Patent ID: 11891780
Assignee: KUBOTA CORPORATION
Field: Civil engineering (Other fields)
Classification: CPC E  F  B | IPC E  F

Claim 13:
14. A working machine comprising:
a traveling device travelably supporting a machine body;
a traveling pump to deliver hydraulic fluid;
a traveling motor configured to be rotated by the hydraulic fluid delivered from the traveling pump so as to output power to the traveling device;
a traveling change-over valve configured to shift an operation state thereof so as to shift a rotation speed of the traveling motor;
an actuation valve configured to change an operation state thereof so as to change the delivery rate of hydraulic fluid delivered from the traveling pump; and
a controller to control the traveling change-over valve and the actuation valve, wherein
the controller, when shifting the rotation speed of the traveling motor, is configured or programmed
to output a first control signal to control the operation state of the actuation valve and change a control value of the first control signal output therefrom in such a way that the control value of the first control signal is changed to a mitigation value such as to reduce the delivery rate of hydraulic fluid delivered from the traveling pump to a value less than that corresponding to a set value of the control value, and then is set to the set value, and

during the changing of the control value of the first control signal, the controller is configured or programmed
to perform a shock mitigation control for mitigating a speed-shift shock by shifting the operation state of the traveling change-over valve, and
to change a value of a control parameter for performing the shock mitigation control in correspondence to a traveling speed of the machine body.