Note : Les descriptions sont présentées dans la langue officielle dans laquelle elles ont été soumises.
BOGIE BALANCING SYSTEM AND METHOD FOR A WORK MACHINE
CROSS-REFERENCE TO RELATED APPLICATIONS
100011 N/A
FIELD OF THE DISCLOSURE
100021 The present disclosure relates to a system and method for balancing a
bogie, particularly
a bogie comprising a beam coupled to a chassis of a vehicle with a rotary
joint, the beam
coupled to a front wheel and a rear wheel.
BACKGROUND
100031 Forestry work machines and other work machines generally traverse
uneven terrain with
varying soil conditions. These work machines are often equipped with driving
gears to
improve their off-road performance and to stabilize their steering. The
driving gears are
mounted on the chassis of the vehicle transmitting the propulsion force to the
work while
using bogies coupled to the chassis. The bogies are normally equipped with a
passive
dampening mechanism for softening the harmful effects of rough terrain caused
by the drive
of the wheels on such terrain. One of the problems in use of a passive bogie
system is
limited means of control presented by such an apparatus. Therein lies a need
to address
issues with traction between the wheels and the ground surface, instability,
uneven
distribution of weight, and overloading resulting in possible damage of the
propulsion
system.
SUMMARY
100041 This summary is provided to introduce a selection of concepts that are
further described
below in the detailed description and accompanying drawings. This summary is
not intended
to identify key or essential features of the appended claims, nor is it
intended to be used as an
aid in determining the scope of the appended claims.
100051 The bogie positioning system for a work machine is adapted to
selectively engage a
wheel of a work machine to the ground surface. The system may comprise of a
left bogie
assembly and a right bogie assembly. Each respective bogie assembly may have a
front
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wheel of the work machine coupled to a rear wheel of the work machine through
a bogie
coupling mechanism. The bogie coupling mechanism may comprise a beam with a
rotary
joint wherein the rotary joint allows the front wheel to rotate about a rotary
axis relative to
the rear wheel. The beam may be coupled to the chassis of the work machine
with at least
one actuator coupled to the beam. The actuator may rotate the beam about the
rotary axis
where actuation of the actuator positions the front wheel or the rear wheel at
a predetermined
vertical displacement relative to the chassis. A control unit in communication
with the bogie
assemblies, a user input interface and a plurality of sensors, may generate
command signals
to actuate the actuator based on input signal from either the user input
interface or the
plurality of sensors. The command signals selectively engage at least one of
the front wheel
and the rear wheel of the work machine to the ground surface.
[0006] According to another aspect of the bogie positioning system, the
control unit may
comprise a speed module. The speed module may be configured to receive a speed
input
signal based on either a work machine speed or gear selection to transmit a
command signal.
The command signal may vertically position a first wheel of the right bogie
assembly and a
corresponding second wheel of the left bogie assembly based on the speed input
signals.
[0007] Furthermore, the user input interface may comprise a roading mode
switch, wherein
activating the roading mode switch generates a roading mode input signal. The
control unit
may transmit a command signal in response to the roading mode input signal to
vertically
raise a front wheel or rear wheel of the right bogie assembly and a
corresponding front wheel
or rear wheel of the left bogie assembly to at least partially disengage the
ground surface.
[0008] According to another aspect, the control unit may comprise an object
detection module.
The user input interface may also comprise a repair mode switch corresponding
to the repair
mode of the work machine. Activating the repair mode may generate a repair
mode input
signal wherein the control unit transmits a command signal in response to the
repair mode
input signal to raise at least one of the front wheel and the rear wheel to
disengage the ground
surface. The object detection module may receive an object detection input
signal based on
detection of an object in a path of travel of the work the work machine from
the plurality of
sensors. The object detection module may then transmit a command signal in
response to the
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object detection input signal to raise a front wheel or a rear wheel closest
to the direction of
travel.
[0009] In addition, the control unit may comprise an articulation angle module
wherein the
articulation angle module receives an articulation angle input signal
representing the
articulation angle at a hitch from the plurality of sensors. The articulation
angle module may
determine when the articulation angle is greater than a predetermined angle.
The articulation
angle may transmit a command signal in response to the articulation input
signal to disengage
the rear wheel with the ground surface.
[0010] The control unit may comprise a tire pressure module wherein the tire
pressure module
may receive a tire input signal representing a tire pressure of each
respective wheel from the
plurality of sensors. The tire pressure module may then transmit a command
signal in
response to the tire pressure input signal to shift a center of mass of the
chassis by vertically
displacing at least one of the front wheel and the rear wheel.
[0011] In addition, the control unit may comprise an inclination module. The
inclination module
may generate an inclination angle input signal representing one or more of a
roll and a pitch
of the chassis from the plurality of sensors. The inclination module may
transmit a command
signal in response to the inclination angle input signal to shift a center of
mass of the chassis
by vertically displacing at least one of the front wheel and rear wheel.
[0012] According to another aspect, the control unit may comprise a ride
control module. The
ride control module may receive a ride control input signal representing a
load position of an
implement from the plurality of sensors. The ride control module may transmit
a command
signal in response to the ride control input signal to shift a center of mass
of the chassis by
vertically displacing at least one of the front wheel or the rear wheel.
[0013] The control unit may comprise a differential slip module. The
differential slip module
receiving a traction input signal from each respective wheel from the
plurality of sensors.
The differential slip module may then transmit a command signal in response to
the traction
input signal to equalize the torque load on a propulsion system by vertically
displacing at
least one of the front wheel and the rear wheel.
[0014] Additionally, the disclosure encompasses a method of selectively
engaging at least one
wheel of a bogie assembly of a work machine to the ground surface. The method
may
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include receiving input signals by a control unit on the work machine from at
least one of a
user input interface located on the work machine and a plurality of sensors
located on the
work machine, determining a condition by the control unit based on the input
signals,
programming a command signal based on the condition, transmitting the command
signal to
the at least one actuator of the bogie assembly, and actuating at least one
actuator of the
bogie assembly, wherein actuation of at least one actuator positions either
the front wheel or
the rear wheel at a predetermined vertical displacement relative to the
chassis.
[0015] Like the system, the method comprises the same modules and switches
from the user
input interface as the apparatus.
[0016] These and other features will become apparent from the following
detailed description
and accompanying drawings, wherein various features are shown and described by
way of
illustration. The present disclosure is capable of other and different
configurations and its
several details are capable of modification in various other respects, all
without departing
from the scope of the present disclosure. Accordingly, the detailed
description and
accompanying drawings are to be regarded as illustrative in nature and not as
restrictive or
limiting.
BRIEF DESCRIPTION OF THE DRAWINGS
[0017] The detailed description of the drawings refers to the accompanying
figures in which:
[0018] FIGURE 1 is a side view of an exemplary embodiment of a work machine
having a
bogie;
[0019] FIGURE 2 is a schematic top view of the rear portion of the exemplary
embodiment
found in FIGURE 1;
[0020] FIGURE 3 is an isometric view of an exemplary right and left bogie
assemblies;
[0021] FIGURE 4A is a side view of FIGURE 3 with the right and left bogie
assemblies at the
horizontal;
[0022] FIGURE 4B is a side view of FIGURE 3 with the right bogie assembly
rotated out of the
horizontal;
[0023] FIGURE 5 is a simplified schematic of the wheels positioned relative to
one another for
the embodiment in FIGURE 1 when a bogie assembly rotates a wheel out of the
horizontal;
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[0024] FIGURE 6 is a schematic of the bogie positioning system;
[0025] FIGURE 7A is simplified schematic of a work machine turning;
[0026] FIGURE 7B is a simplified schematic of work machine demonstrating the
impact on
turning radius for a shorter wheelbase;
[0027] FIGURE 7C is a simplified schematic demonstrating the impact on turning
radius for a
longer wheelbase;
[0028] FIGURE 8 is a simplified schematic of a work machine demonstrating the
center of mass
for use with the tire pressure module and the differential slip module;
[0029] FIGURE 9 is a simplified schematic demonstrating the use of a bogie on
a work machine
on an incline;
[0030] FIGURE 10 is simplified schematic representing the method of
selectively engaging at
least one wheel of a bogie assembly of a work machine to a ground surface.
[0031] Like reference numerals are used to indicate like elements throughout
the several figures.
DETAILED DESCRIPTION
[0032] The embodiments disclosed in the above drawings and the following
detailed description
are not intended to be exhaustive or to limit the disclosure to these
embodiments. Rather,
there are several variations and modifications which may be made without
departing from the
scope of the present disclosure.
[0033] Now referring to FIGURES 1 and 2, the skidder 200 having a bogie
positioning system
600 adapted to selectively engage a wheel of a work machine 100 is shown. The
skidder 200
may be used to transport harvested trees over natural grounds such as a
forest. Please note
that while the figures and descriptions may relate to a six-wheeled skidder in
this first
exemplary embodiment, it is to be understood that the scope of the present
disclosure extends
beyond a six-wheeled skidder as noted above and may include a four-wheeled
skidder, or
some other vehicle, and the term "work machine" or "vehicle" may also be used.
The term
"work machine" is intended to be broader and encompass other work machines
besides a
skidder 200. Other applicable work machines having a bogie positioning system
600 may be
configured as harvesters, diggers, forwarders, loaders, feller bunchers,
concrete crushers and
other work machines with a bogie.
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[0034] A control unit 615 (shown in FIGURE 6) may be in communication with a
front vehicle
frame 211 coupled to a rear vehicle frame 221. Generally, a front vehicle
frame 211 and a
rear vehicle frame 221 may be referred to herein as chassis, 225. First wheels
212 support
the front vehicle frame 211, and the front vehicle frame 211 supports an
engine compartment
224 and operator cab 226. Second wheels 222 support the rear vehicle frame
221, and the
rear vehicle frame 221 supports a boom assembly 110. Although the ground-
engaging
mechanism is described as wheels in this embodiment, in an alternative
embodiment, tracks
or combination of wheels and tracks may be used. The engine compartment 224
houses a
propulsion system, such as a diesel engine or motor which provides the motive
power for
driving the first and second wheels (212, 222) and for operating the other
components
associated with the skidder 200 such as the actuators (120, 250) to move the
boom assembly
110 or move a bogie assembly (205, 210). The operator cab 226, where an
operator sits
when operating the work machine 100, includes a user input interface 603 with
a plurality of
controls (e.g. switches, joysticks, pedals, buttons, levers, display screens,
etc.) for controlling
the work machine 100 during operation thereof The control unit 180 may
comprise several
modules 607 (shown in FIGURE 6) communicatively coupled with the controllable
subsystems 635 (shown in FIGURE 6) of the work machine 100, through a CAN bus
617
(shown in FIGURE 6), which will be discussed in more detail below.
[0035] FIGURE 2 is a schematic top view of a portion of the work machine 100,
or more
specifically the rear vehicle frame 221 found in the exemplary embodiment in
FIGURE 1 on
a path of travel 262. The skidder 200 includes a chassis 225 with a left bogie
assembly 205
and a right bogie assembly 210. Each respective bogie assembly (205, 210)
includes a front
wheel 215 of the work machine 100 coupled to a rear wheel 220 of the work
machine 100
through a bogie coupling mechanism 230. This bogie coupling mechanism 230
comprises a
beam 235 with a rotary joint 240. The rotary joint 240 allows the front wheel
215 to rotate
about a rotary axis 245 relative to the rear wheel 220. The beam 235 may be
coupled to the
chassis 225 of the work machine 100, wherein at least one actuator 250 is
coupled to the
beam 235. The at least one actuator 250 (shown in FIGURE 6) may rotate the
beam 235
about the rotary axis 245 wherein actuation of the at least one actuator 250
positions at least
one of the front wheel 215 and the rear wheel 220 at a predetermined vertical
displacement
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412 (shown in FIGURES 4B and 5) relative to the chassis 225. On the other
hand, the
angularity of the individual bogie beams 235 can be controlled by at least one
actuator 250.
[0036] A predetermined vertical displacement 412 may comprise of a definitive
value or an
approximate value to achieve a desired result. The predetermined vertical
displacement 412
is using the work machine 100 in active control status 622 (as opposed to
passive control
status 624) and may change dynamically based on a feedback mechanism through a
constant
stream of input signals 630. The approximate value may also be derived from a
stored look
up table 632, or alternatively only be derived from feedback from the real-
time input signals.
[0037] FIGURES 6, and referring to FIGURE 4a and 4b show double acting
hydraulic actuators
250 whereby their extension and retraction may cause the beam 235 to rotate
about the rotary
joint 240 coupled to the chassis 225. Please note that components marked
alphanumeric
labels identify a first and second of the same component. In the embodiment
shown in
FIGURE 3, 4a, and 4b numerals ending in "a" refer to the left side and
numerals ending in
"b" refer to the right side. The at least one actuator 250 may function in
passive control
status 624 wherein the at least one actuator passively responds to provide a
dampening effect
for irregularities encountered on the ground surface 420, or alternatively
actively respond
either by input signals 630 from the operator from the user input interface
603, a conditional
response, input signals 630 from a plurality of sensors 610 located on the
work machine 100
to optimize driving maneuverability and function.
[0038] FIGURES 3, 4A, and 4B is an exemplary embodiment of a left and right
bogie assembly
by NAF Axles in Germany, one of several embodiments that may be used with the
bogie
positioning system 600. As shown in FIGURES 3, 4A, 4B, and 5, the left bogie
beam 235a
and the right bogie beam 235b oscillate independently of one another, allowing
for example
the right front wheel 215b to freely take a position of vertical displacement
412 upwards
when the beam rotates out of the horizontal 408 (e.g. into a broken line
position 405 to
accommodate an obstacle, such as a large bump). In another scenario, a wheel
(220a, 220b,
215a, 215b) may be actively rotated out of the horizontal 408 upwards and held
stationary in
place to accommodate repair of a tire, for example. These and other exemplary
applications
will be discussed in more detail below. FIGURE 5 demonstrates a simplified
schematic of
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wheels positioned relative to one another when a bogie assembly (205, 210)
rotates out of the
horizontal 408.
[0039] Now turning to FIGURE 6, a schematic of the bogie positioning system
600 is shown.
Work machines 100 often have a plurality of sensors 610 that sense a variety
of different
variables such as machine operating parameters, work site characteristics,
environmental
parameters, etc. In the exemplary embodiment shown, input signals 630 are
communicated
over a controller area network (CAN) bus 617 (or another network, such as an
Ethernet
network, WIFI, etc.) to various systems on the machine such as the control
unit 615 that
process the sensed variable to generate output signals (such as command
signals 620 or other
outputs) based on the sensed variables. Work machines 100 may also have a wide
variety of
controllable subsystems 635 that can perform various operations, including
setting bogie
assembly control to either active control 622 or passive control 624. These
controllable
subsystems 635 are actuated by receiving input signals 630 communicated over
the CAN bus
617. These input signals 630 may be user-input signals 637 which originate
from the user
input interface 255 on the work machine 100, a conditional response based on
the
controllable subsystems 635 set to a specific mode, and/or the trigger of an
input signal 630
to the CAN bus 617 from the plurality of sensors 610.
100401 With continued reference to FIGURES 1 through 6, the control unit 615
may be in
communication with, or communicatively coupled to, the bogie assemblies (205,
210), a user
input interface 603, controllable subsystems 635, and a plurality of sensors
610 on the work
machine 100. The control unit 615 may generate command signals 620 to the at
least one
actuator 250 (e.g. a hydraulic cylinder) based on input signals 630 from
either the user input
interface 603 or the plurality of sensors 610 to selectively engage at least
one of the front
wheel 215 and the rear wheel 220 from the bogie assemblies (205, 210) to the
ground surface
420. Selective engagement may be defined as engagement of the wheel with
ground surface
420, or a partial engagement of the wheel with the ground surface 420. That is
by controlling
the vertical displacement 412 of the wheel relative to the chassis 225, the
degrees with which
the ground engaging surfaces 425 of the wheel engage the ground surface 420
will vary (i.e.
the relative traction) and the downward pressure 430 on the wheel from the
weight of the
chassis 225 may also be manipulated.
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[0041] In one instance, the control unit 615 may comprise of (or be
communicatively coupled to)
a speed module 640. The speed module 640 may be configured to receive a speed
input
signal 645 based on either the work machine speed, a gear selection wherein
the gear
selection is associated with the work machine speed, or both. Work machine
speed may be
derived from a plurality of sensors 610 such as a ground sensor, an
accelerometer, etc. The
speed module 640 may then transmit a command signal 620 to vertically position
a first
wheel (315a or 320a) of the right bogie assembly 210 and a corresponding
second wheel
(315b or 320b) of the left bogie assembly 205 based on the speed input signals
645. For
example, at low speeds over rough terrain, the work machine 100 may engage all
wheels.
However, at higher speeds, e.g. when moving over paved roads during transport
of the work
machine 100 to a worksite, the work machine 100 may engage only two of the
four wheels to
reduce traction. Often, the two of the four wheels will be corresponding to
one another on
each respective bogie assembly (e.g. 215a and 215b, or 220a and 220b).
[0042] The control unit 615 may further comprise an object detection module
650. The object
detection module 650 may receive an object detection input signal 655 based on
detection of
an object in a path of travel 262 (shown in FIGURE 2) of the work machine 100
from the
plurality of sensors 610. The object detection module 650 may transmit a
command signal
620 in response to the objection detection input signal 655 to raise a front
wheel 215 or a rear
wheel 220 closest to the direction of travel in anticipation of the object,
and the subsequent
wheel in the direction of travel in anticipation of the object, thereby
advantageously
minimizing and/or avoid impact damage to the work machine 100 from a wheel
hitting the
object. When in the active control status 622, if a wheel anticipates passing
over a bump in
the forward direction, the beam may rotate counter-clockwise to vertically
displace the front
wheel (215a or 215b) upwards. The beam may subsequently turn clockwise upon
passing
over the object to vertically displace a rear wheel (220a or 220b) upwards.
This action
dampens the tipping of the work machine and movement of the center of gravity
of the
chassis. Detection of an object in a path of travel 262 may include the
plurality or sensors
610, strategically placed cameras, lidar, radar, to name a few.
[0043] Furthermore, the control unit 615 may also comprise an articulation
angle module 660.
The articulation angle module 660 may receive an articulation angle input
signal 665
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representing the articulation angle 667 (shown in FIGURE 7A) of the work
machine 100
from the plurality of sensors 610. The articulation angle module 660 may
determine when
the articulation angle 667 is greater than a predetermined angle. The
articulation angle
module 660 may transmit a command signal 620 in response to the articulation
input signal
370 to disengage the rear wheel with the ground surface 420 upon reaching the
predetermined angle, thereby shortening the wheel base of the work machine.
More
particularly, the command signal 620 may initiate disengagement of the rear
wheel 220a
inner to the direction of turn of the work machine 100. FIGURE 7A demonstrates
a
simplified schematic of a work machine 100 turning, wherein articulation angle
667 (at hitch
for this embodiment) and wheel (220a) that may be vertically displaced above
the ground
surface using the bogie to reduce the wheel base, thereby reducing scrubbing.
FIGURE 7B
demonstrates the impact on turning radius 668 (as seen by circle) for a
shortened wheelbase.
The two-line marks on circle are representative of the spacing of the two
wheels (e.g. 215a
and 220a) in the direction of turn. Alternatively, FIGURE 7C demonstrates the
impact on
turning radius 668 (as seen by circle for a longer wheelbase). Vertically
raising a wheel off
the ground surface 420 for articulation angles 667 greater than a
predetermined angle (in this
exemplary embodiment the articulation angle 667 is at the hitch)
advantageously additionally
reduces tire wear and allows the operator to make tighter turns with ease.
[0044] Now also referring to FIGURE 8, the control unit 615 may further
comprise a tire
pressure module 670. The tire pressure module 670 may receive a tire input
signal 675
representing a tire pressure of each respective wheel (215a, 215b, 220a, 220b)
from the
plurality of sensors 610. The tire pressure module 670 may transmit a command
signal 620
in response to the tire pressure input signal 675 to shift a center of mass
677 of the chassis
225 by vertically displacing at least one of the front wheel (215a, 215b) and
the rear wheel
(220a, 220b).
100451 The control unit 615 may further comprise a differential slip module
680. The
differential slip module 680 may generate a traction input signal 685 from
each respective
wheel (215a, 215b, 220a, 220b) from a plurality of sensors 610. The
differential slip module
may transmit a command signal 620 in response to the traction input signal 685
to equalize
the torque load on a propulsion system by vertically displacing at least one
of the front wheel
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(215a, 215b) and the rear wheel (220a, 220b). The vertical displacement may
not require
disengagement of the wheel with the ground surface. Rather, the vertical
displacement in an
upwards direction may relieve pressure off a first wheel while a second wheel
may be
vertically displaced downwards in an equal and opposite direction to increase
pressure on the
second wheel, thereby increasing the second wheel's traction and decreasing
the first wheel's
traction.
100461 The control unit 615 may further comprise an inclination module. The
inclination
module 690 may generate an inclination angle input signal 695 representing one
or more of a
roll and a pitch of the chassis 225 from the plurality of sensors 610. The
inclination angle
module may transmit a command signal in response to the inclination angle
input signal 695
to shift a center of mass 677 of the chassis 225 by vertically displacing at
least one of the
front wheel (215a, 215b) and the rear wheel (220a, 220b). As shown in FIGURE 9
for
example, when the work machine is climbing or operating on a slope, the
longitudinal axis of
the chassis 225 may be aligned in the direction of the slope. A vertical
displacement of the
rear wheels (220a, 220b) upwards through the bogie assemblies (205, 210) will
cause the
chassis 225 to assume the angle illustrated, thereby leveling the chassis 225.
100471 The control unit 615 may further comprise a ride control module 700.
The ride control
module 700 may generate a ride control input signal 705 representing a load
position of the
implement 115, relative to the chassis 225, from the plurality of sensors 610.
Plurality of
sensors 610 for this application may include position and/or load sensors for
the actuators
250 from the boom assembly 110. The ride control module 700 may transmit a
command
signal 620 in response to the ride control input signal 705 to shift a center
of mass 677 of the
chassis 225 by vertically displacing at least one of the front wheel (215a,
215b) or the rear
wheel (220a, 220b). Work machines often hold a significant load at the end of
their boom
assembly 110. Such load shifts the center of mass 677 of the work machine 100,
thereby
reducing the feel of a "smooth ride". This may result in a bumpy ride where
the inertia of the
implement 115 with load imparts swaying. Such swaying can place uneven
pressure on
wheels (215a, 215b, 220a, 220b), thereby reducing traction in some portions of
the work
machine 100. Therein vertically displacing at least one of the front wheel
(215a, 215b) or the
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rear wheel (220a, 220b) may counter loss of traction introduced by the
relative position of
load on the implement 115 relative to the chassis 225.
[0048] In some instances, the operator may provide input through the user
input interface 255 to
actively command the relative positioning of the front wheel (215a, 215b)
relative to the rear
wheel (220a, 220b). In one exemplary operation, the user input interface 255
may comprise
of a roading mode switch 710, wherein activating the roading mode switch 710
generates a
roading mode input signal 715. The control unit 615 may transmit a command
signal 620 in
response to the roading mode input signal 715 to vertically raise a front
wheel 215a or rear
wheel 220a of a left bogie assembly 205 and a corresponding front wheel 215b
or rear wheel
220b of the right bogie assembly 210 to at least partially disengage the
ground surface 420.
Work machines are generally used off road, functioning in bumping terrain at
relatively slow
speeds. When transported from a first work site to a second work site, it may
be desirable to
disengage two of the wheels from the ground surface to reduce traction,
thereby allowing the
work machine to travel with increased fuel efficiency and less drag.
Manipulating the bogie
to vertically displace two wheels upwards using the roading mode switch 710
provides this
efficiency.
[0049] In another instance, wherein the operator may actively control the
bogie positioning
system 600 through the user input interface 255 that includes repair mode
switch 720. The
user input interface 255 may comprise a repair mode switch 720 corresponding
to a repair
mode of the work machine 100, wherein activating the repair mode generates a
repair mode
input signal 725. The control unit 615 may transmit a command signal 620 in
response to the
repair mode input signal 725 to raise at least one of the front wheel (215a,
215b) and the rear
wheel (220a, 220b) to disengage the ground surface 420. In one exemplary
scenario, a flat
tire or a tire in need of change may cause the operator to place the
designated tire in repair
mode, thereby actuating the vertical displacement of the designated tire for
ease of access
and removal.
100501 Now referring to FIGURE 10 with continued reference to FIGURES 1-9,
FIGURE 10
illustrates a method of selectively engaging at least one wheel of a bogie
assembly (205, 210)
of a work machine 100 to a ground surface 420. At step 500, the method starts
with
receiving input signals 630 by a control unit 615 on the work machine 100 from
at least one
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of user input interface 603 located on the work machine 100, and a plurality
of sensors 610
located on the work machine 100.
[0051] At step 502, the control unit 615 determines a condition based on the
input signals 630.
Through one of several modules discussed above and shown in FIGURE 6, the
control unit
may recognize a need to actively respond in selective engagement of a first or
a second wheel
to achieve a desired result for improved control, improved fuel efficiency,
and a reduction on
wear of the components. Alternatively, the control unit may impact
controllable subsystems
based on the input signals 630 from the plurality of sensors 610 and the user
input interface
603. Through a real-time feedback loop mechanism 510 a parameter of the work
machine
may be monitored. If the parameter continues to fall outside an optimized
range, the work
machine will determine a condition has been met, and will continue with the
next step in the
method.
[0052] At step 504, the control unit 615 programs a command signal 620 based
on the condition.
[0053] At step 506, the control unit 615 transmits the command signal 620 to
at least one
actuator 250 of the bogie assembly (205, 210).
[0054] At step 508, the at least one actuator 250 of the bogie assembly (205,
210) is actuated,
wherein actuation of the at least one actuator positions at least one of the
front wheel (215a,
215b) and the rear wheel (220a, 220b) at a predetermined vertical displacement
412 relative
to the chassis 225.
[0055] After step 508, actuation of the at least one actuator 250 of the bogie
assembly has
occurred, according to one embodiment. These steps may be repeated wherein the
bogie
assembly consistently adjusts the vertical displacement of each respective
wheel relative to
the horizontal of the chassis based on the individual input signal 630 from
the modules in
control unit 615 discussed above, or the cumulative or net effect of input
signal 630 from the
modules. In other embodiments, one or more of these steps or operations may be
omitted,
repeated, or re-ordered and still achieve the desired results.
[0056] The terminology used herein is for describing particular embodiments or
implementations
and is not intended to be limiting of the disclosure. As used herein, the
singular forms "a",
"an" and "the" are intended to include the plural forms as well, unless the
context clearly
indicates otherwise. It will be further understood that the any use of the
terms "has," "have,"
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"having," "include," "includes," "including," "comprise," "comprises,"
"comprising," or the
like, in this specification, identifies the presence of stated features,
integers, steps, operations,
elements, and/or components, but does not preclude the presence or addition of
one or more
other features, integers, steps, operations, elements, components, and/or
groups thereof
.. [0057] The references "A" and "B" used with reference numerals herein are
merely for
clarification when describing multiple implementations of an apparatus.
[0058] While the above describes example embodiments of the present
disclosure, these
descriptions should not be viewed in a restrictive or limiting sense. Rather,
there are several
variations and modifications which may be made without departing from the
scope of the
appended claims.
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