Differential Steering System : SMCS Code: 4005 4010

Copyright 1991, 2008 Caterpillar Inc. All Rights Reserved.
Page 1 of 18
9EM D8R TRACK-TYPE TRACTOR Systems Operation

Media Number SENR8325-02 Publication Date 1998/10/01 Update Date 2001/10/05
Differential Steering System

SMCS Code: 4005; 4010
Illustration 21
(1) Track
(2) Final drive
(3) Bevel gear
(4) Steering differential
(5) Steering control
(6) Hydraulic motor for the steering system
(7) Steering hydraulic pump
file://C:\SIS\TMP\sisB151prt.html 7/28/2008
Copyright 1991, 2008 Caterpillar Inc. All Rights Reserved. Page 2 of 18
(8) Engine
(9) Main drive shaft
(10) Transfer gear
(11) Brake and planetary group
The machine uses a differential steering system. The basic system has a steering differential, a hydraulic pump, a
hydraulic steering motor, and steering controls.
The steering differential has two power inputs. One power input is from the transmission for speed and direction
(FORWARD or REVERSE) and the other power input is from the hydraulic motor for steering (right or left).
The steering differential uses the hydraulic motor power input in order to increase the track speed on one side of the
machine. The steering differential also uses the hydraulic motor power input in order to equally decrease the speed of the
other track. The resulting difference in track speeds turns the machine.
Direction of the rotation of the hydraulic motor determines the direction of the turn, and motor speed determines the
tightness of the turn.
For a more complete description of the hydraulic motor, the hydraulic pump and the steering controls, see Systems
Operations, SENR8329, "D8R Tractor Hydraulics". The description of the differential steering system follows.
Illustration 22
Mechanical Parts of Steering System
(3) Pinion (steering)
(4) Gear (ring)
(5) Carrier
(6) Planetary gears
(7) Planetary gears
(8A) Gear (sun)
(8B) Gear (sun)
(10) Gear (bevel)
(11) Gear (ring)
(12) Housing
(13) Carrier
(17) Gear (stationary ring)
(22) Carrier
(23) Planetary gears
(24) Gear (sun)
(25) Shaft (center axle)
(26) Pinion (transmission)
(27) Gear (bevel)
(28) Shaft (outer axle)
(29) Shaft (bevel gear)
(A) Steering differential
(B) Bevel gear set
(C) Equalizing planetary
Transmission power flow is introduced through the bevel gear set (26) and (27). The power flow is modified by the
power flow from the steering motor and the power flows through the bevel gear set (3) and (10).
The steering differential is located on the left side of the machine, and the differential consists of two planetary gear sets
and the bevel gear set. The right side equalizing planetary is connected by the center axle shaft to the steering
differential.
Power is transmitted from the steering differential and the equalizing planetary through the outer axle shafts and then to
the final drives.
Transmission pinion (26) and bevel gear (27) are connected to carrier (5) by bevel gear shaft (29).
Steering pinion (3) and bevel gear (10) are connected to housing (12). Ring gear (11) is connected to housing (12).
Planetary gears (6) connect ring gear (11) to carrier (13). Outer axle shaft (30) is connected to carrier (13).
Ring gear (4) connects carrier (13) and carrier (5) through planetary gears (7).
Sun gears (8A), (8B) and (24) are connected to center axle shaft (25). Carrier (22) is connected to sun gear (24) through
planetary gears (23). Outer axle shaft (28) is connected to carrier (22).
Stationary ring gear (17) is connected to the brake housing which is connected to the bevel gear case.
Both outer axle shafts are connected to the final drives that turn the tracks.
Power flow through the differential steering system can be viewed in three situations.
The situations are the following items:transmission power flow only, steering power flow only and a combination of
transmission and steering power flows. Power in the following explanations can be defined in terms of torque.
The input torques from the transmission and from the steering motor will be followed through the steering system to the
axles.
Illustration 23
Steering Differential and Equalizing Planetary
(4) Gear (ring)
(5) Carrier
(6) Planetary gears
(7) Planetary gears
(8A) Gear (sun)
(8B) Gear (sun)
(10) Gear (bevel)
(11) Gear (ring)
(12) Housing
(13) Carrier
(22) Carrier
(24) Gears (sun)
Transmission Power Flow Only
Illustration 24
Power Flow Schematic of a Machine that is Moving in a Straight Forward Direction
(4) Gear (ring)
(5) Carrier
(6) Planetary gears
(7) Planetary gears
(8A) Gear (sun)
(8B) Gear (sun)
(10) Gear (bevel)
(11) Gear (ring)
(12) Housing
(13) Carrier
(22) Carrier
(23) Planetary Gears
(24) Gear (sun)
(27) Gear (bevel)
(A) Transmission power flow
With the pinion and the bevel gear in the hold position, power from the transmission flows through transmission pinion
(26) to bevel gear (27).
Bevel gear (27) sends the power through bevel gear shaft (29) to carrier (5). Power through carrier (5) flows in two
directions.
Most of the power flows through the planetary gears (7) to ring gear (4). The rest of the power flows through the
planetary gears (7) to sun gear (8B).
Ring gear (4) sends the power through carrier (13) to outer axle shaft (30).
Sun gear (8B) sends power through center axle shaft (25) to sun gear (24). Sun gear (24), planetary gears (23), carrier
(22) and stationary ring gear (17) multiply the power. The power is then sent to outer axle (28).
Power to both outer axles is equal and the axles rotate in the same direction. As a result, the machine will move forward
or backward.
Illustration 25
Rotation of Components During Forward Movement
(4) Gear (ring)
(5) Carrier
(6) Planetary gears
(7) Planetary gears
(8A) Gear (sun)
(8B) Gear (sun)
(13) Carrier
(22) Carrier
(24) Gear (sun)
(27) Gear (bevel)
(31) Motor (steering)
(32) Gear (transfer)
(33) Gear (inner sun of final drive)
(35) Gear (inner sun of the final drive)
Steering Power Flow
Illustration 26
Power Flow Schematic of a Machine that is Counterrotating Counterclockwise
(6) Planetary gears
(8A) Gear (sun)
(10) Gear (bevel)
(11) Gear (ring)
(12) Housing
(13) Carrier
(22) Carrier
(24) Gear (sun)
(B) Steering power flow
With the transmission in NEUTRAL, power from the steering motor flows through steering pinion (3) to bevel gear (10).
Bevel gear (10) sends the power through housing (12), through ring gear (11), through planetary gears (6) and through
carrier (13). Power then flows in two directions.
Half of the power flows through the planetary gears to sun gear (8A). The other half of the power flows to outer axle
shaft (30).
Sun gear (8A) sends the power through center axle shaft (25) to sun gear (24).
Sun gear (24), planetary gears (23), carrier (22) and stationary ring gear (17) multiply the power. The power is then sent
to outer axle shaft (28).
The power is equal to both outer axle shafts but the direction of axle rotation is opposite to each other. As a result, the
machine rotates about the center of the machine.
Illustration 27
Rotation of Components During Counterrotation in the Counterclockwise direction
(4) Gear (ring)
(6) Planetary gears
(7) Planetary gears
(8A) Gear (sun)
(8B) Gear (sun)
(10) Gear (bevel)
(11) Gear (ring)
(12) Housing
(13) Carrier
(22) Carrier
(24) Gear (sun)
Steering Power Flow and Transmission Power Flow Combined
Illustration 28
Power Flow Schematic of a Machine that is Moving Forward and Turning Left
(4) Gear (ring)
(8A) Gear (sun)
(8B) Gear (sun)
(10) Gear (bevel)
(11) Gear (ring)
(12) Housing
(13) Carrier
(22) Carrier
(24) Gear (sun)
(A) Transmission power flow
(B) Steering power flow
(C) Combined power flow
The power from the steering motor and the power from the transmission act together on the differential steering system.
The power from the transmission flows through the system in a normal manner.
The power from the steering input does not flow in two directions. The power flows through the system in one direction
or in the other direction.
The power to one axle shaft is greater. The difference in power causes the speed of one axle shaft to increase and the
difference in power causes the speed of the other axle shaft to decrease.
The amount of speed difference between the axle shafts and the direction of the turn are controlled by the steering motor.
The rotation of the steering motor and the rotation of pinion (3) controls the direction of the turn. See the following
chart. The speed of the motor and pinion determines the tightness of the turn. A faster motor speed causes a sharper turn.
Table 3
Left Turn Left Turn Right Turn Right Turn

FORWARD REVERSE FORWARD REVERSE
Rotation of Steering Motor Clockwise Counterclockwise Counterclockwise Clockwise

And Steering Pinion (3)
Rotation of Transmission Clockwise Counterclockwise Clockwise Counterclockwise
Pinion (26)
Tiller Handle Pushed Forward Pulled Back Pulled Back Pushed Forward
When the machine makes a left turn, the rotation of steering pinion (3) and transmission pinion (26) are the same
direction.
Power to steering pinion (3) flows through bevel gear (10) and housing (12) to ring gear (11). Ring gear (11) sends the
power through the center axle shaft to sun gear (24).
Sun gear (24), planetary gears (23), carrier (22) and stationary ring gear (17) multiply the power. The power is sent to
outer axle shaft (28).
The additional power causes the outer axle shaft to increase in speed.
When one side of the differential speeds up, the other side of the differential slows down an equal amount.
The differential in speeds is accomplished when the power to sun gear (8A) adds to the power at sun gear (8B). The
increase in power causes the speed of the sun gears to increase. All three sun gears (8A), (8B), and (24) have the same
speed.
When the speed of sun gear (8B) increases, the speed of ring gear (4) decreases. The decrease in speed of ring gear (4)
causes carrier (13) and outer axle shaft (30) to decrease in speed.
The resulting speed difference between outer axle shafts (28) and (30) causes the machine to turn left.
Power to steering pinion (3) flows through bevel gear (10) and through housing (12) to ring gear (11).
Ring gear (11) sends the power through planetary gears (6) to carrier (13). The power adds to the power that is flowing
through ring gear (4) to carrier (13).
The combined power flows through carrier (13) to outer axle shaft (30). The combined power causes the axle, carrier
(13) and ring gear (4) to increase in speed.
When ring gear (4) increases in speed, this causes sun gear (8B) to decreases in speed. The decrease in speed of sun gear
(8B) causes center axle shaft (25), sun gear (24), carrier (22) and outer axle shaft (28) to decrease in speed also.
The resulting speed difference between the outer axle shafts (28) and (30) causes the machine to turn to the right.
Illustration 29
Rotation of Components During Left Turn (FORWARD)
(4) Gear (ring)
(5) Carrier
(6) Planetary gears
(7) Planetary gears
(8A) Gear (sun)
(8B) Gear (sun)
(10) Gear (bevel)
(11) Gear (ring)
(12) Housing
(13) Carrier
(22) Carrier
(24) Gear (sun)
(27) Gear (bevel)
Brakes
Illustration 30
Differential Drive with Brake and Planetary Group
(1) Housing (brake)
(2) Shuttle valve spool
(3) Hub (brake)
(4) Discs
(5) Plates
(6) Housing (brake)
(7) Piston
(8) Belleville spring
(9) Carrier
(10) Outer axle (right)
(11) Chamber
(12) Chamber
(13) Belleville spring
(14) Piston
(15) Plates
(16) Discs
(17) Retainer
(18) Outer axle (left)
(19) Hub
The brakes are part of two different modules of the machine. One module is the differential drive that is installed on the
left side of the machine and the other module is the brake and planetary group that is installed on the right side of the
machine.
The brakes are used to stop the machine. The brakes do not assist in the turning of the machine.
The brake components are the following components: hub (19), carrier (9), brake piston (7), brake piston (14), retainer
(17), hub (3), belleville spring (13), belleville spring (8), housing (1), housing (6), discs (4), plates (5), discs (16), plates
(15), and shuttle valve spools (2).
The brakes are engaged by belleville springs (13) and (8). The brakes are released by pressure oil from the brake control
valve. The operator controls the brake control valve with a brake foot pedal and with a linkage.
During movement of the machine, pressure oil is sent through passages in brake housings (1) and (6) to chambers (11)
and (12). The pressure oil holds the brakes in the released position and the oil allows the outer axle shafts to turn.
When the foot brake is applied, the pressure oil to chambers (11) and (12) is stopped. The chambers are opened to the
drain. The reduction in pressure allows belleville springs (13) and (8) to push brake pistons (7) and (14) against discs (4),
plates (5), discs (16), and plates (15).
Brake pistons (7) and (14) move shuttle valve spool (2). The movement increases the lubrication oil flow to the brakes.
The discs and the plates stop or the discs and the plates resist the rotation of hub (19), carrier (9), outer axle shaft (10)
and outer axle shaft (18). The outer axle shafts are connected by splines to hub (19) and carrier (9).
Copyright 1991, 2008 Caterpillar Inc.

All Rights Reserved.

Differential Steering System : SMCS Code: 4005 4010

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Copyright 1991, 2008 Caterpillar Inc. All Rights Reserved.

9EM D8R TRACK-TYPE TRACTOR Systems Operation

Differential Steering System

(2) Final drive

(3) Bevel gear

(4) Steering differential

(5) Steering control

(6) Hydraulic motor for the steering system

(7) Steering hydraulic pump

(9) Main drive shaft

(10) Transfer gear

(11) Brake and planetary group

Mechanical Parts of Steering System

(3) Pinion (steering)

(4) Gear (ring)

(6) Planetary gears

(7) Planetary gears

(8A) Gear (sun)

(8B) Gear (sun)

(10) Gear (bevel)

(11) Gear (ring)

(17) Gear (stationary ring)

(23) Planetary gears

(24) Gear (sun)

(25) Shaft (center axle)

(26) Pinion (transmission)

(27) Gear (bevel)

(28) Shaft (outer axle)

(29) Shaft (bevel gear)

(30) Shaft (outer axle)

(A) Steering differential

(B) Bevel gear set

(C) Equalizing planetary

Steering Differential and Equalizing Planetary

(3) Pinion (steering)

(4) Gear (ring)

(6) Planetary gears

(7) Planetary gears

(8A) Gear (sun)

(8B) Gear (sun)

(10) Gear (bevel)

(11) Gear (ring)

(17) Gear (stationary ring)

(23) Planetary gears

(24) Gears (sun)

Transmission Power Flow Only

Power Flow Schematic of a Machine that is Moving in a Straight Forward Direction

(3) Pinion (steering)

(4) Gear (ring)

(6) Planetary gears

(7) Planetary gears

(8A) Gear (sun)

(8B) Gear (sun)

(10) Gear (bevel)

(11) Gear (ring)

(17) Gear (stationary ring)

(23) Planetary Gears

(24) Gear (sun)

(25) Shaft (center axle)

(26) Pinion (transmission)

(27) Gear (bevel)

(28) Shaft (outer axle)

(29) Shaft (bevel gear)