “the invention” herein should be understood to be references to one or more aspects of the invention.
The invention is applicable on working machines within the fields of industrial construction machines, in particular load receivers such as articulated haulers or dumpers. Although the invention will be described hereinafter with respect to an articulated hauler, the invention is not restricted to this particular machine, but may also be used in other heavy working machines or construction equipment.
In connection with transportation of heavy loads, a working machine in the form of an articulated hauler is frequently used. Such working machines may be operated with large and heavy loads in areas where there are no roads, for example for transports in connection with road or tunnel building, sand pits, mines, forestry and similar environments. Thus, an articulated hauler is frequently used in rough terrain and on a slippery ground where no regular roads are present.
With reference to the appended drawings, below follows a more detailed description of embodiments of the invention cited as examples.
In the drawings:
FIG. 1 is a lateral view illustrating a frame-steered articulated hauler,
FIG. 1 is an illustration of a working machine 1 in the form of an articulated hauler having a front section 2 with a cab 3 for a driver and a rear section 4 with a container 5 for receiving a load. The container is preferably pivotally connected to the rear section and tiltable by means of a pair of tilting cylinders 6, for example hydraulic cylinders. The front section has a front frame 7 and a pair of wheels 8 suspended from the front frame 7. The rear section 4 has a rear frame 9 and two pair of wheels 10, 11 suspended from the rear frame 9.
The working machine is frame-steered, i.e. there is a pivot joint 12 connecting the front section 2 and the rear section 4 of the working machine 1. The front section and the rear section are pivotally connected to each other for pivoting about a substantially vertical pivot axis 13.
The working machine preferably comprises a hydraulic system having two hydraulic cylinders 14, steering cylinders, arranged on opposite sides of the working machine for turning the working machine by means of relative movement of the front section 2 and the rear section 4. The hydraulic cylinders can, however, be replaced by any other linear actuator for steering the machine, such as an electromechanical linear actuator.