WO2019219556A1 - Verfahren zur erzeugung einer verfahrbewegung einer mobilen anlage für den offenen tagebau - Google Patents
Verfahren zur erzeugung einer verfahrbewegung einer mobilen anlage für den offenen tagebau Download PDFInfo
- Publication number
- WO2019219556A1 WO2019219556A1 PCT/EP2019/062126 EP2019062126W WO2019219556A1 WO 2019219556 A1 WO2019219556 A1 WO 2019219556A1 EP 2019062126 W EP2019062126 W EP 2019062126W WO 2019219556 A1 WO2019219556 A1 WO 2019219556A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- mobile
- movement
- crawler tracks
- caterpillars
- control unit
- Prior art date
Links
Classifications
-
- 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
-
- 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
-
- 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
-
- 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
Definitions
- the present invention relates to a method for generating a movement movement of a mobile open pit mine with a first crawler track and at least one second crawler track, the crawler tracks each having a substructure, are accommodated on the two spaced apart caterpillars, wherein the substructures of Crawler tracks are rotatably mounted under a superstructure. Furthermore, the invention relates to a mobile plant for open pit with a control unit for carrying out the method.
- a mobile plant for open pit mining in the form of a mobile crusher is known, and the crusher has a first crawler chassis and a second crawler chassis, wherein the crawler tracks each have a substructure on which two spaced apart caterpillars are arranged.
- Another embodiment discloses three pairs of tracks as a chassis for the mobile system, the mobile system has a central pivot bearing on which the superstructure of the system can be rotated relative to the crawler tracks. Such rotation is advantageous in stationary operation of the system, a steering of a movement of the mobile system can not take place by means of a twisting of the superstructure in the hinge.
- the crawler tracks must often be rotated by hydraulic cylinders or electric drives.
- the object of the invention is the development of a method for generating a movement of a mobile plant for open pit mining, with a simple structure of the system and the associated crawler tracks is possible, and the method should be easily performed. Furthermore, it is the object of the invention to provide a correspondingly simple mobile plant for open pit mining, which can easily perform a movement. In this case, the mobile system should in particular make do without a device for active rotation of the substructure relative to the superstructure in order to move the mobile plant.
- the invention includes the technical teaching that at least one control unit is provided for controlling the mobile installation, with which each bead of the crawler undercarriages is driven to execute a travel movement or to a standstill with a separate control signal.
- Core idea of the invention is the independent and further independent of the superstructure self-alignment of each of the substructures by a discrete control of the caterpillars, which are arranged on the substructures.
- the Control according to the invention can be carried out with only one or more control units, in which case the plurality of control units are jointly designed to control each bead of the crawler undercarriages for carrying out a travel movement or to a standstill with a separate control signal.
- the substructures of the individual crawler tracks can be aligned accordingly, and the substructures of the crawler tracks can also be aligned with each other so that the mobile system performs as desired, a movement or rotational movement.
- the movement here includes, for example, a rotation of the mobile system about a stationary vertical axis, so that a so-called yawing is performed, and the traversing movement includes straight-ahead driving, transverse driving, as well as cornering or driving in the sideways direction.
- the forward movement and / or lateral movement and / or rotation of the system about the vertical axis is carried out according to the invention either by the execution of a driving movement of the individual caterpillar or just by stopping the individual caterpillar.
- Each individual bead of all crawler tracks of the mobile system is controlled by the control unit with a correspondingly separate control signal.
- the inventive method for generating a movement movement of the mobile system with a correspondingly formed control unit eliminates the hitherto necessary articulation of the crawler tracks via a hydraulic or electric drive, in particular by means of a drawbar.
- the caterpillars can turn automatically with the inventive control of the individual caterpillars about a corresponding vertical axis of the substructures and by controlling the caterpillars, the movement can be both forward and sideways done and it can be performed a rotation of the system about a stationary vertical axis.
- the caterpillars must be controlled so that not only the single crawler undercarriage performs the appropriate movement, but the control of the caterpillars takes place under respective consideration of the caterpillars of the other chassis.
- the control unit according to the invention is therefore designed so that a holistic control of all caterpillars is monitored and this for the individual caterpillars taking into account the other control signals to the other caterpillars takes place.
- the crawler tracks are arranged on the lower side of the superstructure via hinge points, with the pivot points particularly advantageously having rotational sensors with which the rotation of the crawler tracks in the articulation points about the vertical axes is detected and read out by the control unit.
- This information can be provided to the control unit, which rotational position the crawler tracks, so that the individual tracks of the crawler tracks can be controlled so that the desired rotational position of the crawler tracks is achieved.
- the connections between the substructures and the superstructure may comprise articulation points formed by ball joints, in particular when the mobile installation has three crawlers, thereby permitting a statically determined support of the installation on a floor.
- rotating platforms between the substructures and the superstructure are possible, which may also include rotary sensors.
- input means can be provided which are connected to the control unit and with which the driving or rotary movement of the mobile system to the control unit can be predetermined by an operator or a higher-level technical unit.
- the control unit can determine the separate control signal for the travel movement or the stopping necessary for each of the beads, and also control the beads with the specific travel movement or shut-down in such a way that the predetermined driving or rotary movement of the mobile installation is executed.
- the input means can be operated, for example, by an operator, ie a leader of the mobile system, and the input means can be part of a control device for controlling the mobile system, wherein when the mobile system is part of a larger system, the input means also from a corresponding technical unit can be controlled.
- the invention is further directed to a mobile open pit mine plant having at least one control unit for carrying out the method according to the invention, and the control unit may be any single bead all crawler undercarriages to execute a driving movement or to stop with a separate control signal. If several control units are provided, they can jointly control each of the caterpillars.
- the mobile plant may include, for example, a mobile crusher, a mobile conveyor bridge, a mobile spreader, an excavator, a mobile belt truck, a tripper, a transfer station of conveyor systems, a belt tensioner, an assembly plant for the establishment of extraction and extraction facilities, a monitoring - and repair plant for open pit facilities and / or the like form.
- the mobile system is characterized in that the hinge points form the only connection of the crawler tracks to the superstructure and / or that the crawler tracks are free from a mechanical drive means for rotating the crawler tracks about a vertical axis.
- electrical or hydraulic drive units can be arranged, with which the individual caterpillars can be controlled in both directions of rotation or even stopped, which may be provided for the latter from braking units in the caterpillars.
- the individual caterpillars associated drive units in the crawler tracks can communicate with the control unit wired or wirelessly, for which the drive units can include their own drive control modules.
- Figure 1 is a side view of a mobile plant for open pit mining on the example of a mobile crusher and
- FIG. 2 shows a front view of the mobile crusher according to FIG. 1.
- Figures 1 and 2 show in a side view and in a front view of a mobile plant 1 using the example of a mobile crusher, as this can be used for the open pit.
- the mobile plant 1 has three crawler tracks 10, 11, wherein on a branch side two first crawler tracks 10 and on a feed side a crawler track 11 is provided by way of example.
- the crawler tracks 10 have substructures 12, which form the frame of the crawler tracks 10, 1 1, and on the substructures 12 are each two spaced and arranged parallel to each other caterpillars 13 are added.
- the substructures 12 of the crawler tracks 10, 1 1 are rotatably received about hinge points 17 on the superstructure 14 of the mobile system 1 about a vertical axis 16.
- the pivot points 17 are designed so that the crawler tracks 10, 11 can also perform tilting and pitching movements relative to the superstructure 14, so that the tracks 13 of the crawler tracks 10, 11 have substantially permanent contact with the ground 24.
- a control unit 15 To control the mobile system 1 and in particular for controlling the crawler tracks 10, 1 1 is a control unit 15, with each of the beads 13 of the crawler tracks 10, 11 can be controlled to execute a driving movement or to a standstill with a separate control signal.
- control lines 25 are shown by way of example, which extend between the control unit 15 and the tracks 13, wherein the control can also take place via a wireless connection.
- the caterpillars 13 have drive units 20, for example formed by hydraulic, electric or electro-hydraulic motors.
- the pivot points 17 include rotary sensors 18, with which the rotational position of the crawler tracks 10, 1 1, in particular the rotational position of the substructures 12, can be detected about the respective vertical axis 16 which extends through the hinge points 17.
- the mobile plant 1 as an example of the mobile crusher has a feed 21, a crusher 22 and a discharge boom 23, so that the crusher can be charged via the feed 21 with crushed material, which to the crusher 22nd is encouraged.
- the discharge boom 23 extends below the crusher 22 and projects beyond the crawler tracks 10.
- Such a mobile plant 1 in the form of a mobile crusher must be able to perform, for example, sideways movements, straight-ahead driving or rotational movements about an overall vertical axis of the superstructure 14.
- FIG. 1 shows the crawler tracks 10, 11 in an arrangement for carrying out a sideways movement, and all of the caterpillars 13 can move in the same direction of rotation in order to carry out the sideways movement of the mobile installation 1.
- the front view in Figure 2 shows the crawler tracks 10 in a rotational position about the pivot points 17, such that the mobile plant 1 in its longitudinal extent from the feed 21 to the discharge boom 23 can perform a straight ahead. Also for this driving situation, all of the tracks 13 are driven at the same rotational speed and direction of rotation.
- the crawler tracks 10, 1 1 can be moved to the position shown in FIG.
- the caterpillars of the crawler tracks 10 may have a first direction of rotation, and the tracks 13 of the crawler track 11 may be stopped or operated with an opposite direction of rotation. It is also conceivable to rotate all the crawler tracks 10, 1 1 in an intermediate position, so that, for example, a cross-drive or a so-called crab gear is made possible.
- Figures 1 and 2 show in particular that the crawler tracks 10, 11 are connected exclusively by means of the hinge points 17 with the superstructure 14.
- no links, drawbars or the like between the crawler tracks 10, 11 and the superstructure 14 are provided with which a rotation of the crawler tracks 10, 1 1 to the respective vertical axis 16 would have to be generated.
- the invention is not limited in its execution to the above-mentioned preferred embodiment. Rather, a number of variants is conceivable, which makes use of the illustrated solution even with fundamentally different types of use. All of the claims, the description or the drawings resulting features and / or advantages, including structural details or spatial arrangements may be essential to the invention both in itself and in various combinations.
- the mobile plant 1 can also form a mobile conveyor bridge, a mobile spreader, an excavator or a mobile conveyor trolley.
Landscapes
- 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)
- Excavating Of Shafts Or Tunnels (AREA)
- Manipulator (AREA)
- Hall/Mr Elements (AREA)
- Harvester Elements (AREA)
- Transmission Devices (AREA)
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CA3099616A CA3099616C (en) | 2018-05-18 | 2019-05-13 | Method for generating a movement of a mobile system for open pit mining |
BR112020023443-5A BR112020023443B1 (pt) | 2018-05-18 | 2019-05-13 | Método para a geração de um movimento de deslocamento de uma instalação móvel paraa mineração a céu aberto |
CN201980032814.4A CN112119001B (zh) | 2018-05-18 | 2019-05-13 | 用于产生用于露天开采的可移动系统的运动的方法 |
AU2019269459A AU2019269459B2 (en) | 2018-05-18 | 2019-05-13 | Method for generating a movement of a mobile system for open pit mining |
PE2020001871A PE20210618A1 (es) | 2018-05-18 | 2019-05-13 | Procedimiento para generar un movimiento de desplazamiento de una instalacion movil para la mineria de explotacion a cielo abierto |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102018207886.6 | 2018-05-18 | ||
DE102018207886.6A DE102018207886A1 (de) | 2018-05-18 | 2018-05-18 | Verfahren zur Erzeugung einer Verfahrbewegung einer mobilen Anlage für den offenen Tagebau |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2019219556A1 true WO2019219556A1 (de) | 2019-11-21 |
Family
ID=66554373
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2019/062126 WO2019219556A1 (de) | 2018-05-18 | 2019-05-13 | Verfahren zur erzeugung einer verfahrbewegung einer mobilen anlage für den offenen tagebau |
Country Status (7)
Country | Link |
---|---|
CN (1) | CN112119001B (de) |
AU (1) | AU2019269459B2 (de) |
CA (1) | CA3099616C (de) |
CL (1) | CL2020002977A1 (de) |
DE (1) | DE102018207886A1 (de) |
PE (1) | PE20210618A1 (de) |
WO (1) | WO2019219556A1 (de) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102021111347B4 (de) | 2021-05-03 | 2023-12-21 | Takraf Gmbh | Zentral-Unterbau für Fahrwerke und Oberbau |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE641072C (de) * | 1937-01-19 | Aeg | Lenkvorrichtung fuer Gleiskettenfahrzeuge, insbesondere Bagger o. dgl. | |
DE733289C (de) * | 1937-09-08 | 1943-03-24 | Mitteldeutsche Stahlwerke Ag | Gleiskettenfahrzeug |
DE928864C (de) * | 1942-02-20 | 1955-06-13 | Karl Gey | Fahrzeug mit Raupenfahrgestellen in Drehschemelanordnung |
DE3615118A1 (de) * | 1986-05-03 | 1987-10-08 | Krupp Gmbh | Raupenfahrwerk |
DE3912215A1 (de) * | 1988-04-13 | 1989-10-26 | Przed Panstwowe Ogolnokrajowe | Fahrbarer zweigliedriger abhang-foerderer |
DE10314958A1 (de) | 2003-04-02 | 2005-03-03 | ThyssenKrupp Fördertechnik GmbH | Zerkleinerungsvorrichtung |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
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DE2153492C2 (de) * | 1971-10-27 | 1973-06-14 | Fried Krupp Gmbh | Transportvorrichtung für kein eigenes Fahrwerk aufweisende schwere Tagebaugeräte |
US3900077A (en) * | 1974-04-03 | 1975-08-19 | Caterpillar Tractor Co | Vehicle for surf zone work |
DE2848996C2 (de) * | 1978-11-11 | 1982-10-21 | Mannesmann AG, 4000 Düsseldorf | Transporteinrichtung für schwere Tagebaugeräte |
DD151335A1 (de) * | 1980-06-11 | 1981-10-14 | Rudolf Czogiel | Nebentraegerloses kreuzgelenk mit und ohne steuerelement |
DE19803340A1 (de) * | 1998-01-29 | 1999-08-05 | Krupp Foerdertechnik Gmbh | Tagebaugerät |
CN202876924U (zh) * | 2012-10-15 | 2013-04-17 | 三一重型装备有限公司 | 一种移动破碎站及其支撑行走装置 |
CN203020431U (zh) * | 2012-12-14 | 2013-06-26 | 大连华锐重工集团股份有限公司 | 一种四自由度支撑装置 |
CN103129636A (zh) * | 2013-02-25 | 2013-06-05 | 中联重科股份有限公司 | 履带工程机械的可转向履带底盘及具有其的下车行走系统 |
CN106043427A (zh) * | 2016-06-24 | 2016-10-26 | 伍锡如 | 一种多履带式全向移动平台 |
-
2018
- 2018-05-18 DE DE102018207886.6A patent/DE102018207886A1/de active Pending
-
2019
- 2019-05-13 PE PE2020001871A patent/PE20210618A1/es unknown
- 2019-05-13 CA CA3099616A patent/CA3099616C/en active Active
- 2019-05-13 WO PCT/EP2019/062126 patent/WO2019219556A1/de active Application Filing
- 2019-05-13 CN CN201980032814.4A patent/CN112119001B/zh active Active
- 2019-05-13 AU AU2019269459A patent/AU2019269459B2/en active Active
-
2020
- 2020-11-17 CL CL2020002977A patent/CL2020002977A1/es unknown
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE641072C (de) * | 1937-01-19 | Aeg | Lenkvorrichtung fuer Gleiskettenfahrzeuge, insbesondere Bagger o. dgl. | |
DE733289C (de) * | 1937-09-08 | 1943-03-24 | Mitteldeutsche Stahlwerke Ag | Gleiskettenfahrzeug |
DE928864C (de) * | 1942-02-20 | 1955-06-13 | Karl Gey | Fahrzeug mit Raupenfahrgestellen in Drehschemelanordnung |
DE3615118A1 (de) * | 1986-05-03 | 1987-10-08 | Krupp Gmbh | Raupenfahrwerk |
DE3912215A1 (de) * | 1988-04-13 | 1989-10-26 | Przed Panstwowe Ogolnokrajowe | Fahrbarer zweigliedriger abhang-foerderer |
DE10314958A1 (de) | 2003-04-02 | 2005-03-03 | ThyssenKrupp Fördertechnik GmbH | Zerkleinerungsvorrichtung |
Also Published As
Publication number | Publication date |
---|---|
PE20210618A1 (es) | 2021-03-23 |
AU2019269459B2 (en) | 2022-03-31 |
AU2019269459A1 (en) | 2020-12-10 |
AU2019269459A8 (en) | 2021-03-04 |
CA3099616C (en) | 2022-11-08 |
CN112119001A (zh) | 2020-12-22 |
CN112119001B (zh) | 2024-01-19 |
BR112020023443A2 (pt) | 2021-02-23 |
DE102018207886A1 (de) | 2019-11-21 |
CL2020002977A1 (es) | 2021-02-26 |
CA3099616A1 (en) | 2019-11-21 |
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