WO2017125198A1

WO2017125198A1 - Mobile implement

Info

Publication number: WO2017125198A1
Application number: PCT/EP2016/080086
Authority: WO
Inventors: Martin Mayer
Original assignee: Putzmeister Engineering Gmbh
Priority date: 2016-01-21
Filing date: 2016-12-07
Publication date: 2017-07-27
Also published as: DE102016000531A1

Abstract

Mobile implement (10) comprising an understructure (12), an extension arm (16) that is arranged on the understructure (12) in such a way as to be able to rotate about an axis of rotation (R) extending substantially perpendicular to the understructure (12) and pivot about a swivel axis (S), extending substantially perpendicular to the axis of rotation (R), into a deployed position, and detection means for detecting any lateral inclination (ϕ) of the swivel axis (S).

Description

Mobile implement

Technical area

The present invention relates to a mobile Ar ^¬ beitsgerät such as, for example, a mobile work machine.

Description of the Prior Art [0002] In one use of mobile devices such as. Mobile working machines on uneven ground, it may occur with use of an inclination of the work machine ausglei ^¬ sponding support means itself that on the working machine mounted and swung mounted mast or boom must be used in an inclined position. For such use in slopes there are regulations for a maximum angle of inclination within which operation is possible. The corresponding German standard DIN 24117 writes: 2007- 02 § 7 in point d) in section 7 before "that the distributor mast as possible (without side slope maximum of 3 °) is horizontally on ^¬ assemble".

For this reason, mobile work machines are designed to use up to a lateral inclination of the distributor boom of a maximum of 3 °. For side slopes beyond this, sufficient safety for the operating personnel and the machine is no longer guaranteed and the working machine may no longer be used.

This leads in practice to the fact that at a Nei ^¬ tion position for reasons of caution of the possible circumstances maximum operating range is not fully exploited, so as not to run the risk of exceeding the permissible 3 ° lateral inclination, not least because there is virtually no possibility for the operating personnel to leave the safe working area of the extension arm and enter it into the danger zone estimate.

In order to give the operator clues for the size of the inclination, with which the mobile work machine is set up, and possibly also to provide appropriate usable by a control device measuring signals, it is known on the chassis of a mobile work machine Lage- or Nei ^¬ supply sensors provide. Thus, from DE 10 2011 075 310 AI a mobile work machine of the generic type is known which comprises a mounted on the chassis position or inclination sensor whose output signal is an actual measure of the position or inclination of the chassis or a chassis part represents ^¬ re ^¬ relative to a herdfesten reference system and can be tightened ^¬ as a measure of a support or Abhebezustand of the chassis. Summary of the invention

Based on this, a mobile working device with the features of claim 1 is proposed according to the invention.

The invention is based on the finding that even with a list of mobile working machine with an inclination of more than 3 ° still a safe working area for the boom exists before it assumes a lateral inclination of more than 3 ° (or in other words : the lateral inclination of the cantilever arm depends on the rotation of the cantilever arm about the axis of rotation perpendicular to the implement or its substructure). This safe workspace could thus even at still be used in a strongly inclined position of the working machine; so it is, for example, in mountainous regions hardly or only with great effort possible to achieve a list of the working machine with an inclination of less than 3 °. In order to determine this safe work area with the simplest possible means and communicate with the operator, the invention proposes to provide means for measuring or detecting the bank of the boom. These measuring devices are, for example, a measuring device for detecting an angle of the pivot axis of the cantilever arm (parallel to the plane predetermined by a base of the working machine). The measuring means may be associated with the interpretation ^¬ gerarm according to the invention in a rotationally fixed relation. It may, for example, be arranged on a turret on which the cantilever arm is rotatably mounted, or on the cantilever arm itself (eg on its upper flange).

The provision of inventive measuring means ensured by using simple structural measures a significant increase in operating safety, so that operators can operate the implement safely even in border areas. The invention is particularly suitable for retrofitting or upgrading existing equipment.

[0010] The measuring means may, for example, a so-called electro ^¬ African or digital level (electronic or digital pressure gauge incli-) or other similar device be whose From ^¬ optionally at the discretion of the skilled worker.

In a parallel arrangement of such electronic or digital spirit level to the pivot axis of the ^¬ legerarms whose inclination to the horizontal can be precisely measured and to a (acoustic and / or optical) display and / or Control device of the implement are transmitted so that the operator is informed of a possible entry into the danger area without time delay. If appropriate, a further pivoting movement into the danger zone can also be blocked via the control device.

Further advantages and embodiments of the invention will become apparent from the description and the accompanying drawings.

It is understood that the features mentioned above and those yet to be explained not only in the particular combination, but also in other combinations or alone, without departing from the scope of the present invention.

The invention is illustrated schematically with reference to an embodiment in the drawing and will be described in detail below with reference to the drawings.

Brief description of the drawing

Figure 1 shows a side view of a mobile Baustoffma ^¬ machine with a completely folded Betonpumpenvertei- lermast on in a substantial horizontal surface.

FIG. 2 shows the building material machine of FIG. 1 on a slope background.

FIG. 3 shows the building material machine of FIG. 1 with a concrete pump distributor boom folded along the vehicle longitudinal axis in the direction of travel. FIG. 4 shows the building material machine of FIG. 3 on a slope background.

Figure 5 shows the building material machine of Figure 4 in rückwär ^¬ tiger view and with 90 ° to the right pivoted boom arm.

FIG. 6 shows a schematic illustration of the transverse inclination of the pivot axis S of the extension arm in the situation illustrated in FIG. 5 with the extension arm pivoted to the right by 90 °. Figure 7 shows a highly schematic plan view of the construction material ^¬ machine of Figure 4 with an angle ß ^¬ ver to the right bank position cantilever arm.

Detailed description

As an example of a mobile working device according to the invention, FIG. 1 shows a truck building material machine 10 with a substructure (base) 12 mounted on a chassis with wheels 22 and a driver's cab 14. On the base 12, a concrete pump distributor boom is mounted with a boom 16 , The cantilever arm 16 is mounted on the base 12 about a substantially perpendicular to the base 12 extending axis of rotation (rotation axis) R. This can be done - as in the embodiment of Figure 1 Darge ^¬ presents - by attaching a rotary base 19 of the boom 16 on a trained on the base 12 or mounted rotary head 18. The boom 16 in turn is pivotable about a substantially perpendicular to the axis of rotation R (and thus substantially parallel to a plane defined by the longitudinal extent of the vehicle body) pivot axis S. In the illustration of FIG. 1, the concrete pump distributor boom is completely folded in, while FIG. 3 shows the concrete pump distributor boom in a forwardly pivoted and unfolded concrete pump distributor boom (and extended support devices supporting the working implement 20). In both figures, the mobile implement 10 is parked on a substantially flat, ie horizontal surface 50.

[0018] Figures 2 and 4 show the representations of Figures 1 and 3, with on an inclined by an angle ^λ substrate 50 parked implement. The inclined base 50 ^λ has an inclination of approximately = 3 ° to the horizontal in the representation of Figures 2 and 4. FIG. For reasons of a simplified illustration, the inclination runs along a longitudinal axis L of the mobile implement 10, ie there is no lateral inclination component of the substructure, with the result that the cantilever arm 16 and thus also its pivot axis S in the position shown in Figure 4 has no bank , An angle φ is defined as the bank, which may not exceed 3 °, and the angle of rotation of the arm about the axis of rotation is denoted by β. In the representation of figure 4 applies so ^¬ ß = 180 ° (opposite the folded rest position) and φ = 0 °.

FIG. 5 shows the mobile implement 10 in a rear view, this time with the boom 16 pivoted outward by β = 90 ° to the right (seen in the direction of travel). In this situation, the pivot axis S runs parallel to the vehicle longitudinal axis L and points thus their inclination of = 3 °. The cantilever arm can therefore be used completely in its entire range of rotation in this constellation since its inclination does not exceed 3 ° in any angular position. The course of the Pivot axis S and its inclination by the angle φ is schematically illustrated in Figure 6.

[0020] The inventive principle will now be described in more detail with reference ^¬ exception to the block diagrammatic representation of FIG. 7

Figure 7 shows a plan view of the mobile implement 10 in a highly schematic block diagram with the base 12, the cab 14 and the support means 20. On the base 12 of the boom 16 (shown schematically as a broad line) rotatably articulated about the axis of rotation R. , The angle of rotation is ß in the representation of Figure 7 towards the longitudinal axis L shown (based on the illustration of FIG 4 in the direction of travel, the to be explained principle is exactly the same when the ß ent ^¬ is measured against the direction of travel, ie 180 ° - ß based on the representation of Figure 7).

For the sake of simplicity of description, an inclination extending exclusively in the longitudinal direction L will initially be assumed again. In order to determine the bank of the pivot axis φ, then: φ = · sin β, or c max = 3 ° = · sin β _max , or β _max = aresin (3 ° /) for φ 0 °.

Or in other words: at a rotational angle ß = 0 °, the pivot axis has no bank (the arm extends parallel to the longitudinal axis L and the pivot axis S senk ^¬ right to the longitudinal axis L, so that it is not inclined to the side), and at a rotation angle β = 90 °, the lateral inclination becomes maximum with φ = (since the pivot axis S is now parallel to the inclined Un ^¬ tergrund 50 passes ^λ). These two extreme cases were preceded ^¬ standing already discussed briefly.

With a longitudinal inclination of 3 ° (as in the illustrated embodiment), the cantilever arm can therefore be used over the entire range of rotation.

Increases the inclination of the ground now, for example, to 5 °, the situation changes: there is a maximum angle of rotation ß, by which the boom 16 may be rotated in order not to exceed the critical inclination angle φ = 3 °. According to the above formula, this maximum rotation angle β _max = 36.9 °, at an inclination angle of the ground of 15 °, it is 11.5 ° (each rounded).

The cantilever arm can thus be used at obliquely set working device, in each case at least by a rotation angle of almost 37 ° or 11.5 °, without exceeding the critical lateral inclination of 3 °.

If the inclination of the ground has both inclination components in the longitudinal direction and transversely (perpendicular) to the longitudinal direction of the vehicle, the more general formula φ = _L · sin β + _Q · cos β, with _L for the angle component of the background inclination ( or underslung relative to the horizontal) parallel to the vehicle longitudinal axis L and _Q for the angle component of the Untergrundnei- movement perpendicular to the vehicle longitudinal axis L.

According to the invention, the detection by means of a suitable measuring means or measuring element or measuring sensor respectively. These may be, for example, an electronic / digi ^¬ tale water balance act, which is parallel to the pivot axis and arranged in rotationally fixed relation to the latter. This can be done, for example, by means of an arrangement on the rotary head 18 or the base part 19 or directly on the extension arm 16 (for example on its top flange). But there are also arrangements far away from the boom conceivable, as long as they rotate with the boom.

[0029] The detection but can also as above be carried erläu ^¬ tert calculated by the inclination angle components _L and _Q of the base and with egg ^¬ nem protractor the rotation angle determined ß with a first measuring element and a control ^¬ means are supplied with calculation processor (this can one or more inclination sensors may be provided on the substructure 12 in a manner known per se, while the protractor may, for example, be arranged on a rotation axis shaft). The Rechenpro ^¬ processor calculates the maximum rotation angle ß _max and the Steue ^¬ tion device outputs this and / or gives a warning to the operator when the critical area is reached and / or blocked further rotation of the boom in the critical area.

Even with a direct measurement of the lateral inclination of the pivot axis S, the controller outputs the critical angle or its achievement and / or gives a warning to the operator when the critical area is reached and / or blocks further rotation of the boom in the critical area.

Alternatively, the control device can be set up such that it, upon reaching a predetermined limit angle of the lateral inclination φ _1ίη , where cpi _in -S cp _max applies, initiates a measure that further rotation of the cantilever arm 16 on the maximum lateral inclination cp _{max of} the pivot axis S addition prevented. Such a measure can be an active return of the machine in a defined safe state in addition to the already spoken ^¬ pure blocking. Again alternatively, the control device may be designed so that it outputs on reaching the predetermined lateral inclination ci _im a request to the operator and only after fulfillment of the request further rotation of the boom 16 over the maximum lateral inclination cp _max also allows. The request may be directed to a mere input or the taking of a defined action. This may be, for example, the vertical positioning of the cantilever arm (or in the case of a multi-part cantilever arm around the first arm or masts).

Of course, the above dargestell ^¬ te and defined in the appended claims inventive concept is also applicable to other tools with boom ^¬ arm than the illustrated truck building pump where the boom designed for maximum lateral inclination or transverse inclination of its pivot axis is.

[0033] In the context of this application, the term "cantilever arm" is to be understood as meaning both single-arm and multi-arm cantilevers.

In the case of multi-arm cantilevers, it is additionally possible to provide detection of the positions of the further cantilever parts in order to permit a slightly greater lateral inclination of the pivot axis at moments-minimizing positions (ie, arms folded completely down to the first cantilever mast) (calculation by the computing device / control device). ,

As those skilled in the art will readily appreciate, an implementation of the present invention may, where appropriate, be the adaptation tion of the support structure to greater lateral forces, eg. By more stiffened substructure or the like., Make necessary.

Claims

1. Mobile working device (10) with a substructure (12), egg ^¬ nem cantilever arm (16) arranged around a substantially perpendicular to the base (12) extending axis of rotation (R) on the substructure (12) and to a pivot axis (S) extending substantially perpendicular to the rotary axis ^¬ (R) is pivotable in a boom position, and with detection means for detecting a lateral inclination (φ) of the pivot axis (S).

2. Tool (10) according to claim 1, wherein the Erfas ^¬ sungsmittel comprise at least one angle measuring element.

3. Tool (10) according to claim 1 or 2, wherein the detection means of the pivot axis (S) are arranged in a rotationally fixed relation to ^¬ .

4. Tool (10) according to claim 3, wherein a rotary head (18) is provided, on which the detection means are angeord ^¬ net.

5. Tool (10) according to claim 3, wherein the Erfas- sungsmittel are arranged on the cantilever.

6. Implement (10) according to one of claims 1 to 5, wherein the detection means are arranged parallel to the pivot axis (S).

7. Tool (10) according to any one of claims 1 to 6, wherein the detecting means directly detect the lateral inclination (φ) of the pivot axis (S).

8. Tool (10) according to any one of claims 2 to 6, wherein the angle measuring element is an electronic / digital Was ^¬ serwaage.

9. Implement (10) according to one of claims 1 to 6, wherein the detection means comprise first means for measuring the Nei ^¬ tion components ( _L , _Q ) of the substructure (12) and second means for measuring the angle of rotation (ß) and a computing device for Calculating the maximum angle of rotation (ß _ma x) according to cp _max = _L · sin ßmax + CXQ 'cos ß _max include, with _L for the angle component of Un ^¬ terbauneigung parallel to a substructure longitudinal axis (L) and _Q for the angle component of the submarine slope perpendicular to the substructure longitudinal axis (L).

10. Tool (10) according to one of claims 1 to 9, which further comprises a control device which outputs a visual and / or acoustic indication when reaching a maximum lateral inclination (cp _max ) and / or a further rotation of the extension arm ( 16) over the maximum lateral inclination (cp _max ) of the pivot axis (S) prevented.

11. Tool (10) according to any one of claims 1 to 9, which further comprises a control device which upon reaching a predetermined lateral inclination ((pn _m -S cp _max ) initiates a measure ^¬ measure, which further rotation of the cantilever arm (16) over the maximum lateral inclination (cp _max ) of the pivot axis (S) prevents ver ^¬ .

12. Implement (10) according to one of claims 1 to 9, which further comprises a control device which outputs upon reaching a predetermined lateral inclination (φ _11η <cp _max ) a request to the operating personnel and only after fulfillment the request further rotation of the cantilever arm (16) on the maximum lateral inclination ((p _ma x) of the pivot axis (S) gestat ^¬ tet.