Patent ID: 11946227
Assignee: KUBOTA CORPORATION
Field: Civil engineering (Other fields)
Classification: CPC E  B  F | IPC B  E  F

Claim 7:
8. A working machine comprising:
a machine body;
a prime mover provided on the machine body;
a left traveling device provided on a left portion of the machine body;
a right traveling device provided on a right portion of the machine body;
a left traveling motor configured to output power to the left traveling device and to be rotated at a speed shiftable between a first speed and a second speed higher than the first speed;
a right traveling motor configured to output power to the right traveling device and to be rotated at a speed shiftable between the first speed and the second speed higher than the first speed;
a controller configured or programmed to perform an automatic deceleration for automatically decelerating the left traveling motor and the right traveling motor rotated at the second speed by shifting from the second speed to the first speed, and to determine a deceleration threshold that is used for judging whether the automatic deceleration has to be performed or not;
a first circulation fluid line connected to a first port and a second port of a left traveling pump and connected to the left traveling motor;
a second circulation fluid line connected to a third port and a fourth port of a right traveling pump and connected to the right traveling motor;
a first pressure detector provided on a portion of the first circulation fluid line connected to a first port of the left traveling motor and configured to detect a first traveling pressure that is a pressure of operation fluid applied to the first circulation fluid line during rotation of the left traveling motor;
a second pressure detector provided on another portion of the first circulation fluid line connected to a second port of the left traveling motor and configured to detect a second traveling pressure that is a pressure of operation fluid applied to the first circulation fluid line during rotation of the left traveling motor;
a third pressure detector provided on a portion of the second circulation fluid line connected to a third port of the right traveling motor and configured to detect a third traveling pressure that is a pressure of operation fluid applied to the second circulation fluid line during rotation of the right traveling motor; and
a fourth pressure detector provided on another portion of the second circulation fluid line connected to a fourth port of the right traveling motor and configured to detect a fourth traveling pressure that is a pressure of operation fluid applied to the second circulation fluid line during rotation of the right traveling motor, wherein
the controller is configured or programmed to perform the automatic deceleration based on the determined deceleration threshold and any one or more of the first traveling pressure, the second traveling pressure, the third traveling pressure, and the fourth traveling pressure in a state where the left traveling motor and the right traveling motor are each rotated at the second speed.