CA3099616C - Method for generating a movement of a mobile system for open pit mining - Google Patents
Method for generating a movement of a mobile system for open pit mining Download PDFInfo
- Publication number
- CA3099616C CA3099616C CA3099616A CA3099616A CA3099616C CA 3099616 C CA3099616 C CA 3099616C CA 3099616 A CA3099616 A CA 3099616A CA 3099616 A CA3099616 A CA 3099616A CA 3099616 C CA3099616 C CA 3099616C
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- crawler chassis
- mobile
- crawlers
- chassis units
- rig
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/20—Endless-track steering having pivoted bogie carrying track
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Disintegrating Or Milling (AREA)
- Earth Drilling (AREA)
- Transmission Devices (AREA)
- Hall/Mr Elements (AREA)
- Manipulator (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Harvester Elements (AREA)
Abstract
The present invention relates to a method for producing a traveling movement of a mobile rig for open-pit mining having a first crawler chassis unit and having at least a second crawler chassis unit, the crawler chassis units each having a substructure on which two crawlers arranged spaced apart from each other are received, the substructures of the crawler chassis units being arranged rotatably beneath a superstructure. According to the invention, in order to control the mobile rig at least one control unit is provided, with which each crawler of the crawler chassis units is controlled to perform a traveling movement, or to stop, using a separate signal. The invention further relates to a mobile rig for open-pit mining having at least one control unit for implementing the method.
Description
METHOD FOR GENERATING A MOVEMENT OF A MOBILE SYSTEM FOR
OPEN PIT MINING
Description The present invention relates to a method for producing a traveling movement of a mobile rig for open-pit mining having a first crawler chassis unit and having at least a second crawler chassis unit, the crawler chassis units each having a substructure on which two crawlers arranged spaced apart from each other are received, the substructures of the crawler chassis units being arranged rotatably beneath a superstructure. Furthermore, the invention relates to a mobile rig for open-pit mining having a control unit for implementing the method.
PRIOR ART
DE 103 14 958 Al discloses a mobile rig for open-pit mining in the form of a mobile crusher, and the crusher comprises a first crawler chassis unit and a second crawler chassis unit, the crawler chassis units each having a substructure on which two crawlers spaced apart from each other are arranged. A further exemplary embodiment discloses three crawler pairs as the chassis unit of a mobile rig, the mobile rig having a central pivot bearing on which the superstructure of the rig can be rotated in respect of the crawler chassis unit. This kind or rotation is advantageous during stationary operation of the rig, however a traveling movement of the mobile rig cannot be steered by rotating the superstructure in the pivot bearing. In order to produce a traveling movement of the mobile rig, the crawler chassis units must frequently be rotated by means of hydraulic cylinders or electrical drives.
It is known in principle for crawler chassis units having two crawlers arranged spaced apart from each other to be rotated about a vertical axis by operating the crawlers at different speeds. Cornering or yawing of a superstructure can therefore be produced by the crawlers of only one crawler chassis unit being operated at different speeds or even in opposite turning directions. However, multiple crawler chassis units are frequently used for a mobile rig in open-pit mining and these are either realized with a Date Recue/Date Received 2022-03-31 drawbar which is articulated to produce a rotation of the chassis unit or mobile rigs with a correspondingly rotatable platform for the superstructure are known in the art, although this results in costly construction.
DISCLOSURE OF THE INVENTION
The problem addressed by the invention is that of developing a method for the production of a traveling movement of a mobile rig for open-pit mining with which a simple design of the rig and the associated crawler chassis units is possible, and wherein the method is to be easily implemented. In addition, the problem addressed by the invention is that of creating a mobile rig for open-pit mining which has a correspondingly simple design and which can easily perform a traveling movement. In particular, the mobile rig in this case should have no need of a device for the active rotation of the substructure in respect of the superstructure, in order to move the mobile rig.
This problem is solved based on a method for producing a traveling movement of a mobile rig for open-pit mining having a first crawler chassis unit and having at least a second crawler chassis unit, the crawler chassis units each having a substructure on which two crawlers arranged spaced apart from each other are received, the .. substructures of the crawler chassis units being arranged rotatably beneath a superstructure, wherein in order to control the mobile rig at least one control unit is provided, with which each crawler of the crawler chassis units is controlled to perform a traveling movement, or to stop, using a separate control signal, and wherein an input means is provided, with which the traveling movement or a turning movement of the mobile rig can be specified to the control unit by an operator or a higher-level technical unit, the control unit determining the separate control signal for the traveling movement or stopping necessary for each of the crawlers and controlling the crawlers with the defined traveling movement or stopping, such that the specified traveling movement or turning movement of the mobile rig is performed. The problem is further solved based on a mobile rig for open-pit mining comprising at least one control unit for implementing the method as described herein, and at least two crawler chassis units being arranged beneath the superstructure, which each have two crawlers..
OPEN PIT MINING
Description The present invention relates to a method for producing a traveling movement of a mobile rig for open-pit mining having a first crawler chassis unit and having at least a second crawler chassis unit, the crawler chassis units each having a substructure on which two crawlers arranged spaced apart from each other are received, the substructures of the crawler chassis units being arranged rotatably beneath a superstructure. Furthermore, the invention relates to a mobile rig for open-pit mining having a control unit for implementing the method.
PRIOR ART
DE 103 14 958 Al discloses a mobile rig for open-pit mining in the form of a mobile crusher, and the crusher comprises a first crawler chassis unit and a second crawler chassis unit, the crawler chassis units each having a substructure on which two crawlers spaced apart from each other are arranged. A further exemplary embodiment discloses three crawler pairs as the chassis unit of a mobile rig, the mobile rig having a central pivot bearing on which the superstructure of the rig can be rotated in respect of the crawler chassis unit. This kind or rotation is advantageous during stationary operation of the rig, however a traveling movement of the mobile rig cannot be steered by rotating the superstructure in the pivot bearing. In order to produce a traveling movement of the mobile rig, the crawler chassis units must frequently be rotated by means of hydraulic cylinders or electrical drives.
It is known in principle for crawler chassis units having two crawlers arranged spaced apart from each other to be rotated about a vertical axis by operating the crawlers at different speeds. Cornering or yawing of a superstructure can therefore be produced by the crawlers of only one crawler chassis unit being operated at different speeds or even in opposite turning directions. However, multiple crawler chassis units are frequently used for a mobile rig in open-pit mining and these are either realized with a Date Recue/Date Received 2022-03-31 drawbar which is articulated to produce a rotation of the chassis unit or mobile rigs with a correspondingly rotatable platform for the superstructure are known in the art, although this results in costly construction.
DISCLOSURE OF THE INVENTION
The problem addressed by the invention is that of developing a method for the production of a traveling movement of a mobile rig for open-pit mining with which a simple design of the rig and the associated crawler chassis units is possible, and wherein the method is to be easily implemented. In addition, the problem addressed by the invention is that of creating a mobile rig for open-pit mining which has a correspondingly simple design and which can easily perform a traveling movement. In particular, the mobile rig in this case should have no need of a device for the active rotation of the substructure in respect of the superstructure, in order to move the mobile rig.
This problem is solved based on a method for producing a traveling movement of a mobile rig for open-pit mining having a first crawler chassis unit and having at least a second crawler chassis unit, the crawler chassis units each having a substructure on which two crawlers arranged spaced apart from each other are received, the .. substructures of the crawler chassis units being arranged rotatably beneath a superstructure, wherein in order to control the mobile rig at least one control unit is provided, with which each crawler of the crawler chassis units is controlled to perform a traveling movement, or to stop, using a separate control signal, and wherein an input means is provided, with which the traveling movement or a turning movement of the mobile rig can be specified to the control unit by an operator or a higher-level technical unit, the control unit determining the separate control signal for the traveling movement or stopping necessary for each of the crawlers and controlling the crawlers with the defined traveling movement or stopping, such that the specified traveling movement or turning movement of the mobile rig is performed. The problem is further solved based on a mobile rig for open-pit mining comprising at least one control unit for implementing the method as described herein, and at least two crawler chassis units being arranged beneath the superstructure, which each have two crawlers..
2 Date Recue/Date Received 2022-03-31 Advantageous developments of the invention areare provided as specific embodiments thereof.
The invention incorporates the technical teaching that in order to control the mobile rig at least one control unit is provided, with which each crawler of the crawler chassis units is controlled to perform a traveling movement, or to stop, using a separate control signal.
The central idea behind the invention in this case is the self-alignment of each of the substructures independently of one another and, in addition, independently of the superstructure, through a discrete control of the crawlers which are arranged on the substructures. The control according to the invention can be undertaken in this case using only one or using multiple control units, wherein the multiple control units are then jointly designed to control each crawler of the crawler chassis units to perform a traveling movement or to stop using a separate control signal.
In this way, the substructures of the individual crawler chassis units can be aligned accordingly and the substructures of the crawler chassis units can also be aligned in respect of one another, so that the mobile rig performs a traveling movement or a turning movement, as required. The traveling movement in this case also includes a rotation of the mobile rig about a stationary vertical axis, for example, so that a so-called yaw is performed, and the traveling movement includes straight- ahead travel, transverse travel, and cornering or travel in a sideways direction. The forwards movement and/or a sideways movement and/or a rotation of the rig about the vertical axis in this case takes place according to the invention either by performing a traveling movement of the individual crawler or by stopping of the individual crawler.
Each individual crawler of all crawler chassis units of the mobile rig in this case is controlled by the control unit using a correspondingly separate control signal.
The method according to the invention for producing a traveling movement of the mobile rig using a correspondingly designed control unit means that the steering of
The invention incorporates the technical teaching that in order to control the mobile rig at least one control unit is provided, with which each crawler of the crawler chassis units is controlled to perform a traveling movement, or to stop, using a separate control signal.
The central idea behind the invention in this case is the self-alignment of each of the substructures independently of one another and, in addition, independently of the superstructure, through a discrete control of the crawlers which are arranged on the substructures. The control according to the invention can be undertaken in this case using only one or using multiple control units, wherein the multiple control units are then jointly designed to control each crawler of the crawler chassis units to perform a traveling movement or to stop using a separate control signal.
In this way, the substructures of the individual crawler chassis units can be aligned accordingly and the substructures of the crawler chassis units can also be aligned in respect of one another, so that the mobile rig performs a traveling movement or a turning movement, as required. The traveling movement in this case also includes a rotation of the mobile rig about a stationary vertical axis, for example, so that a so-called yaw is performed, and the traveling movement includes straight- ahead travel, transverse travel, and cornering or travel in a sideways direction. The forwards movement and/or a sideways movement and/or a rotation of the rig about the vertical axis in this case takes place according to the invention either by performing a traveling movement of the individual crawler or by stopping of the individual crawler.
Each individual crawler of all crawler chassis units of the mobile rig in this case is controlled by the control unit using a correspondingly separate control signal.
The method according to the invention for producing a traveling movement of the mobile rig using a correspondingly designed control unit means that the steering of
3 Date Recue/Date Received 2022-03-31 the crawler chassis units by means of a hydraulic system or an electrical drive, in particular by means of a drawbar, which had been necessary hitherto, can be dispensed with. The crawler chassis units can be rotated automatically about a corresponding vertical axis of the substructures using the control according to the invention of the individual crawlers and the traveling movement can take place both forwards and sideways by controlling the crawlers and the rig can be rotated about a stationary vertical axis. The crawlers must be controlled in this case so that not only the individual crawler chassis unit performs the corresponding movement, but the crawlers are controlled taking account of each of the crawlers of the remaining chassis units. The control unit according to the invention is therefore realized in such a manner that an overall control of all crawlers is monitored and this takes place for the individual crawlers taking account of the other control signals to the other crawlers in each case.
It is advantageous for the crawler chassis units to be arranged on the underside on the superstructure by means of pivot points, said pivot points particularly advantageously having rotational sensors with which the rotation of the crawler chassis units in the pivot points about the vertical axes is detected and read by the control unit. In this way, information can be supplied to the control unit on the turning position of the crawler chassis units, so that the individual crawlers of the crawler chassis units can be controlled in such a manner that the desired turning position of the crawler chassis units is achieved. The connections between the substructures and the superstructure may include pivot points which are formed by ball joints, in particular when the mobile rig has three crawler chassis units, as a result of which a statically determined bearing of the rig on the ground is made possible.
Within the framework of the invention, however, revolving platforms between the substructures and the superstructure are possible which may likewise incorporate rotational sensors.
According to a further advantage, input means may be provided which are connected to the control unit and with which the traveling movement or turning movement of the mobile rig can be specified to the control unit by an operator or a higher-level
It is advantageous for the crawler chassis units to be arranged on the underside on the superstructure by means of pivot points, said pivot points particularly advantageously having rotational sensors with which the rotation of the crawler chassis units in the pivot points about the vertical axes is detected and read by the control unit. In this way, information can be supplied to the control unit on the turning position of the crawler chassis units, so that the individual crawlers of the crawler chassis units can be controlled in such a manner that the desired turning position of the crawler chassis units is achieved. The connections between the substructures and the superstructure may include pivot points which are formed by ball joints, in particular when the mobile rig has three crawler chassis units, as a result of which a statically determined bearing of the rig on the ground is made possible.
Within the framework of the invention, however, revolving platforms between the substructures and the superstructure are possible which may likewise incorporate rotational sensors.
According to a further advantage, input means may be provided which are connected to the control unit and with which the traveling movement or turning movement of the mobile rig can be specified to the control unit by an operator or a higher-level
4 Date Recue/Date Received 2022-03-31 technical unit. The control unit in this case may determine the separate control signal for the traveling movement or stopping necessary for each of the crawlers and, in addition, control the crawlers with the defined traveling movement or stopping, such that the specified traveling movement or turning movement of the mobile rig is performed. The input means may be used by an operator, for example, in other words by a driver of the mobile rig, and the input means may be part of a control device for controlling the mobile rig, wherein when the mobile rig is part of a larger rig, the input means can also be controlled by a corresponding technical unit.
The invention is furthermore directed at a mobile rig for open-pit mining having at least one control unit for implementing the method according to the invention, and the control unit may control each individual crawler of all crawler chassis units to perform a traveling movement or come to a standstill using a separate control signal.
If multiple control units are provided, these can jointly control each of the crawlers.
The mobile rig may, for example, form a mobile crusher, a mobile conveyor bridge, a mobile spreader, an excavator, a mobile beltwagon, a tripper car, a belt conveyor transfer station, a belt conveyor tensioning device, an assembly line for setting up conveyors and extraction plant, a monitoring and repair plant for open-pit mining equipment, and/or the like. In particular, the mobile rig is characterized in that the pivot points form the only connection between the crawler chassis units and the superstructure and/or that the crawler chassis units are free from a mechanical control means for rotating the crawler chassis units about a vertical axis.
Electrical or hydraulic drive units by means of which the individual crawlers can be controlled, or even stopped, in both turning directions may be arranged in the crawler chassis units, wherein for stopping brake units may be provided in the crawlers. The drive units assigned to the individual crawlers in the crawler chassis units may communicate with the control unit in a wireless or wired manner, for which purpose the drive units may include their own drive control modules.
PREFERRED EXEMPLARY EMBODIMENT OF THE INVENTION
The invention is furthermore directed at a mobile rig for open-pit mining having at least one control unit for implementing the method according to the invention, and the control unit may control each individual crawler of all crawler chassis units to perform a traveling movement or come to a standstill using a separate control signal.
If multiple control units are provided, these can jointly control each of the crawlers.
The mobile rig may, for example, form a mobile crusher, a mobile conveyor bridge, a mobile spreader, an excavator, a mobile beltwagon, a tripper car, a belt conveyor transfer station, a belt conveyor tensioning device, an assembly line for setting up conveyors and extraction plant, a monitoring and repair plant for open-pit mining equipment, and/or the like. In particular, the mobile rig is characterized in that the pivot points form the only connection between the crawler chassis units and the superstructure and/or that the crawler chassis units are free from a mechanical control means for rotating the crawler chassis units about a vertical axis.
Electrical or hydraulic drive units by means of which the individual crawlers can be controlled, or even stopped, in both turning directions may be arranged in the crawler chassis units, wherein for stopping brake units may be provided in the crawlers. The drive units assigned to the individual crawlers in the crawler chassis units may communicate with the control unit in a wireless or wired manner, for which purpose the drive units may include their own drive control modules.
PREFERRED EXEMPLARY EMBODIMENT OF THE INVENTION
5 Date Recue/Date Received 2022-03-31 Further measures which improve the invention are presented in greater detail below along with the description of a preferred exemplary embodiment of the invention with the help of the figures. In the figures:
Figure 1 shows a side view of a mobile rig for open-pit mining based on the example of a mobile crusher, and Figure 2 shows a front view of the mobile crusher according to Figure 1.
Figures 1 and 2 show a mobile rig 1 in side view and front view based on the example of a mobile crusher such as it can be used for open-pit mining. The mobile rig comprises three crawler chassis units 10, 11, two first crawler chassis units 10 being provided on a discharge side and one crawler chassis unit 11 on a loading side, for example. The crawler chassis units 10 have substructures 12 which create the frame of the crawler chassis units 10, 11, and two crawlers 13 arranged spaced apart and parallel to each other in each case are received on the substructures 12. The substructures 12 of the crawler chassis units 10, 11 are received on the superstructure 14 of the mobile rig 1 by means of pivot points 17 so as to be rotatable about the vertical axis 16. The pivot points 17 in this case are configured in such a manner that the crawler chassis units 10, 11 can also perform tilting and pitching movements in respect of the superstructure 14, so that the crawlers 13 of the crawler chassis units 10, 11 are substantially permanently in contact with the ground 24.
A control unit 15 by means of which each of the crawlers 13 of the crawler chassis units 10, 11 can be controlled to perform a traveling movement, or to stop, using a separate control signal serves to control the mobile rig 1 and, in particular, to control the crawler chassis units 10, 11. For this purpose, control lines 25 which extend between the control unit 15 and the crawlers 13 are shown by way of example, wherein control can also be exerted by means of a wireless connection. The crawlers 13 have drive units 20 formed by hydraulic, electric or electro-hydraulic motors, for example. For the advantageous implementation of the method according to the invention, each crawler 13 ¨ including on a joint crawler chassis unit 10, 11 ¨ is assigned its own drive unit 20.
Figure 1 shows a side view of a mobile rig for open-pit mining based on the example of a mobile crusher, and Figure 2 shows a front view of the mobile crusher according to Figure 1.
Figures 1 and 2 show a mobile rig 1 in side view and front view based on the example of a mobile crusher such as it can be used for open-pit mining. The mobile rig comprises three crawler chassis units 10, 11, two first crawler chassis units 10 being provided on a discharge side and one crawler chassis unit 11 on a loading side, for example. The crawler chassis units 10 have substructures 12 which create the frame of the crawler chassis units 10, 11, and two crawlers 13 arranged spaced apart and parallel to each other in each case are received on the substructures 12. The substructures 12 of the crawler chassis units 10, 11 are received on the superstructure 14 of the mobile rig 1 by means of pivot points 17 so as to be rotatable about the vertical axis 16. The pivot points 17 in this case are configured in such a manner that the crawler chassis units 10, 11 can also perform tilting and pitching movements in respect of the superstructure 14, so that the crawlers 13 of the crawler chassis units 10, 11 are substantially permanently in contact with the ground 24.
A control unit 15 by means of which each of the crawlers 13 of the crawler chassis units 10, 11 can be controlled to perform a traveling movement, or to stop, using a separate control signal serves to control the mobile rig 1 and, in particular, to control the crawler chassis units 10, 11. For this purpose, control lines 25 which extend between the control unit 15 and the crawlers 13 are shown by way of example, wherein control can also be exerted by means of a wireless connection. The crawlers 13 have drive units 20 formed by hydraulic, electric or electro-hydraulic motors, for example. For the advantageous implementation of the method according to the invention, each crawler 13 ¨ including on a joint crawler chassis unit 10, 11 ¨ is assigned its own drive unit 20.
6 Date Recue/Date Received 2022-03-31 The pivot points 17 include rotational sensors 18, by means of which the turning position of the crawler chassis units 10, 11, in particular the turning position of the substructures 12, about the respective vertical axis 16 can be detected, said vertical axis extending through the pivot points 17.
The mobile rig 1, based on the example of the mobile crusher, has a feed 21, a crusher 22, and a discharge boom 23, so that the crusher can be loaded with crushing material by means of the feed 21, said crushing material being conveyed to the crusher 22. The discharge boom 23 extends to below the crusher 22 and projects beyond the crawler chassis units 10.
This kind of mobile rig 1 in the form of a mobile crusher must be capable of executing sideways movements, straight-forward movements, or turning movements about an entire vertical axis of the superstructure 14, for example.
For this purpose, Figure 1 shows the crawler chassis units 10, 11 in an arrangement intended for the execution of a sideways movement, and all the crawlers 13 can travel in the same turning direction, in order to execute the sideways movement of the mobile rig 1.
The front view in Figure 2 shows the crawler chassis units 10 in a turning position about the pivot points 17, such that the mobile rig 1 can perform straight-ahead travel in its longitudinal extent from the feed 21 to the discharge boom 23. All the crawlers 13 are controlled using the same turning speed and turning direction for this driving situation.
If the mobile rig 1 should twist around the entire vertical axis of the superstructure 14, for example, the crawler chassis units 10, 11 can be moved into the position shown in Figure 1. In this case, the crawlers of the crawler chassis units 10 may have a first turning direction, and the crawlers 13 of the crawler chassis unit 11 may be stopped or operated in an opposite turning direction. This means that the mobile rig 1 yaws
The mobile rig 1, based on the example of the mobile crusher, has a feed 21, a crusher 22, and a discharge boom 23, so that the crusher can be loaded with crushing material by means of the feed 21, said crushing material being conveyed to the crusher 22. The discharge boom 23 extends to below the crusher 22 and projects beyond the crawler chassis units 10.
This kind of mobile rig 1 in the form of a mobile crusher must be capable of executing sideways movements, straight-forward movements, or turning movements about an entire vertical axis of the superstructure 14, for example.
For this purpose, Figure 1 shows the crawler chassis units 10, 11 in an arrangement intended for the execution of a sideways movement, and all the crawlers 13 can travel in the same turning direction, in order to execute the sideways movement of the mobile rig 1.
The front view in Figure 2 shows the crawler chassis units 10 in a turning position about the pivot points 17, such that the mobile rig 1 can perform straight-ahead travel in its longitudinal extent from the feed 21 to the discharge boom 23. All the crawlers 13 are controlled using the same turning speed and turning direction for this driving situation.
If the mobile rig 1 should twist around the entire vertical axis of the superstructure 14, for example, the crawler chassis units 10, 11 can be moved into the position shown in Figure 1. In this case, the crawlers of the crawler chassis units 10 may have a first turning direction, and the crawlers 13 of the crawler chassis unit 11 may be stopped or operated in an opposite turning direction. This means that the mobile rig 1 yaws
7 Date Recue/Date Received 2022-03-31 about its entire vertical axis of the superstructure 14. It is also conceivable for all crawler chassis units 10, 11 to turn into an intermediate position, so that transverse travel, or so-called "crab steering", is made possible.
Figures 1 and 2 in particular show that the crawler chassis units 10, 11 are solely connected to the superstructure 14 by means of pivot points 17. Moreover, there are no further mechanical connections between the crawler chassis units 10, 11 and the superstructure 14. In particular, no linkages, drawbars, or the like, are provided between the crawler chassis units 10, 11 and the superstructure 14, with which a .. rotation of the crawler chassis units 10, 11 about the respective vertical axis 16 would have to be produced.
The invention is not limited in terms of its embodiment to the preferred exemplary embodiment indicated above. On the contrary, a number of variants which make use of the solution shown, even in embodiments of a substantially different nature, are conceivable. All features and/or advantages emerging from the claims, the description or the drawings, including structural details or spatial arrangements, may be essential to the invention, both in themselves and also in the wide variety of combinations. In particular, the mobile rig 1 may also create a mobile conveyor bridge, a mobile spreader, an excavator, or a mobile beltwagon.
Figures 1 and 2 in particular show that the crawler chassis units 10, 11 are solely connected to the superstructure 14 by means of pivot points 17. Moreover, there are no further mechanical connections between the crawler chassis units 10, 11 and the superstructure 14. In particular, no linkages, drawbars, or the like, are provided between the crawler chassis units 10, 11 and the superstructure 14, with which a .. rotation of the crawler chassis units 10, 11 about the respective vertical axis 16 would have to be produced.
The invention is not limited in terms of its embodiment to the preferred exemplary embodiment indicated above. On the contrary, a number of variants which make use of the solution shown, even in embodiments of a substantially different nature, are conceivable. All features and/or advantages emerging from the claims, the description or the drawings, including structural details or spatial arrangements, may be essential to the invention, both in themselves and also in the wide variety of combinations. In particular, the mobile rig 1 may also create a mobile conveyor bridge, a mobile spreader, an excavator, or a mobile beltwagon.
8 Date Recue/Date Received 2022-03-31 List of reference numbers 1 mobile rig 10 crawler chassis unit 11 crawler chassis unit 12 substructure 13 crawler 14 superstructure control unit 16 vertical axis 17 pivot point 18 rotational sensor 15 19 input means drive unit 21 feed 22 crusher 23 discharge boom 20 24 ground control line
9 Date Recue/Date Received 2022-03-31
Claims (8)
1. A method for producing a traveling movement of a mobile rig for open-pit mining having a first crawler chassis unit and having at least a second crawler chassis unit, the crawler chassis units each having a substructure on which two crawlers arranged spaced apart from each other are received, the substructures of the crawler chassis units being arranged rotatably beneath a superstructure, wherein in order to control the mobile rig at least one control unit is provided, with which each crawler of the crawler chassis units is controlled to perform a traveling movement, or to stop, using a separate control signal, and wherein an input means is provided, with which the traveling movement or a turning movement of the mobile rig can be specified to the control unit by an operator or a higher-level technical unit, the control unit determining the separate control signal for the traveling movement or stopping necessary for each of the crawlers and controlling the crawlers with the defined traveling movement or stopping, such that the specified traveling movement or turning movement of the mobile rig is performed.
2. The method as claimed in claim 1, wherein a forwards movement, a sideways movement, a rotation, or a combination thereof, of the rig is achieved by performing the traveling movement of, or by stopping, all the crawlers.
3. The method as claimed in claim 1 or 2, wherein the substructures of the crawler chassis units are rotatable beneath the superstructure in respective vertical axes, wherein all crawler chassis units are rotated by means of the control of the crawlers using different traveling movements or traveling directions about the vertical axes.
4. The method as claimed in claim 3, wherein the crawler chassis units are arranged on an underside on the superstructure by means of pivot points, said pivot points having rotational sensors with which the rotation of the crawler chassis units in the pivot points about the vertical axes is detected and read by the control unit.
5. A mobile rig for open-pit mining comprising at least one control unit for implementing the method as claimed in any one of claims 1 to 4, and at least two crawler chassis units being arranged beneath the superstructure, which each have two crawlers.
6. The mobile rig as claimed in claim 5, wherein the mobile rig forms a mobile crusher, a mobile conveyor bridge, a mobile spreader, an excavator, a mobile beltwagon, a tripper car, a belt conveyor transfer station, a belt conveyor tensioning device, an assembly line for setting up conveyors and extraction plant, a monitoring and repair plant for open-pit mining equipment, or a combination thereof.
7. The mobile rig as claimed in claim 5 or 6, wherein the mobile crawlers have electrical or hydraulic drive units which can be controlled by means of the control unit.
8. The mobile rig as claimed in any one of claims 5 to 7, for implementing the method of claim 4, wherein the pivot points form the only connection between the crawler chassis units and the superstructure and/or the crawler chassis units are free from a mechanical control means for rotating the crawler chassis units about the respective vertical axes.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102018207886.6A DE102018207886A1 (en) | 2018-05-18 | 2018-05-18 | Method for generating a movement of a mobile plant for open pit mining |
| DE102018207886.6 | 2018-05-18 | ||
| PCT/EP2019/062126 WO2019219556A1 (en) | 2018-05-18 | 2019-05-13 | Method for generating a movement of a mobile system for open pit mining |
Publications (2)
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| CA3099616A1 CA3099616A1 (en) | 2019-11-21 |
| CA3099616C true CA3099616C (en) | 2022-11-08 |
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| CA3099616A Active CA3099616C (en) | 2018-05-18 | 2019-05-13 | Method for generating a movement of a mobile system for open pit mining |
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| CN (1) | CN112119001B (en) |
| AU (1) | AU2019269459B2 (en) |
| CA (1) | CA3099616C (en) |
| CL (1) | CL2020002977A1 (en) |
| DE (1) | DE102018207886A1 (en) |
| PE (1) | PE20210618A1 (en) |
| WO (1) | WO2019219556A1 (en) |
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| DE102021111347B4 (en) | 2021-05-03 | 2023-12-21 | Takraf Gmbh | Central substructure for chassis and superstructure |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE641072C (en) * | 1937-01-19 | Aeg | Steering device for caterpillar vehicles, especially excavators or the like. | |
| DE733289C (en) * | 1937-09-08 | 1943-03-24 | Mitteldeutsche Stahlwerke Ag | Caterpillar |
| DE928864C (en) * | 1942-02-20 | 1955-06-13 | Karl Gey | Vehicle with crawler chassis in a turntable arrangement |
| DE2153492C2 (en) * | 1971-10-27 | 1973-06-14 | Fried Krupp Gmbh | Transport device for heavy open-cast mining equipment without its own chassis |
| US3900077A (en) * | 1974-04-03 | 1975-08-19 | Caterpillar Tractor Co | Vehicle for surf zone work |
| DE2848996C2 (en) * | 1978-11-11 | 1982-10-21 | Mannesmann AG, 4000 Düsseldorf | Transport device for heavy opencast mining equipment |
| DD151335A1 (en) * | 1980-06-11 | 1981-10-14 | Rudolf Czogiel | NEBENTRAEGLESS CRANK WITH AND WITHOUT CONTROL ELEMENT |
| DE3615118A1 (en) * | 1986-05-03 | 1987-10-08 | Krupp Gmbh | Tracklaying gear |
| PL155628B1 (en) * | 1988-04-13 | 1991-12-31 | Ogolnokrajowe Gwarectwo Wegla | Transportable, bipartite sloped belt conveyor |
| DE19803340A1 (en) * | 1998-01-29 | 1999-08-05 | Krupp Foerdertechnik Gmbh | Open cast mining bucket wheel excavator with balance boom and track |
| DE10314958A1 (en) * | 2003-04-02 | 2005-03-03 | ThyssenKrupp Fördertechnik GmbH | comminution device |
| CN202876924U (en) * | 2012-10-15 | 2013-04-17 | 三一重型装备有限公司 | Movable crushing station and support travelling device thereof |
| CN203020431U (en) * | 2012-12-14 | 2013-06-26 | 大连华锐重工集团股份有限公司 | Four-degree of freedom supporting device |
| CN103129636A (en) * | 2013-02-25 | 2013-06-05 | 中联重科股份有限公司 | Turnable crawler base of crawler engineering machine and lower vehicle running system with turnable crawler base |
| CN106043427A (en) * | 2016-06-24 | 2016-10-26 | 伍锡如 | Multi-caterpillar-band type all-directional mobile platform |
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- 2019-05-13 WO PCT/EP2019/062126 patent/WO2019219556A1/en active Application Filing
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- 2019-05-13 CN CN201980032814.4A patent/CN112119001B/en active Active
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| BR112020023443A2 (en) | 2021-02-23 |
| WO2019219556A1 (en) | 2019-11-21 |
| CA3099616A1 (en) | 2019-11-21 |
| PE20210618A1 (en) | 2021-03-23 |
| CL2020002977A1 (en) | 2021-02-26 |
| DE102018207886A1 (en) | 2019-11-21 |
| AU2019269459B2 (en) | 2022-03-31 |
| CN112119001A (en) | 2020-12-22 |
| AU2019269459A1 (en) | 2020-12-10 |
| CN112119001B (en) | 2024-01-19 |
| AU2019269459A8 (en) | 2021-03-04 |
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