Swing Over Steering

摘要

A self-propelled construction machine includes a plurality of swing legs, each swing leg being supported from a ground surface by an associated crawler track steerably connected to an outer end of its associated swing leg. Pivotal movement of a swing leg may be accomplished by steering the associated crawler track through a non-zero steering angle until the lateral movement of the crawler track achieves the desired pivoting movement of the associated swing leg.

主权项

1. A construction machine, comprising:
a machine frame; first and second swing legs pivotally connected to the machine frame; first and second ground engaging units steerably connected to the first and second swing legs, respectively, the ground engaging units including drive motors configured such that the ground engaging units are driven across a ground surface by the drive motors; a first steering sensor configured to detect a first steering angle of the first ground engaging unit relative to the first swing leg: a second steering sensor configured to detect a second steering angle of the second ground engaging unit relative to the second swing leg;
a first lock configured to selectively lock and unlock the first swing leg in pivotal position relative to the machine frame; a second lock configured to selectively lock and unlock the second swing leg in pivotal position relative to the machine frame; and a controller including a swing leg pivot mode configured to allow each of the first and second swing legs to pivot relative to the machine frame in response to steering of the ground engaging unit connected to each swing leg as the machine is driven across the ground surface by the ground engaging units.