International Journal of Current Engineering and Technology E-ISSN 2277 – 4106, P-ISSN 2347 – 5161

©2016 INPRESSCO®, All Rights Reserved Available at http://inpressco.com/category/ijcet

Research Article

Planetary Differential Speed Dependent on Engine

Arulprakash*

RD I/CDV, Merecedes Benz R&D India Pvt Ltd, India

Accepted 30 Nov 2016, Available online 08 Dec 2016, Vol.6, No.6 (Dec 2016)

Abstract

A dozer with a hydrostatic steering system and HSS brake is disclosed which is capable of performing effective
steering; capable of effective control and various turning radius at different speeds ensuring higher productivity; and
capable of performing pivot steering. To this end, a bulldozer with a hydrostatic steering system with HSS brake,
wherein the power of a hydraulic motor driven by pressure oil fed from a hydraulic pump operated by an engine is
transmitted to right and left crawler tracks through a differential steering means composed of planetary gear trains
etc., is designed to have the differential speeds at left and right tracks.

Keywords: Hydrostatic steering system etc.

Introduction In the above conventional bulldozer the steering is

achieved by engagement or disengagement of both
1 The present invention relates to Hydrostatic steering steering clutches and brakes controlled by steering
system (HSS) with HSS brake for effective steering of control valve. During steering of the bulldozer power is
bulldozers. Hydrostatic steering system is suitable for transmitted only to one side of either clutches by
all low and medium class bulldozers for effective engagement/disengagement of steering
steering and improved productivity. clutches/brakes causing the machine to steer in that
particular direction respectively. Suppose if the left
Background Art steering clutch is disengaged, power is transmitted
only to the right steering clutch, so the left side track
A Bulldozer is a crawler (tracked tractor), equipped which is mounted on left final drive is held stationary
with a substantial metal plate (known as a blade), and causing the machine to turn left side. Similarly if the
used to push large quantities of soil, sand, rubble, coal, right steering clutch is disengaged, power is
etc, during construction work, coal mines, etc. The transmitted only to the left steering clutch, so the right
power generated by engine is transmitted through a side track which is mounted on right final drive is held
torque converter, a universal joint, a transmission, stationary causing the machine to turn right side. Since
bevel gear set, steering clutches and then to final drive. the track is skidding on the ground while steering
The bevel gear shaft system meshes the bevel pinion which causes following problems:
and bevel gear and sends the power output from the
transmission at right angles to the left and right. At the a. Shock loads are transmitted from ground to
same time it also reduces the rotating speed. The vehicle through tracks which causes vibrations.
steering clutches are interconnected with the bevel b. Increased operator fatigue.
gear shaft at both ends by a spline. They act to connect c. Less productivity.
and disconnect the power from the bevel gear shaft to d. More wear and tear of the track shoes which
the final drive to change the machine turning direction. causes frequent replacement of track chain.
The steering clutch is a wet type, multiple disc clutch, e. Constant turning radius.
spring boosted type. It is actuated hydraulically by the f. Slow and sluggish.
pressurized oil from the steering valve, which is also g. Sharp turning is not possible.
interconnected with the brake. The steering brakes are h. Reduced life of undercarriage components.
interconnected with the left and right steering clutches.
They carry out braking of the power from the steering The present invention is directed to overcome such
clutch to the final drive and change the machine problems and a prime object of the invention is
turning direction or brake the machine. therefore to provide hydrostatic steering system with
HSS brake in bulldozers capable of performing efficient
*Corresponding author: Arulprakash and sharp turning.
2161| International Journal of Current Engineering and Technology, Vol.6, No.6 (Dec 2016)
Arulprakash Planetary Differential Speed Dependent on Engine

Planetary Differential indicating the amount of torque which said hydraulic

pump should absorb is obtained by looking up data on
The above object can be accomplished by Hydrostatic the relationship between engine speed and absorption
steering system with HSS brake on bulldozer equipped torque values indicating the amounts of torque which
with a steering pump and motor units in which the said hydraulic pump should absorb with an actual
power of the engine is transmitted to the right and left engine speed detected by said engine speed sensor,
sprockets through a torque converter, a transmission, said data being prestored in accordance with the speed
and a differential steering means composed of ratio of said torque converter, and the obtained
planetary gear trains etc., whereas the power of a absorption torque value is output as a pump
steering motor driven by pressure oil from a steering absorption torque command value; and the second
pump operated by the engine is transmitted to the control unit performing operation in which a control
right and left sprockets through the differential current value for said control valve is obtained by
steering means. looking up pre stored data on the relationship between
pump absorption torque command values and control
The bulldozer comprising current values with a pump absorption torque
command value sent from the first control unit, and a
Hydrostatic steering system equipped with steering control current matching with the obtained control
pump and motor where power of the motor driven by current value is output to said control valve.
pressure oil from steering pump operated by engine is
transmitted to differential steering means composed of Planetary Differential
planetary gear trains and then to right and left
sprockets.
FIG. 1 is 3D -Layout diagram of a bulldozer with a
HSS brake mounted on the steering motor driven
hydrostatic steering system with HSS brake according
shaft for perfect control of the vehicle.
to one embodiment of the invention.
Steering controls valve for optimum control of the
main brake and HSS brake during straight, normal
steering and pivot steering operations. According to
the invention, effective steering is possible by giving
differential speeds to both tracks by means of steering
pump and motor which makes both tracks to rotate at
different speeds during steering. HSS brake provides
better control over the machine while machine is
traveling straight.
A bulldozers with a hydrostatic steering system and
HSS brake in which the power of an engine is
transmitted to right and left drive wheels through at
least a torque converter and differential steering
means, whereas the power of a hydraulic motor, which
is driven by pressure oil from a hydraulic pump
operated by the engine, is transmitted to said right and
left drive wheels through said differential steering
means, said work vehicle comprising: speed ratio Fig 1: 3D Layout
computing means for computing a speed ratio of the
torque converter; and pump absorption torque Description of the HSS
controlling means for controlling torque absorbed by
the hydraulic pump based on the speed ratio computed With reference to the accompanying drawings, a
by the speed ratio computing means. bulldozer with a hydrostatic steering system and HSS
The work vehicle with a hydrostatic steering brake will be concretely described according to a
system according to claim , wherein said hydraulic preferred embodiment of the invention.
pump is a variable displacement hydraulic pump Fig. 2 shows a powe rflow of a bulldozer with
whose discharge rate varies according to changes in its hydrostatic steering system and HSS brake constructed
swash plate angle; which further includes a regulator according to one embodiment of the invention.
for controlling the swash plate angle of the variable As shown in FIG. 2, the rotary driving force of an
displacement hydraulic pump, a control valve for engine is transmitted through damper and universal
controlling the operation of said regulator in response joint to a torque converter and then to a transmission
to a supply of a control current, and an engine speed from the output shaft of the torque converter . The
sensor for detecting the actual engine speed of said force is then transmitted from the output shaft of the
engine; and wherein said pump absorption torque transmission to a transverse shaft through a bevel
controlling means includes a first control unit and a gear set . The rotary driving force of the engine is also
second control unit, the first control unit performing transmitted to a variable displacement steering pump
operation in which an absorption torque value through a PTO .
2162| International Journal of Current Engineering and Technology, Vol.6, No.6 (Dec 2016)
Arulprakash Planetary Differential Speed Dependent on Engine

Fig.2: Power Flow

Coupled to the transverse shaft are brake units and and turning of the vehicle and an implement operating
planetary gear trains (corresponding to "the unit for operating an implement such as a blade (not
differential steering means" of the invention). An shown). Herein, the travel/turn operating unit
output shaft secured to a planetary carrier of the left includes a travel/turn operating joystick for
planetary gear train is coupled to a left sprocket (left outputting a travel command or turn command and a
drive wheel) through a final drive reduction gears, pilot pressure oil outputting means (pressure reducing
whereas an output shaft secured to a planetary carrier valve or the like) for outputting desired pilot pressure
of the right planetary gear train is coupled to a right oil in response to the travel or turn command from the
sprocket (right drive wheel) through a final drive travel/turn operating joystick. The implement
reduction gears. The left and right sprockets mesh with operating unit includes an implement operating
crawler tracks, respectively, arranged at the left and joystick for outputting an implement operation
right sides of the vehicle body. The rotary driving command and a pilot pressure oil outputting means
forces which have been transmitted from the (pressure reducing valve or the like) for outputting
transverse shaft to the respective ring gears of the left desired pilot pressure oil in response to the implement
and right planetary gear trains are then transmitted operation command from the implement operating
from the respective planetary carriers of the left and joystick.
right planetary gear train to the sprockets respectively Formed between the steering pump and the
through the final reduction gears so that the crawler steering motor is a steering switching valve for
tracks are driven by the sprockets respectively. feeding and discharging pressure oil discharged from
A gear integrally secured to the sun gear of the left the steering pump to and from the steering motor.
planetary gear train and a gear secured to the sun gear With the pilot pressure oil output from the pilot
of the right planetary gear train mesh with gears pressure oil outputting means in response to the turn
secured to the output shaft of a steering motor command from the travel/turn operating joystick,
through transfer gear box coupled with HSS brake desired oil path switching operation of the steering
(corresponding to "the HSS brake unit" of the switching valve is performed, which changes the
invention) and power transmission mechanisms each rotating direction of the output shaft of the steering
consisting of a desired gear train. The rotary driving motor so that the vehicle is switched between left
forces of the steering motor are transmitted from the turning and right turning.
respective sun gears of the left and right planetary gear Formed between various hydraulic cylinders for
trains to the left and right sprockets through the actuating the implement and the hydraulic pump is an
respective planetary carriers and final reduction gears implement operating valve for feeding and discharging
whereby the revolution speeds of the left and right the pressure oil discharged from the hydraulic pump
sprockets are made different from each other, thereby to and from the various hydraulic cylinders. Herein, the
turning the vehicle to the right or left. hydraulic cylinders refer to hydraulic cylinders for a
An operator's cab (not shown) includes a lift, angle and tilt which are parts constitute the
travel/turn operating unit for performing traveling implement of the bulldozer. With the pilot pressure oil
2163| International Journal of Current Engineering and Technology, Vol.6, No.6 (Dec 2016)
Arulprakash Planetary Differential Speed Dependent on Engine

output from the pilot pressure oil outputting means in transmission operating valves for the forward drive
response to the implement operation command from gear hydraulic clutch , the first speed gear hydraulic
the implement operating joystick, desired oil path clutch , the second speed gear hydraulic clutch, the
switching operation of the implement operating valve third speed gear hydraulic clutch and the fourth speed
is performed, thereby allowing the implement to gear hydraulic clutch respectively include a similar
perform desired operation. clutch operation detector .
The steering pump and steering motor are formed The bulldozer of this embodiment has a controller
in a closed loop load sensing system such that pumps serving as the main controlling means. The controller
swash plate angle is controlled by a discharge pipeline has, a drive/speed gear identifying unit, a speed ratio
of the steering pump. An operating section of the servo operation unit (speed ratio computing means), a first
valve is connected by a servo piston. A servo valve is control unit and a second control unit.
for feeding and discharging control pressure oil to and Input to the drive/speed gear identifying unit are
from the servo piston is connected to discharge clutch operation signals respectively issued from the
pipeline of the steering pump. clutch operation detectors. The drive/speed gear
The transmission provides four speeds in both identifying unit determines, based on the clutch
forward and reverse drive ranges and is composed of operation signals, which of the drive and speed gears is
forward and reverse drive gears and first to fourth presently selected and outputs the result of the
speed gears which consist of a stacked planetary gear determination to the speed ratio operation unit as
sets. The reverse drive gear is provided with a reverse drive/speed gear data.
drive gear hydraulic clutch for connecting and Input to the speed ratio operation unit are
disconnecting power to and from the reverse drive drive/speed gear data from the drive/speed gear
gear. The forward drive gear is provided with a identifying unit; an engine speed signal from an engine
forward drive gear hydraulic clutch for connecting and speed sensor for detecting the actual engine speed of
disconnecting power to and from the forward drive the engine; a transmission input shaft speed signal
gear. The first speed gear is provided with a first speed from a transmission input shaft speed sensor and a
gear hydraulic clutch for connection and disconnection transmission output shaft speed signal from a
of power with respect to the first speed gear; the transmission output shaft speed sensor for detecting
second speed gear is provided with a second speed the actual revolution speed of the input shaft and
gear hydraulic clutch for connection and disconnection output shaft of the transmission. In the speed ratio
of power with respect to the second speed gear; and operation unit, the present reduction ratio of the
the third speed gear is provided with a third speed transmission is calculated based on the drive/speed
gear hydraulic clutch for connection and disconnection gear data from the drive/speed gear identifying unit,
of power with respect to the third speed gear, and the and the speed ratio of the torque converter is
fourth speed gear is provided with a fourth speed gear calculated and send the result of the calculation to the
hydraulic clutch for connection and disconnection of first control unit and to the second control unit as
power with respect to the fourth speed gear. In torque converter speed ratio data.
addition, the transmission includes a transmission
operating valve containing Electronic Controlled Calculation: Table
Modulation Valves (ECMV) associated with the reverse
drive gear hydraulic clutch.
The transmission operating valve functions to feed
and discharge operating pressure oil to and from the
reverse drive gear hydraulic clutch thereby switching it
between a connected state and a disconnected state. In
the transmission, the forward drive gear hydraulic
clutch , the first speed gear hydraulic clutch, the second
speed gear hydraulic clutch, the third speed gear
hydraulic clutch and the fourth speed gear hydraulic
clutch, are each provided with the transmission
operating value .
The transmission operating valve containing ECMV The hydrostatic steering system with HSS brake as
associated with the reverse drive gear hydraulic clutch shown in the FIG. 1 provides three different operations
is equipped with a clutch operation detector (e.g., a namely, a) parking b) straight travel c) steering d)
pressure sensor, hydraulic switch, micro-switch, etc.). pivot steering. For each operation hydrostatic steering
This clutch operation detector has the function of system operates differently which has been explained
detecting that the transmission operating valve is in a in detail as follows:
state where operating pressure oil is allowed to be
a) Parking
introduced into the reverse drive gear hydraulic clutch
to engage the clutch , and outputting the result of the During parking, the operating joystick in operator’s
detection in the form of a clutch operation signal. The cabin is in neutral position. Pressurized oil from
2164| International Journal of Current Engineering and Technology, Vol.6, No.6 (Dec 2016)
Arulprakash Planetary Differential Speed Dependent on Engine

transmission pump driven by PTO is not passed is getting drive directly from the transfer gear box .
through operating valve to the main brakes and HSS This arrangement drives the sun gears of left and right
brake. Hence main brakes and HSS brake are engaged planetary gear units in equal amount of torque and in
ensuring perfect parking of the vehicle. opposite direction relatively. Power from the
transmission is transmitted to the ring gears of the left
b) straight travel and right planetary gear trains through the transverse
c) shaft . Since sun gears and ring gears of left and right
During straight travel, the operating joystick in planetary gear units, are driven with unequal amount
operator’s cabin is in either forward or reverse of torque a torque barrier is created which gives the
position to move the dozer in that particular direction differential output to the left and right tracks through
respectively. Since steering of dozer is not required planetary carriers, final drive gear system and left and
hence no signal is sent to the steering switching valve, right sprockets. Therefore left side track will rotate at
therefore Pressurized oil from the steering pump is lower speed compared to the right side track which
not transmitted to the steering motor and hence there makes the dozer to steer towards the left side.
is no power transmission from steering motor to Similarly when the operating joystick is moved
transfer box . At the same time Pressurized oil from towards right, electrical signal is sent to the controller
transmission pump driven by PTO is passed through which in turn gives the signal to the operating valve
operating valve to the main brakes and HSS brake. As and actuates solenoids S2 and S3 of switching valves
shown in the FIG. 2 the operating valve contains two allowing pressurized oil to main brakes clutches and
switching valves operated by three solenoids S1, S2 HSS brake clutch to disengage the main brakes and HSS
and S3. The controller gives the signal to the operating brake mounted on transverse shaft and transfer gear
box shaft respectively. At same time another electric
valve and actuates the solenoid S1 of switching valve
signal is sent to the controller which in turn operates
allowing pressurized oil to main brakes clutches to
the steering switching valve allowing pressurized oil
disengage the main brakes mounted on transverse from steering pump to drive the steering motor in
shaft and HSS brake is in engaged position. Power opposite direction. The torque which is opposite
from the transmission is transmitted to the ring gear direction from the steering motor drives the power
of the planetary gear trains, through the transverse transmission mechanism through transfer box which
shaft . Since HSS brake is engaged sun gears of the in turn drives the sun gears of the planetary gear trains
planetary gear trains are held stationary. The designed Power from the transmission is transmitted to the ring
speed ratio of the planetary gear trains is same and gears of the left and right planetary gear trains through
hence same amount of output torque in the same the transverse shaft. Since sun gears and ring gears of
direction from the planetary gear trains is transmitted left and right planetary gear units are driven with
through the carriers to the final drive gear system, left unequal amount of torque a torque barrier is created
and right sprockets and to crawler tracks making the which gives the differential output to the left and right
vehicle to travel in straight either forward or reverse tracks through planetary carriers, final drive gear
direction. system and left and right sprockets. Therefore right
side track will rotate at lower speed compared to the
left side track 1 which makes the dozer to steer
d) Steering towards the right side.

During steering, the operating joystick in operator’s e) Pivot steering

cabin, in addition to the forward or reverse position is During pivot steering, the operating joystick in
moved either left or right to move and turn the dozer operator’s cabin is moved either left or right to turn
in that particular direction respectively. When the the dozer about the center of gravity in that particular
operating joystick is moved towards left, electrical direction respectively. Transmission is kept in neutral
signal is sent to the controller which in turn gives the position hence no power transfer is transmitted to the
signal to the operating valve and actuates solenoids S2 transverse shaft. Main brake pedal inside the
and S3 of switching valves allowing pressurized oil to operator’s cabin (not shown) is pressed which gives
main brakes clutches and HSS brake clutch to the signal to the controller which in turn gives the
disengage the main brakes and HSS brake mounted on signal to the operating valve and actuates solenoid S2
transverse shaft and transfer gear box shaft of the switching valve allowing pressurized oil only to
respectively. At same time another electric signal is the HSS brake clutch to disengage the HSS brake
couple with transfer gear box and main brakes are
sent to the controller which in turn operates the
engaged. When the operating joystick is moved
steering switching valve allowing pressurized oil from
towards left, electric signal is sent to the controller
steering pump to drive the steering motor. The torque which in turn operates the steering switching valve
from the steering motor drives the power transmission allowing pressurized oil from steering pump to drive
mechanism through transfer box which in turn drives the steering motor. The torque from the steering motor
the sun gears of the planetary gear trains. As shown in drives the power transmission mechanism through
FIG. 2 the sun gear of left side planetary train is getting transfer box which in turn drives the sun gears of the
drive through an idler from the transfer gear box. planetary gear trains in opposite direction due to idler
Whereas the sun gear of right side planetary gear train on the left side planetary gear train. Since the main
2165| International Journal of Current Engineering and Technology, Vol.6, No.6 (Dec 2016)
Arulprakash Planetary Differential Speed Dependent on Engine

brakes mounted on transverse shaft are applied hence Conclusion

ring gears are held stationary. An equal and opposite
torque is transmitted to the sun gears of planetary gear Engine power (Speed & torque) is transmitted to Bevel
trains through power transmission mechanism and pinion to Planetary Ring
transfer box from the steering motor giving an equal
and opposite torque output through the planetary Engine connected –Hydraulic system-to Sun (Speed &
carriers to the left and right tracks through final drive torque),
system and left and right sprockets. Since both tracks
rotate with equal and opposite speed the vehicle steers
towards left about the center of gravity which is known In nutshell two input to planetary & Single output
as “Pivot steering on left side”.
Similarly when the operating joystick is moved  Differential speed
towards right, electric signal is sent to the controller  One side we assist to increase speed
which in turn operates the steering switching valve
allowing pressurized oil from steering pump to drive  Other side we reduce the speed by giving counter
the steering motor in opposite direction. The torque rotation as input
which is in opposite direction from the steering motor
drives the power transmission mechanism through We get the following advantages
transfer box which in turn drives the sun gears of the
planetary gear trains in opposite direction due to idler  We can reduce variant by it suits different variants
on the left side planetary gear train. Since the main  We can have control on differential speed
brakes mounted on transverse shaft 8 are applied  Better cornering control-Small turning radius
hence ring gears are held stationary. An equal and
opposite torque is transmitted to the sun gears of
planetary gear trains through power transmission Reference
mechanism and transfer box from the steering motor
giving an equal and opposite torque output through the Power shift Differential Transmission with Three Flows of
planetary carriers to the left and right tracks through Power for Construction Machines -Jaroslav Pitonak-
final drive system and left and right sprockets. Since University of Zilina
both tracks rotate with equal and opposite speed the Double Differential Unit with Torque Sensing Locking Device,
vehicle steers towards right about the center of gravity Konstantin Erjawetz -MAGNA STEYR Engineering, Graz,
which is known as “Pivot steering on right side”. Austria ,Hermann Pecnik -MAGNA STEYR Engineering,
Graz, Austria

2166| International Journal of Current Engineering and Technology, Vol.6, No.6 (Dec 2016)