A working machine includes an undercarriage supported by first and second ground engaging units powered by first and second drive units, a main frame supported by the undercarriage, a first sensor configured to sense an orientation and relative angular motion of the main frame with respect to the undercarriage, a second sensor configured to sense an orientation and relative angular motion of the main frame in an external reference frame independent of the undercarriage, and a controller functionally linked to the first and second sensors. The controller is configured to receive commands corresponding to an intended movement of the first and second ground engaging units, and generate control signals to the first and second drive units to achieve or maintain the intended movement taking into account a detected orientation of the main frame relative to the undercarriage and a detected orientation of the main frame in the external reference frame.

In regard to a hydraulic hose that extends from a center frame side in a lower travel body and is connected to a travel motor in each of right and left travel sections, it is possible to limit a movement range of a hydraulic hose with a simple configuration and thus to suppress damage to the hydraulic hose. A lower travel body that supports an upper unit includes: a center frame that supports the upper unit; a side frame that is provided on both of right and left sides of the center frame to support a travel motor and constitutes a crawler-type travel section; and plural hydraulic hoses, one end side of each of which is connected to a swivel joint provided to the center frame, and the other end side of each of which is connected to the travel motor. The center frame includes: a rear wall having a guide hole, through which the hydraulic hose passes; and a hose guide that is located below the guide hole, located above the hydraulic hose, and thereby restricts upward movement of the hydraulic hose.

In regard to a hydraulic hose that extends from a center frame side in a lower travel body and is connected to a travel motor in each of right and left travel sections, it is possible to limit a movement range of a hydraulic hose with a simple configuration and thus to suppress damage to the hydraulic hose. A lower travel body that supports an upper unit includes: a center frame that supports the upper unit; a side frame that is provided on both of right and left sides of the center frame to support a travel motor and constitutes a crawler-type travel section; and plural hydraulic hoses, one end side of each of which is connected to a swivel joint provided to the center frame, and the other end side of each of which is connected to the travel motor. The center frame includes: a rear wall having a guide hole, through which the hydraulic hose passes; and a hose guide that is located below the guide hole, located above the hydraulic hose, and thereby restricts upward movement of the hydraulic hose.

A system and method for steering a machine. The system may comprise a controller configured to receive a steering command and determine a target angular turn rate for the body and a target turn direction for the body. The controller may be further configured to determine a steering mode based on a transmission output torque, the steering mode including Traction-steering, Assisted-steering or Implement-steering. When the steering mode is Assisted-steering, the controller is configured to steer the machine in the target turn direction and at the target angular turn rate by (a) moving an implement from a first position to a second position and (b) diverting or removing power from a first ground engaging traction member. When the steering mode is Implement-steering, the controller is configured to move the implement from a first position to a second position to steer the machine in the target turn direction and at the target angular turn rate without diverting or removing power from the first ground engaging traction member.

A system and method for steering a machine. The system may comprise a controller configured to receive a steering command and determine a target angular turn rate for the body and a target turn direction for the body. The controller may be further configured to determine a steering mode based on a transmission output torque, the steering mode including Traction-steering, Assisted-steering or Implement-steering. When the steering mode is Assisted-steering, the controller is configured to steer the machine in the target turn direction and at the target angular turn rate by (a) moving an implement from a first position to a second position and (b) diverting or removing power from a first ground engaging traction member. When the steering mode is Implement-steering, the controller is configured to move the implement from a first position to a second position to steer the machine in the target turn direction and at the target angular turn rate without diverting or removing power from the first ground engaging traction member.

A shovel includes a lower traveling body, an upper turning body turnably mounted on the lower traveling body, and a controller configured to control a projection device that projects light onto a ground surface. The controller is attached to the upper turning body, and is configured to control the projection device so as to enable visualization of the relationship between the current shape of the ground surface and the shape of a target surface.

A shovel includes a lower traveling body, an upper turning body turnably mounted on the lower traveling body, and a controller configured to control a projection device that projects light onto a ground surface. The controller is attached to the upper turning body, and is configured to control the projection device so as to enable visualization of the relationship between the current shape of the ground surface and the shape of a target surface.

A track slider mounting plate kit includes a first shark fin configured mounting plate including a first bottom mounting surface, a first beveled surface extending from the first bottom mounting surface, and a second beveled surface that extends from the first beveled surface, forming a first oblique angle with the second beveled surface. A track slider is attached to the first shark fin configured mounting plate that has a top surface extending from the rear surface toward the front surface defining a top surface radius of curvature ranging from 2200 mm to 2600 mm.

A track slider mounting plate kit includes a first shark fin configured mounting plate including a first bottom mounting surface, a first beveled surface extending from the first bottom mounting surface, and a second beveled surface that extends from the first beveled surface, forming a first oblique angle with the second beveled surface. A track slider is attached to the first shark fin configured mounting plate that has a top surface extending from the rear surface toward the front surface defining a top surface radius of curvature ranging from 2200 mm to 2600 mm.

An axle oscillation stop for a construction machine includes a body portion defining a first aperture. The axle oscillation stop also includes a first plate that defines a first through-aperture. The axle oscillation stop further includes a second plate that defines a second through-aperture. The axle oscillation stop includes a dowel pin adapted to removably couple the body portion with a frame of the construction machine. The dowel pin is at least partially receivable within the first aperture. The axle oscillation stop also includes a first fastening device adapted to removably couple the first plate with the frame. The first fastening device is at least partially receivable within the first through-aperture. The axle oscillation stop further includes a second fastening device adapted to removably couple the second plate with the frame. The second fastening device is at least partially receivable within the second through-aperture.