Mobile construction machine

Abstract

The invention relates to a mobile construction machine, preferably a wheeled excavator or tracked excavator, comprising a mobile undercarriage, a superstructure rotatably arranged on the undercarriage about a vertically oriented axis of rotation, a boom pivotably mounted on the superstructure at a pivot point for receiving a load at a load point arranged on the boom, and at least one support device movable by means of a drive, with an end point movable both horizontally and vertically for supporting the mobile construction machine against the ground, wherein at least one control device and at least one operating element connected to the control device, as well as sensors connected to the control device for detecting load and / or position states, are provided for operating the construction machine.In order to create a mobile construction machine that can be supported against the ground in a variety of possible positions of the superstructure without causing increased wear in the pivot joint connecting the superstructure to the undercarriage, the support device, or in the case of several support devices, at least one of the support devices, should be attached directly or indirectly to the superstructure, preferably at least two support devices should each be attached directly or indirectly to the superstructure.

Description

[0001] The invention relates to a mobile construction machine, comprising a mobile undercarriage, an uppercarriage arranged on the undercarriage so as to be rotatable about a vertically oriented axis of rotation, a boom pivotably mounted on the uppercarriage at a pivot point for receiving a load at a load point arranged on the boom and at least one support device movable by means of a drive and having an end point displaceable both in the horizontal direction and in the vertical direction for supporting the mobile construction machine against the ground, wherein at least one control device and at least one operating element connected to the control device as well as sensors connected to the control device for detecting load and / or position states are provided for operating the construction machine. The construction machine can preferably be designed as a wheel excavator, tracked excavator or crane.Mobile also refers to construction machinery designed for use at different locations. The undercarriage can also be designed as a chassis without its own wheels, which is mounted on a vehicle for transport to another location.

[0002] Mobile construction machines are known from practice in which one or more support devices are arranged on the undercarriage to support the mobile construction machine against the ground.

[0003] The disadvantage here is that with these previously known mobile construction machines only the undercarriage is supported. In this respect, the undercarriage must be supported in all directions so that the mobile construction machine is adequately supported in every possible position of the superstructure. In this respect, on the one hand, a large number of outriggers oriented in all directions are required, and at the same time, not every position of the superstructure is ideally supported because the individual outriggers cannot be adapted to the respective position of the superstructure or the associated load situation. In addition, a load acting on the boom arranged on the superstructure and, in particular, the associated bending stresses are transmitted into the supported undercarriage via the swivel joint connecting the superstructure to the undercarriage.This places extreme stress on the swivel joint, leading to rapid wear of this component, which is essential for the use of the mobile construction machine.

[0004] The object of the invention is to avoid the aforementioned disadvantages and to provide a mobile construction machine which, on the one hand, can be supported against the ground for a variety of possible positions of the superstructure without, on the other hand, causing increased wear in the swivel joint connecting the superstructure to the undercarriage.

[0005] This object is achieved in a generic mobile construction machine in that the support device or, if several support devices are present, at least one of the support devices is attached directly or indirectly to the superstructure, preferably at least two support devices are each attached directly or indirectly to the superstructure.

[0006] Different combinations of different superstructure positions, different boom overhangs, and the weight of the attached load represent different load situations for the mobile construction machine. If outriggers are only provided on the undercarriage, the position of the superstructure, depending on the basic shape of the undercarriage, can make a significant difference in the support of the mobile construction machine. An outrigger can, for example, be designed as a ram that is mounted on the mobile construction machine in a telescopic or otherwise height-adjustable manner. It is also conceivable for an outrigger to be designed as an arm with multiple links.If, for example, the base areas of the uppercarriage and undercarriage of a mobile construction machine are essentially square in shape, the swivel joint is centrally located and the undercarriage has an outrigger at each of its corners, the load situation is approximately the same for every position of the uppercarriage, assuming a level surface. If the construction machine is therefore well supported in a first position with a load applied, it will also be well supported in a second position after the uppercarriage has been rotated. However, if the base areas of the uppercarriage and undercarriage of a mobile construction machine are essentially rectangular with two longer sides and two shorter sides, the swivel joint is centrally located and the undercarriage has an outrigger at each of its corners, the load situation is not approximately the same for every position of the uppercarriage, assuming a level surface.For example, if the boom is aligned approximately parallel to the longer sides in one position, the mobile construction machine is better supported than in a position in which the boom is aligned approximately parallel to the shorter sides.

[0007] By arranging one or more outriggers on the superstructure, they can provide approximately equal support for any position of the superstructure, starting from a level surface. For example, if an outrigger is arranged on the superstructure in such a way that it exerts its effect directly below the boom pivot point, it exerts this effect regardless of the position and rotation of the superstructure. Due to its attachment to the superstructure, the outrigger is inevitably rotated along with the rotation of the superstructure, and thus with the rotation of the cantilevered boom. The relationship between the point at which the outrigger engages the mobile construction machine and the boom pivot point therefore remains the same for all positions of the superstructure and is independent of the rotation of the superstructure relative to the undercarriage.

[0008] Support devices arranged on the superstructure can also reduce the transverse forces or bending stresses on the swivel joint induced by a load on a cantilevered boom.

[0009] Advantageously, at least one support device attached to the superstructure can be pivoted about a pivot axis, directly or indirectly mounted on the superstructure, with the pivot axis preferably aligned parallel to the rotation axis of the superstructure. Preferably, all support devices attached to the superstructure can be pivoted about a pivot axis, directly or indirectly mounted on the superstructure, with the respective pivot axis preferably aligned parallel to the rotation axis of the superstructure. In this respect, pivoting of the respective support device about its pivot axis is possible. This allows the support of the mobile construction machine to be further adapted to the respective position of the superstructure or load situation.If, for example, support in the direction of the boom by means of a support device is not possible due to obstacles in the structural conditions, the support device can be swivelled and thus the obstacle can be bypassed.

[0010] In addition, at least one support device can be designed as a multi-link structure with at least two links. Preferably, all support devices can be designed as multi-link structures, each with at least two links. Such a support device can, for example, be formed from a first link and a second link, with the two links connected to each other at a 90-degree angle. One of the links can then, for example, be arranged horizontally displaceably on the superstructure, with the other link supporting the superstructure downwards. This design allows the support device to be displaced horizontally. It is also conceivable for a support device to be formed from two or more links, each of which is connected to each other by a pivotable joint. In this respect, the links of this support device form a kind of individually adjustable "arm."Such a design has the particular advantage that the support device can be variably adapted to the respective load situation.

[0011] Furthermore, at least two members of at least one support device can be telescopic and together form a telescope. In this respect, the length of the support device can be variably adapted to the respective load situation and, in particular, to the structural conditions. It is also conceivable for a support device to be formed from several telescopic members. Such a support device can, for example, be formed from a first telescopic member and a second telescopic member, wherein the two members are connected to one another at a 90-degree angle. This design allows the support device to be displaced both horizontally and vertically, for example.

[0012] Advantageously, at least one link in at least one support device can be pivotably mounted orthogonally to the pivot axis of this support device. Such a configuration allows the link arranged on the superstructure to be pivoted both horizontally and vertically. Preferably, at least one link in at least one support device can also be pivotably mounted in all three spatial axes.

[0013] In addition, the end point of at least one support device can be designed as a pivoting base, a ball-joint-mounted base, a wheel, or a roller. This type of design has the particular advantage that the support device can be variably adapted to the respective structural conditions of the subsoil. For example, if a support device is mounted on the superstructure so that it can pivot about a pivot axis aligned parallel to the rotation axis of the superstructure and also has a pivoting base, the superstructure can be rotated to a certain extent without having to reposition this support device.

[0014] Furthermore, in at least one support device, the drive can comprise at least one electro-mechanical drive means and / or in at least one support device, the drive can comprise at least one hydraulic drive means.

[0015] Advantageously, at least one outrigger device mounted directly or indirectly on the superstructure can be arranged in front of the boom's pivot point in the boom extension direction, preferably on the boom itself. This arrangement has the advantage that the support of this outrigger device is always directed in the direction of the cantilevered boom. This allows for optimal support of the boom and the load attached to it. Since the outrigger device is mounted on the superstructure, it supports the boom regardless of the position of the superstructure.

[0016] In addition, at least one outrigger device mounted directly or indirectly on the superstructure can be arranged laterally offset from the boom pivot point in the boom extension direction. Preferably, this outrigger device(s) cannot be arranged behind the lateral projection of the boom pivot point, so that the risk of collisions with the boom during lateral pivoting of the outriggers is reduced or even completely avoided. In this respect, the outriggers can then preferably be located between the pivot point and the edge of the superstructure.

[0017] If several outriggers are provided, these can be arranged symmetrically with respect to the superstructure and / or the boom.

[0018] Furthermore, at least two support devices can be provided in the extension direction of the boom, each of which can be arranged laterally offset relative to the boom, with at least one first support device being laterally offset to a first side in the extension direction of the boom and at least one further support device being laterally offset to the opposite side in the extension direction of the boom. Thus, at least one support device is arranged on each side of the boom.

[0019] Advantageously, at least one of the sensors connected to the control device can be assigned to the boom to record its load and / or position states and / or at least one of the sensors connected to the control device can be assigned to a support device to record its load and / or position states. By recording the load and / or position states of the boom or one or more support devices, information about the respective load situation of the mobile construction machine can be obtained. In this respect, for example, overloading or unfavorable load distribution can be detected at an early stage and suitable measures can be taken. The same applies in particular to load situations that do not represent a stable state of movement for the mobile construction machine. A stable state of movement does not exist, for example, if the mobile construction machine tips over orthreatens to collapse.

[0020] In addition, the control device can be designed to evaluate the load and / or position states detected by the sensors and to control the drives, and can be configured in such a way that the drives are controlled taking into account the evaluation of the load and / or position states detected by the sensors in such a way that a stable state of movement of the mobile construction machine is ensured at all times. By recording the load and / or position states of the boom or one or more outriggers, information about the respective load situation of the mobile construction machine can be obtained. In this respect, for example, overloading or unfavorable load distribution can be detected at an early stage and suitable measures can be taken. The same applies in particular to load situations that do not represent a stable state of movement of the mobile construction machine.For example, a stable state of movement does not exist if the mobile construction machine tips over or threatens to tip over.

[0021] The invention also relates to a method for controlling a mobile construction machine, preferably a wheeled excavator or crawler excavator, comprising a mobile undercarriage, an uppercarriage arranged on the undercarriage so as to be rotatable about a vertically oriented axis of rotation, a boom pivotably mounted on the uppercarriage at a pivot point for receiving a load at a load point arranged on the boom and at least one support device movable by means of a drive with an end point displaceable both in the horizontal direction and in the vertical direction for supporting the mobile construction machine against the ground, wherein at least one control device and at least one operating element connected to the control device as well as sensors connected to the control device for detecting load and / or position states are provided for operating the construction machine, preferably for controlling a mobile construction machine according to the invention.

[0022] Methods are known from practice in which one or more support devices are used to support the mobile construction machine against the ground on the undercarriage.

[0023] The disadvantage here is that with these previously known mobile construction machines only the undercarriage is supported. In this respect, the undercarriage must be supported in all directions so that the mobile construction machine is adequately supported in every possible position of the superstructure. On the one hand, this requires a large number of outriggers aligned in all directions, and on the other hand, not every position of the superstructure is ideally supported because the individual outriggers cannot be adapted to the respective position of the superstructure or the associated load situation. In addition, in such a case, a load applied to the boom arranged on the superstructure and the associated bending stresses are transmitted into the supported undercarriage via the swivel joint connecting the superstructure to the undercarriage.This results in a high load on the swivel joint, which leads to rapid wear of this component, which is essential for the use of the mobile construction machine.

[0024] The object of the invention is to avoid the aforementioned disadvantages and to provide a method by means of which a mobile construction machine can be supported against the ground for a variety of possible positions of the superstructure and at the same time to avoid increased wear in the swivel joint connecting the superstructure to the undercarriage.

[0025] This task is solved in a generic method in that the control of the drives is carried out by the control device taking into account the evaluation of the load and / or position states detected by the sensors in such a way that a stable movement state of the mobile construction machine is ensured at all times.

[0026] Different combinations of different superstructure positions, different boom overhangs, and the weight of the attached load represent different load situations for the mobile construction machine. If outriggers are only provided on the undercarriage, the position of the superstructure, depending on the basic shape of the undercarriage, can make a significant difference in the support of the mobile construction machine. An outrigger can, for example, be designed as a ram that is mounted on the mobile construction machine in a telescopic or otherwise height-adjustable manner. It is also conceivable for an outrigger to be designed as an arm with multiple links.If, for example, the base areas of the uppercarriage and undercarriage of a mobile construction machine are essentially square in shape, the swivel joint is centrally located and the undercarriage has an outrigger at each of its corners, the load situation is approximately the same for every position of the uppercarriage, assuming a level surface. If the construction machine is therefore well supported in a first position with a load applied, it will also be well supported in a second position after the uppercarriage has been rotated. However, if the base areas of the uppercarriage and undercarriage of a mobile construction machine are essentially rectangular with two longer sides and two shorter sides, the swivel joint is centrally located and the undercarriage has an outrigger at each of its corners, the load situation is not approximately the same for every position of the uppercarriage, assuming a level surface.For example, if the boom is aligned approximately parallel to the longer sides in one position, the mobile construction machine is better supported than in a position in which the boom is aligned approximately parallel to the shorter sides.

[0027] By arranging one or more outriggers on the superstructure, they can provide approximately equal support for any position of the superstructure, starting from a level surface. For example, if an outrigger is arranged on the superstructure in such a way that it exerts its effect directly below the boom pivot point, it exerts this effect regardless of the position and rotation of the superstructure. Due to its attachment to the superstructure, the outrigger is inevitably rotated along with the rotation of the superstructure, and thus with the rotation of the cantilevered boom. The relationship between the point at which the outrigger engages the mobile construction machine and the boom pivot point therefore remains the same for all positions of the superstructure and is independent of the rotation of the superstructure relative to the undercarriage.

[0028] Support devices arranged on the superstructure can also reduce the transverse forces or bending stresses on the swivel joint induced by a load on a cantilevered boom.

[0029] Advantageously, at least two support devices can be controlled during a movement of the load and / or pivoting of the load, taking into account the evaluation of the load and / or position states detected by the sensors, in such a way that at any time one support device is controlled as a supporting support device, which ensures a stable movement state of the mobile construction machine, and another support device is controlled as a striding support device, which is moved without load pickup with its end point essentially in the direction of movement of the load,When the maximum deflection of the end point of the support device controlled as a striding support device is reached, taking into account the load conditions to be supported, this support device is henceforth controlled as a supporting support device and the support device previously controlled as a supporting support device is henceforth controlled as a striding support device.

[0030] In such a method, the at least two outriggers alternately "walk" along with the rotational movement of the superstructure. The outriggers are coordinated in such a way that the load can be supported by one outrigger at any time, thus ensuring the stability of the mobile construction machine at all times. In particular, the outriggers are coordinated in such a way that when the superstructure rotates, at least one of the two outriggers is in contact with the ground at all times, thus supporting the mobile construction machine. If necessary due to the rotational movement of the superstructure, one of the two outriggers can temporarily release its contact with the ground to reposition itself. The repositioning always follows the rotational movement of the superstructure.

[0031] If the superstructure of a mobile construction machine with two outriggers arranged on the superstructure to the right and left of the boom rotates clockwise around its axis of rotation, for example, the two outriggers temporarily support the mobile construction machine individually.

[0032] Before the slewing movement begins, both outriggers, arranged symmetrically, initially support the superstructure. As soon as the slewing movement begins, both outriggers continue to support the superstructure until the first of the two outriggers has been rotated to such an angle relative to the boom that it can no longer provide its supporting effect. If the second outrigger is in a position where it can provide the necessary supporting effect on its own, the first outrigger is raised and pivoted in the direction of the slewing movement. Once it has been pivoted, preferably to its maximum, in this direction, it is lowered again and used to support the superstructure.

[0033] If the rotational movement continues, this process is repeated for the second support device. The support device arranged in the direction of rotation is pivoted as far as possible in the direction of rotation, the rotational movement continues, and the other support device is tightened as soon as necessary.

[0034] When the undercarriage is moved, for example, linearly toward the boom, both outriggers can initially support the superstructure, arranged symmetrically in the direction of the boom, before the movement begins. As soon as the movement begins, both outriggers continue to support the superstructure until at least one of the two outriggers is positioned so close to the undercarriage that further movement of the undercarriage is not possible or not advisable.

[0035] If one outrigger is in a position where it can provide the necessary support on its own, the other outrigger is raised and pivoted in the direction of travel. Once pivoted in this direction, preferably to the maximum, it is lowered again and used to support the superstructure.

[0036] If the travel movement stops, this process is repeated for the second support device. Each support device is alternately pivoted in the travel direction as far as necessary or possible, the travel movement continues, and as soon as necessary, the other support device is pulled along or pivoted in the travel direction as well.

[0037] In the following, an embodiment of the invention shown in the drawing is explained.

[0038] The single figure shows a mobile construction machine 1 designed as an excavator with a mobile undercarriage 2 and an upper carriage 3 arranged on the undercarriage 2 so as to be rotatable about a vertically aligned axis of rotation.

[0039] A boom 5 is pivotably mounted on the superstructure 3 at a pivot point 4. The boom 5 serves to support a load at a load point 6 arranged on the boom 5.

[0040] Two support devices 7, movable by means of a drive (not shown), are arranged directly on the superstructure 3. The support devices 7 comprise an end point 8, which can be displaced both horizontally and vertically, for supporting the mobile construction machine 1 against the ground 9.

[0041] Both support devices 7 mounted on the superstructure 3 are pivotable about a pivot axis 10, with the pivot axis 10 being aligned parallel to the rotation axis (not shown) of the superstructure 3. Thus, pivoting of the support devices 7 about their pivot axis 10 is possible. Furthermore, both support devices 7 are designed as multi-linked devices with several links 11.

[0042] In this respect, each support device 7 is formed from three links 11, each of which is either connected to one another by a pivotable joint 12 and / or is designed to be telescopic, forming a telescope 13. In this respect, the links 11 of the support devices 7 form a kind of individually adjustable "arm." In both support devices 7, the uppermost link 11 is pivotally arranged orthogonally to the pivot axis 10 of the respective support device 7, and the end point 8 is designed as a pivotable base.

[0043] Both support devices 7 are arranged laterally offset from the pivot point 4 of the boom 5, viewed in the boom extension direction of the boom 5. They are not located behind the lateral projection of the pivot point 4 of the boom 5. In this respect, the support devices 7 are located between the pivot point 4 and the edge 14 of the superstructure. The support devices 7 are arranged symmetrically. In this respect, a first support device 7 is arranged laterally offset to a first side in the boom extension direction of the boom 5, and the second support device 7 is arranged laterally offset to the opposite side in the boom extension direction of the boom 5.

Claims

1. A mobile construction machine (1), preferably a wheeled excavator, crawler excavator, or crane, comprising a mobile undercarriage (2), a superstructure (3) arranged on the undercarriage (2) so as to be rotatable about a vertically oriented axis of rotation, a boom (5) pivotably mounted on the superstructure (3) at a pivot point (4) for receiving a load at a load point (6) arranged on the boom (5), and at least one support device (7) movable by means of a drive and having an end point (8) displaceable both horizontally and vertically for supporting the mobile construction machine (1) against the ground (9), wherein at least one control device and at least one operating element connected to the control device, as well as sensors connected to the control device for detecting load and / or position states, are provided for operating the construction machine (1). characterized in thatthe support device (7) or, if several support devices (7) are present, at least one of the support devices (7) is attached directly or indirectly to the superstructure (3), preferably at least two support devices (7) are each attached directly or indirectly to the superstructure (3).

2. Mobile construction machine (1) according to the preceding claim, characterized in that at least one support device (7) attached to the superstructure (3) is pivotable about a pivot axis (10) and is attached directly or indirectly to the superstructure (3), wherein the pivot axis (10) is preferably aligned parallel to the axis of rotation of the superstructure (3).

3. Mobile construction machine (1) according to one of the preceding claims, characterized in that at least one support device (7) is designed as a multi-member with at least two members.

4. Mobile construction machine (1) according to the preceding claim, characterized in thatin at least one support device (7) at least two members (11) are designed to be telescopic and together form a telescope (13).

5. Mobile construction machine (1) according to claim 3 or 4, characterized in that in at least one support device (7), at least one member (11) is pivotably arranged at least orthogonally to the pivot axis (10) of this support device (7), preferably pivotably arranged in all three spatial axes.

6. Mobile construction machine (1) according to one of the preceding claims, characterized in that in at least one support device (7) the end point (8) is designed as a pivotable foot or as a ball-joint mounted foot or as a wheel or as a roller.

7. Mobile construction machine (1) according to one of the preceding claims, characterized in thatin the case of at least one support device (7) the drive comprises at least one electro-mechanical drive means and / or in the case of at least one support device (7) the drive comprises at least one hydraulic drive means.

8. Mobile construction machine (1) according to one of the preceding claims, characterized in that at least one support device (7) attached directly or indirectly to the superstructure (3) is arranged in the extension direction of the boom (5) in front of the articulation point (4) of the boom (5), preferably on the boom (5) itself.

9. Mobile construction machine (1) according to one of the preceding claims, characterized in that at least one support device (7) mounted directly or indirectly on the superstructure (3) is arranged laterally offset in the extension direction of the boom (5) relative to the articulation point (4) of the boom (5).

10. Mobile construction machine (1) according to one of the preceding claims, characterized in thatat least two support devices (7) are arranged in the direction of extension of the boom (5) in a manner each laterally offset from the boom (5), wherein at least one first support device (7) is arranged laterally offset to a first side in the direction of extension of the boom (5) and at least one further support device (7) is arranged laterally offset to the opposite side in the direction of extension of the boom (5).

11. Mobile construction machine (1) according to one of the preceding claims, characterized in that at least one of the sensors connected to the control device is assigned to the boom (5) for detecting its load and / or position states and / or at least one of the sensors connected to the control device is assigned to a support device (7) for detecting its load and / or position states.

12. Mobile construction machine (1) according to one of the preceding claims, characterized in thatthe control device is designed for the evaluation of the load and / or position states detected by the sensors and for controlling the drives and is arranged in such a way that the control of the drives takes place taking into account the evaluation of the load and / or position states detected by the sensors in such a way that a stable movement state of the mobile construction machine (1) is ensured at all times.

13. Method for controlling a mobile construction machine (1) according to one of the preceding claims, characterized in that the control of the drives by the control device takes into account the evaluation of the load and / or position states detected by the sensors in such a way that a stable movement state of the mobile construction machine (1) is ensured at all times.

14. Method according to the preceding claim characterized in thatat least two support devices (7) are controlled during a movement of the load and / or pivoting of the load, taking into account the evaluation of the load and / or position states detected by the sensors, in such a way that at any time one support device (7) is controlled as a supporting support device (7), which ensures a stable movement state of the mobile construction machine (1), and another support device (7) is controlled as a striding support device (7), which is moved without load with its end point (8) essentially in the direction of movement of the load,wherein, upon reaching the maximum deflection of the end point of the support device (7) controlled as a striding support device (7), taking into account the load conditions to be supported, this support device (7) is henceforth controlled as a supporting support device (7) and the support device (7) previously controlled as a supporting support device (7) is henceforth controlled as a striding support device (7).

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