WO2014186200A1 - Excavatrice mobile possédant un dispositif de verrouillage pour le passage rotatif - Google Patents

Excavatrice mobile possédant un dispositif de verrouillage pour le passage rotatif Download PDF

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Publication number
WO2014186200A1
WO2014186200A1 PCT/US2014/037253 US2014037253W WO2014186200A1 WO 2014186200 A1 WO2014186200 A1 WO 2014186200A1 US 2014037253 W US2014037253 W US 2014037253W WO 2014186200 A1 WO2014186200 A1 WO 2014186200A1
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WO
WIPO (PCT)
Prior art keywords
superstructure
angle
undercarriage
mobile excavator
angular range
Prior art date
Application number
PCT/US2014/037253
Other languages
English (en)
Inventor
Joachim RÖSLER
Thomas Spindler
Original Assignee
Caterpillar Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Caterpillar Inc. filed Critical Caterpillar Inc.
Priority to CN201480027590.5A priority Critical patent/CN105209693B/zh
Publication of WO2014186200A1 publication Critical patent/WO2014186200A1/fr

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
    • E02F9/12—Slewing or traversing gears
    • E02F9/121—Turntables, i.e. structure rotatable about 360°
    • E02F9/125—Locking devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)

Definitions

  • the present disclosure relates to a mobile excavator having a
  • Mobile excavators are working machines that generally comprise two wheel axles and are configured so as to also be capable of travelling on public roads.
  • Mobile excavators which are also described as wheeled excavators, generally comprise an all-wheel drive system.
  • Mobile excavators are further generally provided with a hydrostatic drive that comprises a primary power source, by way of example a combustion engine, and a hydraulic system having hydraulic pumps and hydraulic motors and said hydraulic system is connected to said combustion engine.
  • Mobile excavators can comprise an undercarriage, a superstructure that is fastened to the undercarriage in a rotatable manner, a rotary joint, such as, for example, a swivel, that fastens the undercarriage to the superstructure in a rotatable manner, an operator station that is arranged on the super structure for the driver of the mobile excavator, and operational equipment with which the driver can perform the desired task. It is possible with the aid of the rotatable fastening arrangement of the superstructure to the undercarriage for the driver to perform the task in the entire circumferential area around the mobile excavator.
  • US 6 010 018 A discloses a hydraulic locking
  • the mechanism for the rotary joint by means of pins can be locked in a rotatably fixed manner independent of the angle of the superstructure relative to the undercarriage in that at least one pin can be inserted into a corresponding hole in the opposite side.
  • JP 3 727 789 B2 JP 2000-291027 A, JP 4 923 534
  • JP 2007-284170 A disclose devices for locking the rotary joint so that the superstructure is fixed relative to the undercarriage of the mobile excavator.
  • the present disclosure is directed, at least in part, to improving or overcoming one or more aspects of prior systems.
  • the excavator may comprise an undercarriage having a first longitudinal axis, and a superstructure fastened to the undercarriage in a rotatable manner and including a second longitudinal axis.
  • the mobile excavator may further comprise an angle detection device configured to detect an angle between the first longitudinal axis and the second longitudinal axis.
  • the mobile excavator may also comprise a locking device configured to be activated for fixing the superstructure in a rotatably fixed manner relative to the undercarriage if the angle detected by the angle detecting device is in a predetermined angular range.
  • a method for locking a superstructure of a mobile excavator relative to an undercarriage having a first longitudinal axis is disclosed.
  • the superstructure may include a second longitudinal axis and may be fastened to the undercarriage in a rotatable manner.
  • the disclosed method may comprise the steps of detecting an angle between the first longitudinal axis and the second longitudinal axis, determining and monitoring whether the detected angle is in a predetermined angular range, and locking the superstructure relative to the undercarriage if the detected angle is in the predetermined angular range.
  • the angle detecting device may be a
  • the magnetic angle sensor that detects the angle between the first longitudinal axis and the second longitudinal axis.
  • the magnetic angle sensor may include a permanent magnet fastened to the rotatably- fixed undercarriage in a rotatably fixed manner, and a Hall sensor that is fastened to the rotatable superstructure and said Hall sensor interacts with the permanent magnet.
  • FIG. 1 is a schematic illustration of an exemplary disclosed mobile excavator
  • Fig. 2 is a schematic plan view of the mobile excavator of Fig.1, in which the superstructure is rotated relative to the undercarriage;
  • Fig. 3 is a schematic illustration of a rotary joint that includes an angle detecting device
  • Fig. 4 is a flowchart that illustrates an exemplary method for locking the superstructure relative to the undercarriage
  • Fig. 5 is a flowchart that illustrates another exemplary method for locking the superstructure relative to the undercarriage
  • the present disclosure may be based at least in part on the
  • the driver of the mobile excavator may rotate or rather swing the superstructure relative to the undercarriage into the desired and correct position and then fix the superstructure so that the mobile excavator is capable of travelling on public roads in such a manner that conforms to the law.
  • the driver may be supported by means of the angle detecting device during the process of adjusting the correct position of the superstructure relative to the undercarriage.
  • the correct position is the position in which the superstructure is aligned substantially parallel to the undercarriage in the direction of travel.
  • the present disclosure may be based at least in part on the realization that the driver in the first instance actuates an activation device that can be located in the operator station of the mobile excavator and, as a consequence, is supported once the above mentioned position has been achieved. If the driver rotates or swings the superstructure relative to the undercarriage and if the superstructure moves into the correct position relative to the undercarriage, the driver receives a notification, by way of example a visual signal, by way of a display that is arranged in the operator station that indicates the correct position of the superstructure relative to the undercarriage.
  • a notification by way of example a visual signal
  • the present disclosure may be based at least in part on the realization that the superstructure is locked in a rotatably fixed manner relative to the undercarriage if the superstructure has rotated into the desired and correct position after the activation device has been activated.
  • the process of locking the superstructure may, for example, be performed automatically with the help of a locking device, such as the swing brake.
  • FIG. 1 A construction machine in the form of a mobile excavator 10 is illustrated in Fig. 1.
  • the mobile excavator 10 comprises a power source, such as, for example, an internal combustion engine 12.
  • the mobile excavator 10 comprises a superstructure 14 attached to an undercarriage 16 in a rotatable manner.
  • the superstructure 14 is fastened to the undercarriage 16 by way of a swivel or rotary joint 15 in a rotatable manner.
  • the mobile excavator 10 comprises a traction system 18, for
  • the mobile excavator 10 comprises operational equipment, such as a working device 20, and an operator station 22 from which the working device 20 can be operated.
  • the mobile excavator 10 that is illustrated in Fig.1 can be any type of mobile excavator.
  • the mobile excavator 10 can comprise a cabin
  • the cabin elevating device may, for example, be a
  • the traction system 18 may, for instance, be a traction device that comprises a first set of wheels 24 and a second set of wheels 26 (see Fig. 1). At least one of the set of wheels 24, 26 may be steered.
  • the mobile excavator 10 may be comprise an all-wheel drive.
  • the working device 20 may be any type of known work tools or implements and may include, for example, a shovel, a bucket, a hook, a hydraulic hammer, rotating brushes, or pincers.
  • the working device 20 comprises a boom 28, a stick 30, and a working tool 32 attached to the end of the stick 30.
  • the boom 28 is pivotally attached to the superstructure 14.
  • a boom actuator 34 is attached to the superstructure 14 and to the boom 28 such that a distal end 36 of the boom 28 can be raised and lowered by operating the boom actuator 34.
  • the distal end 36 of the boom 28 can also be moved laterally.
  • the boom 28 can be turned about an axis 38 relative to the undercarriage 16 by rotation of the superstructure 14 and can thus be moved laterally.
  • the stick 30 is pivotally mounted on the boom 28 at a proximal end 42.
  • a stick actuator 44 is attached to the boom 28 and to the stick 30 such that operation of the stick actuator 44 causes the stick 30 to move out and in relative to the boom 28 like a folding knife. This means that a distal end 46 of the stick 30 can be moved further away from the undercarriage 16 and closer to the superstructure 14 by operating the stick actuator 44.
  • the working tool 32 is attached to the distal end 46 of the stick 30.
  • the working tool 32 is shown in Fig. 1 as a bucket 48, the working tool 32 can be any known working tool.
  • the working tool 32 is pivotally mounted on the distal end 46 of the stick 30.
  • a working tool actuator 50 is mounted on the stick 30 and on the working tool 32 such that operation of the working tool actuator 50 causes the working tool 32 to pivot relative to the stick 30.
  • the operator station 22 is, as shown in Fig. 1, a cab and can be attached to the superstructure 14 or formed integrally therewith.
  • the operator station 22 comprises a seat 52, a first steering device, such as, for example, a steering wheel 54, a display 55 and at least one manually operated working equipment control device 56, such as, for instance, a joystick.
  • the steering wheel 54 is connected to wheel axles 25 and 27 such that by operating the steering wheel 54 a direct movement of the mobile excavator 10 can be influenced.
  • the mobile excavator 10 illustrated in Fig. 1 also comprises a hydrostatic drive system that is supplied with energy by an internal combustion engine 12.
  • the hydrostatic drive system is attached to the mobile excavator 10 in a known manner and comprises hydraulic motors and hydraulic pumps that carry out the traction drive of the mobile excavator 10.
  • the hydrostatic drive system is not shown in the figures.
  • an actuating module that supports different actuating devices such as buttons and levers.
  • functions of the hydrostatic drive system can be controlled by way of the actuating module.
  • an activating device 58 may be located on the actuating module.
  • the mobile excavator 10 is configured to be a
  • the boom actuator 34, the stick actuator 44, and the working tool actuator 50 are configure to be operated using hydraulic medium that is provided under pressure and said hydraulic medium originates from a hydraulic system.
  • the hydraulic system that controls the main functions of the mobile excavator 10 is not explicitly illustrated in the drawings. However, the person skilled in the art will recognize in which manner the arrangement of the hydraulic system functions, such as, for example, the internal combustion engine 12 drives a hydraulic pump that pressurizes the hydraulic medium under a predetermined pressure and an electronic control unit 64 may be configured to control the hydraulic flow in such a manner that the functions that are desired and demanded by the driver can be implemented.
  • the electronic control unit 64 may be located at any suitable location
  • the electronic control unit 64 may receive electronic signals, may process and transmit the electronic signals to components of the mobile excavator 10 in order to control the different functions of the mobile excavator 10.
  • the control unit 64 may further include a time detecting device 66 that is configured to record and register different times and time periods.
  • the time detecting device 66 is further described in reference to Figs. 4 and 5.
  • the mobile excavator 10 includes a locking device 76 configured to lock a rotation of the superstructure 14 relative to the undercarriage 16.
  • the locking device 76 may be supplied with hydraulic medium that is provided under pressure and said hydraulic medium may block rotation of the superstructure 14.
  • FIG. 2 A plan view of the mobile excavator 10 of Fig. 1 is illustrated with reference to Fig. 2, in which for the purposes of a better illustration only the fundamental components are illustrated. Therefore, for example, only the boom 28 of the working device 20 is illustrated in Fig. 2.
  • the undercarriage 16 comprises a first longitudinal axis 60 that is substantially parallel to the direction of travel (see arrow A in Fig. 2) of the mobile excavator 10.
  • the superstructure 14 comprises a second longitudinal axis 62 that extends substantially from the rear end of the superstructure 14 to the front end of the superstructure 14.
  • the second longitudinal axis 62 can also extend through the boom 28 (see Fig. 2).
  • the first and second longitudinal axes 60, 62 intersect in most cases in the point of rotation P that also illustrates the intersection of the axis 38 with the first and second longitudinal axes 60, 62.
  • the first and second longitudinal axes 60, 62 extend, as is illustrated in Fig. 2, centrally through the undercarriage 16 and the superstructure 14, respectively.
  • the angle a that is illustrated in Fig. 2 extends between the first longitudinal axis 60 and the second longitudinal axis 62.
  • the angle a can either be the acute angle between the first and second longitudinal axes 60, 62 or the angle that is adjacent to said acute angle.
  • the superstructure 14 is rotated relative to the undercarriage 16 so that an angle a occurs (in Fig. 2 the acute angle between the first and second longitudinal axes 60, 62) and the angle a is different to zero in the position that is illustrated in Fig. 2.
  • an angle a occurs (in Fig. 2 the acute angle between the first and second longitudinal axes 60, 62) and the angle a is different to zero in the position that is illustrated in Fig. 2.
  • the first longitudinal axis 60 and the second longitudinal axis 62 are substantially parallel to one another and the superstructure 14 is fixed in this position in a rotatable fixed manner relative to the undercarriage 16. In other words, it is necessary in this case for the angle a to assume a value of approximately zero.
  • angle detecting device 70 it is possible to detect the angle a by means of an angle detecting device 70 (see Fig. 3) and the device is located on the rotary joint 15.
  • the angle detecting device 70 may be, for instance, a magnetic angle sensor and the measuring principle of said angle sensor is based on the so-called Hall-Effect.
  • a permanent magnet is located on the ratably- fixed side on the undercarriage 16, whereas the Hall sensor is located on the rotatable superstructure 14.
  • a voltage signal is induced by virtue of the interaction of the permanent magnet with the Hall sensor and said voltage signal can be supplied to a control unit (not explicitly illustrated in the drawings), and said control unit can thereupon detect and determine the corresponding angle a from the voltage signal.
  • the control unit may, for example, refer to available tables that link the induced current signal and the corresponding angle to one another, or said control unit can refer to calculations.
  • the voltage signal that is induced by the Hall sensor can amount to a value of approximately 0.5 V to 4.5 V that then corresponds to an angle of 0° to 360°.
  • the rotary joint 15 of the mobile excavator 10 is schematically illustrated in greater detail with reference to Fig. 3.
  • the rotary joint 15 is schematically illustrated in Fig. 3 so that only the relevant components are illustrated.
  • the rotary joint 15 is driven by way of a swing gear (not illustrated) so that the superstructure 14 can be rotated relative to the undercarriage 16 about the axis 38.
  • a hydraulic and electric rotary joint component 80 is provided that can supply the hydraulic system and the electronic system between the superstructure 14 and the undercarriage 16.
  • a first hydraulic component 82 provides multiple ducts for the hydraulic medium in order to communicate between the
  • the first hydraulic component 82 is fastened in a rotatably fixed manner to the undercarriage 16 by way of a fastening 83.
  • the electric rotary joint component 80 comprises a second hydraulic component 84 that is fastened to the rotatable superstructure 14 and can rotate or rather pivot with the superstructure 14 and can convey the hydraulic medium between the first hydraulic component 82 and the
  • the rotary joint component 80 comprises in addition a first
  • the angle detecting device 70 includes, as is already mentioned above, a permanent magnet, which can be attached, for example, to the rotatably-fixed first electronic component 86, and a Hall sensor that may, for instance, be fastened to the rotatable second electronic component 88.
  • the fastening device 90 comprises a length changing rod 92 that may include a first angle joint 94 on its first end and a second angle joint 96 on its second end.
  • the first angle joint 94 is fastened to a flange 89 that is located around the outer circumference of the rotatable second electronic component 88, and the second angle joint 96 is fastened to the superstructure 14 by way of a fastening device 98, for example, a fastening sheet.
  • the rotation can be transmitted to the second electronic component 88 that is fastened to the superstructure 14 and can rotate relative to the first electronic component 86.
  • An electrical current is induced and, as a consequence, an electrical signal is generated by virtue of the rotating Hall sensor that rotates with the second electronic component 88 in the magnetic field of the rotatably fixed permanent magnet that is attached to the first electronic component 86.
  • the control unit can determine the angle a between the superstructure 14 and the undercarriage 16 on the basis of this electrical signal that is supplied to the control unit.
  • the fastening device 90 is configured to fix the second electronic component 88 to the superstructure 14. As a result, it may, for example, be possible to prevent the rotary joint component 80 from tilting about the axis 38.
  • the actuating module can further include the activating device 58 that is located in the operator station 22, for example, on the actuating module, and may be actuated by means of the driver of the mobile excavator 10.
  • the activating device 58 may, for instance, be a button or a lever on the actuating module.
  • the activating device 58 is configured to be activated or
  • the driver deactivated by means of the driver so that it is either in an activating state or in a deactivating state. If the activating device 58 is in the activating state, in other words the driver has activated the activating device 58, for example, by means of pressing a corresponding button, the angle a is thus continually detected, determined and monitored.
  • the superstructure 14 is then locked by means of the locking device 76 in a rotatably fixed manner relative to the undercarriage 16 so that a rotation of the superstructure 14 relative to the undercarriage 16 is blocked.
  • the above-mentioned predetermined angular range may, for instance, be established in such a manner that the angle of 0° defines the angle that occurs in the case of the superstructure 14 being placed in a position parallel to the undercarriage 16 in the direction of travel.
  • the angular range is a defined angular range around the desired locking position.
  • the desired locking position is the position in which the superstructure 14 is substantially aligned parallel to the undercarriage 16 so that the first longitudinal axis 60 and the second longitudinal axis 62 are substantially parallel to one another and therefore comprise an angle of approximately 0° relative to one another.
  • the undercarriage 16 is achieved hydraulically by way of the locking device 76.
  • the locking device 76 is supplied with hydraulic medium that is placed under pressure so that a rotation of the superstructure 14 relative to the undercarriage 16 is blocked.
  • the locking device 76 for example, the swing brake of the mobile excavator 10, may comprise a known multiple disc brake.
  • the pressure of the hydraulic medium must be greater than a predetermined pressure value for the purpose of actuating the locking device 76 so that a resilient force can be overcome and, as a consequence, the locking device 76 may be actuated.
  • the resilient force functions as a safety device in the case of a malfunction of the hydraulic system. In this case, the resilient force means that the locking device 76 remains actuated if a malfunction of the hydraulic system occurs.
  • the time detecting device 66 is configured to detect an angular retention period.
  • the angular retention period describes the time period during which the angle a is located in the predetermined angular range. In other words, the time detecting device 66 starts the process of detecting and determining the angular retention period as soon as the angle a enters the predetermined angular range.
  • the locking device 76 only locks the superstructure 14 in the desired position if the angle a is in the predetermined angular range for a predetermined retention period, for example, one, two, three or more seconds.
  • the time detecting device 66 detects and determines the retention period after the angle a enters the predetermined angular range and compares this angular retention period with the predetermined retention period for the purpose of monitoring the angular retention period, that means in order to detect the length of the time the angle a is in the predetermined angular range.
  • a first method for locking the superstructure 14 relative to the undercarriage 16 is described. At first it is detected whether the mobile excavator 10 is switched on or switched off, in other words it is detected and determined whether the ignition of the mobile excavator 10 is activated or not. If the ignition is activated, the method thus moves to step 100. If the ignition is not activated, in other words the mobile excavator 10 is switched off, the method is thus terminated.
  • step 110 it is determined whether the driver has activated the activating device 58 on the actuating module. If the driver would like to travel with the mobile excavator 10 on a public road, it is necessary for the driver to move the superstructure 14 into a position that is substantially parallel relative to the undercarriage 16, in other words it is necessary for the angle a between the first longitudinal axis 60 of the undercarriage 16 and the second longitudinal axis 62 of the superstructure 14 to be in the predetermined angular range.
  • step 110 If in the case of step 110 it is determined that the activating device
  • step 110 the method thus remains at step 110 (see loop at step 110 in Fig. 4).
  • step 120 in which the driver rotates the superstructure 14 so that the angle a is in the predetermined angular range and the superstructure 14 is then aligned substantially parallel to the undercarriage 16.
  • An adjustment period is further detected in step 120.
  • the adjustment period describes the time period in which the driver tries to rotate the superstructure 14 into the correct position. The adjustment period starts after the activating device 58 has been actuated.
  • the rotation process of the superstructure 14 is automatically implemented by the control unit 64 in order to rotate the superstructure 14 into the desired locking position, thereby supporting the driver to find the correct position of the superstructure 14 relative to the undercarriage 16.
  • step 135 the adjustment period for moving the superstructure 14 into position has been exceeded or not. If the superstructure 14 has not moved into the desired substantially parallel position within the maximum adjustment period, the activating device 58 is thus automatically switched into the deactivating state and the method returns to step 110.
  • the adjustment period amounts to approximately ten seconds. In some embodiments, the adjustment period may, however, amount to fewer or more than ten seconds.
  • step 135 it is determined that the maximum adjustment period is still not exceeded, the method returns to step 130. This loop continues until the angle a enters the predetermined angular range or until the above mentioned adjustment period is exceeded.
  • step 130 If it is determined in step 130 that the angle a has entered the
  • the method moves to step 140 in which an angular retention period is detected or recorded.
  • the angular retention period is the time period during which the angle a is in the predetermined angular range.
  • step 150 A comparison is performed in step 150 as to whether the angular retention period has exceeded a predetermined retention period, for instance, one, two, three or more seconds. If it is determined in step 150 that the angular retention period has not yet exceeded the predetermined retention period, the method remains in step 150 (see loop at step 150).
  • a predetermined retention period for instance, one, two, three or more seconds.
  • step 160 in which the locking device 76 is automatically activated and, as a consequence, a rotation of the superstructure 14 relative to the undercarriage 16 is blocked.
  • the working device 20 may also be simultaneously deactivated and also blocked in such a manner that the working device 20 can no longer be moved and utilized.
  • step 170 If the locking device 76 is activated and the working device 20 is blocked, the method moves to step 170 in which it is detected and determined whether the activating device 58 has been deactivated by the driver. The method remains in step 170 as long as the activating device 58 is in the activating state, in other words as long as the driver does not deactivate the activating device 58 (see loop in step 150 in Fig. 4).
  • step 170 if it is detected in step 170 that the activating device 58 has been switched by the driver into the deactivating state, in other words that the driver has pressed the button on the actuating module and said driver, for example, is back on a building site and would like to perform desired tasks, the method moves to step 180, in which the locking device 76 is released and the working device 20 is unlocked. As a consequence, the driver can rotate the superstructure 14 again relative to the undercarriage 16 and can use the working device 20 as desired.
  • the driver may be additionally supported during the rotation into the desired locking position by virtue of the fact that the hydraulic system for the rotation is in part switched off if the control unit determines that the angle a is gradually approaching the predetermined angular range. This may, for example, prevent the driver from rotating the superstructure 14 too quickly and beyond the predetermined angular range.
  • the rotational speed (also referred to as "swinging velocity) of the superstructure 14 can be determined from the change of the angle a over time. If the swinging velocity of the superstructure 14 during rotation into the predetermined angular range is above a predetermined swinging velocity threshold, the locking device 76 is not activated in order to prevent an abrupt braking of the superstructure 14.
  • a visual display function may be provided for the driver on the display 55.
  • a symbol that is indicative of the adjustment process in accordance with Fig. 4 lights up in a colour, for, example, in yellow colour that indicates that the angle a is still outside the predetermined angular range.
  • the colour of the symbol changes, for instance, to green colour, and said colour indicates that the angle a is in the predetermined angular range. If the angle a remains in the predetermined angular range for the predetermined angular retention period (angular retention period > predetermined retention period; see step 150 in Fig. 4) and if the locking device 76 is activated, an additional symbol is thus added to the illuminated green symbol that indicates the activated state of the locking device 76.
  • FIG. 5 a further exemplary control method for locking the superstructure 14 relative to the undercarriage 16 if the mobile excavator 10 is to be moved on public roads is illustrated.
  • steps 200, 210, and 220 correspond to steps 100, 110, and 120 of Fig. 4, respectively.
  • the driver thus does not actuate the activating device 58 and can further rotate the superstructure 14 relative to the undercarriage 16 and can perform the desired tasks.
  • step 210 If in step 210 it is determined that the activating device 58 was not actuated and is therefore in the deactivating state, the method thus remains at step 210 (see loop at step 210 in Fig. 5).
  • step 220 in which the driver rotates the superstructure 14 so that the angle a is in the predetermined angular range and the superstructure 14 is then aligned substantially parallel to the undercarriage 16.
  • the adjustment period is detected and recorded. As explained with respect to Fig. 4, the adjustment period describes the time period in which the driver tries to rotate the superstructure 14 into the correct position. The adjustment period starts after the activating device 58 has been actuated.
  • the superstructure 14 relative to the undercarriage 16 is detected by, for instance, a known swinging velocity sensor (not shown in the drawings) attached to the superstructure 14 or the undercarriage 16.
  • the swinging velocity may also be determined based on the change oft he angle a over time.
  • the rotation process of the superstructure 14 is automatically implemented by the control unit 64 in order to rotate the superstructure 14 into the desired locking position, thereby supporting the driver to find the correct position of the superstructure 14 relative to the undercarriage 16.
  • the method proceeds to step 235 in which it is queried whether the adjustment period for moving the superstructure 14 into the correct position has been exceeded or not. If the superstructure 14 has not moved into the desired substantially parallel position within the maximum adjustment period, the activating device 58 is thus automatically switched into the deactivating state and the method returns to step 210.
  • the adjustment period may amount to approximately 15 seconds. In some embodiments, the adjustment period may, however, amount to fewer or more than 15 seconds.
  • the predetermined swinging velocity threshold may, for instance, be in the range from about 1 rpm to about 4 rpm. In some embodiments, the predetermined swinging velocity threshold may, for example, be approximately 2 rpm.
  • step 235 it is determined that the maximum
  • the method returns to steps 225 and 230. This loop continues until the detected swinging velocity is below the
  • step 235 it is determined that the detected and determined swining velocity is below the predetermined swining velocity threshold, the method proceeds to step 240.
  • step 240 the angle a is detected by the angle detecting device 70.
  • step 250 it is determined and monitored whether the angle a is in the predetermined angular range. If the angle a is not yet in the predetermined angular range, the method returns to steps 225 and 230 where it is once again detected whether the swinging velocity is still below the predetermined swinging velocity threshold and the maximum adjustment period is still not exceeded.
  • step 250 if it is detected and determined at step 250 that the angle a is now in the predetermined angular range, the method then moves to step 260 in which the locking device 76 is automatically activated and, as a consequence, a rotation of the superstructure 14 relative to the undercarriage 16 is blocked.
  • the working device 20 may also be simultaneously deactivated and also blocked in such a manner that the working device 20 can no longer be moved and utilized.
  • step 270 If the locking device 76 is activated and the working device 20 is blocked, the method moves to step 270 in which it is detected and determined whether the activating device 58 has been deactivated by the driver. The method remains in step 270 as long as the activating device 58 is in the activating state, in other words as long as the driver does not deactivate the activating device 58 (see loop in step 250 in Fig. 4).
  • step 270 if it is detected in step 270 that the activating device 58 has been switched by the driver into the deactivating state, in other words that the driver has pressed the button on the actuating module and said driver, for example, is back on a building site and would like to perform desired tasks, the method moves to step 280, in which the locking device 76 is released and the working device 20 is unlocked. As a consequence, the driver can rotate the superstructure 14 again relative to the undercarriage 16 and can use the working device 20 as desired.
  • the driver may be additionally supported during the rotation into the desired locking position by virtue of the fact that the hydraulic system for the rotation is in part switched off if the control unit determines that the angle a is gradually approaching the predetermined angular range. This may, for example, prevent the driver from rotating the superstructure 14 too quickly and beyond the predetermined angular range.
  • the swinging velocity of the superstructure 14 can be determined from the change of the angle a over time. If the swinging velocity of the superstructure 14 during rotation into the predetermined angular range is greater than a threshold value, the locking device 76 is not activated in order to prevent an abrupt braking of the superstructure 14.
  • the predetermined angular range may be a predetermined angular value.
  • the locking device 76 may

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Abstract

La présente invention concerne une excavatrice mobile (10) dont la superstructure (14) est fixée de manière fixe en rotation par rapport au châssis inférieur (16) si un angle (a) entre un premier axe longitudinal (60) du châssis inférieur (16) et un second axe longitudinal (62) de la superstructure (14) se trouve dans une plage angulaire prédéfinie. Un dispositif de détection d'angle peut être conçu pour détecter l'angle (a). Un dispositif de verrouillage peut être conçu pour fixer la superstructure (14) d'une manière fixe en rotation par rapport au châssis inférieur (16) si l'angle (a) se trouve dans la plage angulaire prédéfinie.
PCT/US2014/037253 2013-05-13 2014-05-08 Excavatrice mobile possédant un dispositif de verrouillage pour le passage rotatif WO2014186200A1 (fr)

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CN201480027590.5A CN105209693B (zh) 2013-05-13 2014-05-08 具有用于旋转馈通的锁定装置的移动式挖掘机

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DE102013008169.6 2013-05-13
DE102013008169.6A DE102013008169B4 (de) 2013-05-13 2013-05-13 Mobilbagger mit Verriegelung der Drehdurchführung

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GB2549145A (en) * 2016-04-08 2017-10-11 Caterpillar Inc System and method for controlling a machine
JP2019163647A (ja) * 2018-03-20 2019-09-26 株式会社日立建機ティエラ 建設機械

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CN105839692A (zh) * 2016-03-24 2016-08-10 安徽宝昱电子科技有限公司 一种铲运机行驶机身防护组件

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Publication number Priority date Publication date Assignee Title
EP3228760A1 (fr) * 2016-04-08 2017-10-11 Caterpillar Inc. Système de déplacement et procédé de commande pour un engin de travail
GB2549145A (en) * 2016-04-08 2017-10-11 Caterpillar Inc System and method for controlling a machine
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JP2019163647A (ja) * 2018-03-20 2019-09-26 株式会社日立建機ティエラ 建設機械

Also Published As

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CN105209693A (zh) 2015-12-30
CN105209693B (zh) 2018-02-23
DE102013008169B4 (de) 2022-08-04
DE102013008169A1 (de) 2014-11-13

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