Crawler-type work machine
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.
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.