Slipform paver

Abstract

In a slipform paver (1) comprising: - at least one machine frame (2), - at least three travel devices (4) connected to the machine frame (2), - at least one conveying device (6) connected to the machine frame (2) such that the conveying device (6) is pivotable relative to the machine frame (2) at least about a horizontal axis and at least about a vertical axis, - at least one first actuator arranged and designed such that the conveying device (6) is pivotable at least about the horizontal axis, - at least one second actuator arranged and designed such that the conveying device (6) is pivotable at least about the vertical axis, it is provided that at least one control device (62) and at least one input device are provided.wherein the movement of at least one first position of the conveying device (6) can be specified at the input device (82) and that the actuators can be controlled by means of the control device (62) such that the first position of the conveying device (6) executes the specified movement.

Description

[0001] The invention relates to a slipform paver according to claim 1, and to a method for producing floor coverings or structures using slipform pavers according to claim 11.

[0002] Slipform pavers are known, particularly from DE 199 57 048, which have at least one machine frame, travel devices connected to the machine frame, and at least one conveying device. The conveying device can, for example, transport concrete to a working unit. The working unit can be used to produce floor coverings or structures. The working unit can be, for example, a concrete trough. The working unit can be interchangeable and its position can be changed or it can be widened. The travel devices can be connected to the machine frame in such a way that they can change their position relative to the machine frame.

[0003] The conveying device can be connected to the machine frame in such a way that the conveying device is pivotable relative to the machine frame at least about one horizontal axis and at least about one vertical axis, and preferably also translationally movable in at least one first direction. Actuators can move the conveying device about the corresponding axes and, if necessary, in the corresponding direction. The conveying device is movable by means of the actuators within a movement space defined in relation to the machine frame.

[0004] The conveying system has a material receiving area for concrete. The concrete is then transported via the conveying system to the work equipment, in particular to the concrete trough, in which the flooring or structure is produced.

[0005] With conventional slipform pavers, a common problem is that the operator has to control both the paver itself and the associated conveying system that transports the material being placed into the concrete trough. Therefore, there is a growing need to simplify the operation of the conveying system.

[0006] When supplying the slipform paver with concrete, it is necessary for supply vehicles to transfer the concrete to the conveying system at one end. This first end of the conveying system may, for example, have a receiving device. When changing supply vehicles, it may be necessary to adjust the position of this first end to ensure continuous loading. At the same time, the position of the second end of the conveying system, where the material is transferred into the concrete hopper, should remain unchanged or be changed as little as possible.

[0007] On the other hand, it may be necessary to keep the position of the first end of the conveying device, where the conveying device is loaded, constant during the loading of the slipform paver with concrete and to adjust the point of transfer of the material into the concrete trough in order to optimize the filling of the concrete trough.

[0008] The object of the present invention is therefore to provide a slipform paver and a method for producing floor coverings or structures using slipform pavers, which simplifies the operation of the entire slipform paver, in particular the operation of the conveying device.

[0009] The features of claims 1 and 11 serve to solve this problem.

[0010] The invention advantageously provides that at least one control device and at least one input device are provided, wherein the movement of at least one first position of the conveying device can be specified at the input device and that the actuators can be controlled by means of the control device in such a way that the first position of the conveying device executes the specified movement.

[0011] According to the present invention, at least one first actuator is provided, which is arranged and designed such that the conveying device is pivotable at least about the horizontal axis. Furthermore, a second actuator is provided, which is arranged and designed such that the conveying device is pivotable at least about the vertical axis.

[0012] Since the movement of at least one part of the conveying device can be specified by means of the input device and the actuators can be controlled by means of the control device so that at least the first part of the conveying device performs the specified movement, the conveying device can be optimally positioned.

[0013] The first position can be defined by a point on the conveyor system that is permanently stored in the machine control system. Preferably, this first position can be located at the first end of the conveyor belt or the second end of the conveyor belt.

[0014] Preferably, however, the first position can be selected or set by the operator.

[0015] It is particularly advantageous for the control unit to have several points stored along the conveyor's path, from which the operator can select the first point. This allows the operator to define which point on the conveyor executes the movement specified by the operator.

[0016] It is particularly advantageous if at least the first end and the second end of the conveying device are selectable. This allows the operator to specify, before entering control commands, whether the first or the second end of the conveying device will execute the specified movement as the first position within the conveying device.

[0017] The operator can then define the first end of the conveyor system as the initial point to easily set the position of the receiving point where the material is loaded onto the conveyor belt. This facilitates positioning the receiving point relative to a loading vehicle.

[0018] If the operator selects the second end of the conveying device as the first position, he can optimally adjust the position at which the material is transferred to the working device in order to optimize the overloading of the concrete into the trough.

[0019] In addition, further points along the conveyor belt extension can be selected by the operator as the first position to allow for flexible positioning of the belt.

[0020] As an alternative to selecting predefined points along the conveyor's path, the control unit can also be designed so that the operator can freely define the first position along the conveyor's path. This allows the operator to optimize the conveyor's positioning at any point in any operating situation.

[0021] The movement performed by the first position of the conveying device is a movement relative to at least one machine frame.

[0022] Crucially, the movement of the first station of the conveyor system is directly specified by the input device, and not the movement of the actuators. The movements the actuators must execute are controlled by an algorithm stored in the control unit.

[0023] The underlying algorithm takes into account the geometric arrangement of the actuators, the axes, and the arrangement of the conveyor system relative to the machine frame.

[0024] The movement of the first position specified in the input device is translated by the control unit into a coordinated control of the actuators, so that at least one first position executes the specified movement.

[0025] At least one third actuator may also be provided, arranged and designed such that the conveying device is translationally movable at least in the first direction. Depending on the embodiment, the conveying device can either be moved translationally in the first direction as a whole, or only one end of the conveying device, thereby extending the conveying device. Alternatively, both could be possible.

[0026] Precise control of these movements is achieved through a control unit and an input device. The input device specifies the movement of a particular point on the conveyor system. The control unit processes these inputs and controls the actuators accordingly, so that the first point on the conveyor system executes the desired movement. This arrangement allows for flexible adaptation to varying construction site conditions. The combination of a swiveling conveyor system, precisely controllable actuators, and a user-friendly input device, where the movement of at least one point on the conveyor system can be specified, can thus significantly improve the usability and flexibility of the slipform paver.

[0027] A control unit is provided, which is connected to an input device. This control unit receives inputs from the input device and processes them to control the movements of the conveyor. The control unit can be connected to the actuators via electrical or electronic interfaces and enables the coordinated control of the conveyor's movement.

[0028] The input device allows the movement of at least the first station of the conveyor to be specified. This means that the operator can enter specific movement commands that can be interpreted and executed by the control unit. The input device can be connected to the control unit via communication interfaces to ensure seamless command transmission.

[0029] The actuators can be controlled by the control unit in such a way that the specified movement of the first position of the conveyor is executed. This can be achieved through a precise interaction of control algorithms and actuators, which ensure that the conveyor performs the desired movements accurately and reliably.

[0030] The control unit can also continuously monitor the position and movement of the conveyor system and can adjust the control commands accordingly to realize the specified movements.

[0031] The specified movement can be a direction of movement and / or a speed of movement and / or a predefined movement goal.

[0032] The first point of the conveying device can be located at the first end of the conveying device or the second end of the conveying device.

[0033] The second point of the conveying device can be located at the first end of the conveying device or the second end of the conveying device.

[0034] The first and second points of the conveying device are spaced apart. That is, if the first point of the conveying device is located at the first end, then the second point of the conveying device is not located at the first end, and vice versa.

[0035] At least one first collision area can be defined in relation to the machine frame, wherein the actuators can be controlled by means of the control device in such a way that the conveying device cannot be moved into the at least one first collision area.

[0036] The collision zone can be an area within a movement space. The movement space can be the space relative to the machine frame in which the conveying device can theoretically move, and is inevitably determined by the design of the conveying device and the actuators that move it.

[0037] The collision zone can be an area into which the conveying device should not move. This zone could, for example, be an area where the conveying device could collide with at least one object. The object could be, for instance, a part of the slipform paver, such as a drive mechanism. In this case, the object would actually be located within the collision zone. On the other hand, this could also be a theoretical risk of collision with an object. For example, on a roadway, there could be an area within the operating space where vehicles, such as construction vehicles, or other objects can be moved. In this case, a specific collision zone can be defined within which a collision could theoretically occur.

[0038] The position of the conveying device within the movement area, particularly its position relative to the collision zone, can be determined based on the actuators' adjustment positions. The control unit can be configured to output a control signal as soon as it detects that the conveying device falls below a predetermined distance to the collision zone.

[0039] The machine frame can be arranged in at least one first collision area, so that the actuators can be controlled by the control device at least in such a way that the conveying device does not collide with the machine frame.

[0040] At the input device, at least a second position of the conveying device in relation to the machine frame can be specified, whereby the actuators can be controlled by means of the control device in such a way that the second position can essentially remain at a specified position in relation to the machine frame.

[0041] The second position can essentially remain in its predetermined location, even if the first position of the conveying device performs the predetermined movement.

[0042] Essentially remaining in a predetermined position can be understood to mean that the at least one second point of the conveying device, in relation to the machine frame, preferably does not move more than 50 cm, in particular not more than 25 cm, and especially preferably not more than 10 cm from a predetermined position. However, it is particularly preferred that the at least one second point of the conveying device does not move from the predetermined position at all in relation to the machine frame.

[0043] Similar to the first position, the second position can also be a fixed position stored in the machine control along the longitudinal extent of the conveyor system.

[0044] For example, if the first end of the conveying device is specified as the first position in the control unit, then in a preferred embodiment the second end of the conveying device can be specified as the second position. Conversely, if the second end of the conveying device is specified as the first position, then the first end of the conveying device can be specified as the second position.

[0045] Preferably, however, the second position can be selected by the machine operator.

[0046] Preferably, the second position can also be selected and defined from a plurality of points along the longitudinal axis of the conveyor belt. This allows the machine operator to choose which points on the conveyor belt should remain essentially stationary while the first position is moving. This simplifies positioning, as the operator only needs to concentrate on controlling the point selected as the first position, without having to consider the effects of the movement on the second position.

[0047] It is particularly preferred if the control system stores pairs of points along the longitudinal extension of the conveyor belt's longitudinal axis as pairs of first and second positions, and the operator can further select which of the points of the point pair should be selected as the first position and / or as the second position.

[0048] The operator can then select such a pair of points. The operator can further select which of the points should follow the movement specified by the control device as the first point, and which point should essentially remain at a predetermined position as the second point.

[0049] Such a pair of points can be formed, for example, by the first end of the conveyor and the second end of the conveyor. The operator can first select the pair of points and then specify whether the first or the second end of the conveyor is designated as the first point and can therefore be positioned using the control device. The other end, formed by the first and second ends of the conveyor, is then designated as the second point. Now the operator can freely position the end of the conveyor designated as the first point, while the other end, designated as the second point, essentially remains in its original position despite the free positioning of the first end.This significantly simplifies the positioning of the individual ends of the conveying device, as the effects of the adjustment on the other end of the conveying device no longer need to be taken into account.

[0050] Basically, only a single pair of points can be stored in the control system, and the operator only needs to select which of the two points is set as the first position and / or which of the points is set as the second position.

[0051] Alternatively, the position of the second point along the longitudinal extent of the conveying device can also be determined independently of the first point.

[0052] In principle, it is also conceivable to make the second position freely definable by the operator along the longitudinal extent of the conveyor system.

[0053] The actuators can be hydraulic, pneumatic, or electric.

[0054] The conveying device can be connected to the machine frame directly or indirectly, at least via a first parallelogram guide, whereby the conveying device can be pivoted about the horizontal or vertical axis by means of the first parallelogram guide.

[0055] The conveying device can be connected to the machine frame directly or indirectly, at least via a first joint, whereby the conveying device can be pivoted about the horizontal or vertical axis by means of the first joint.

[0056] At least one third actuator can be provided, which can be arranged and designed such that the conveying device can be moved translationally in at least a first direction. Depending on the embodiment, the conveying device can either be moved translationally in the first direction as a whole, or only one end of the conveying device, thereby extending the conveying device. Alternatively, both could be possible.

[0057] The conveying system may include a conveyor belt.

[0058] A method for producing floor coverings or structures using a slipform paver may be provided, the paver having at least one machine frame to which at least one conveying device is connected, wherein the conveying device can be pivoted relative to the machine frame at least about a horizontal axis and at least about a vertical axis. wherein at least a first actuator can pivot the conveying device at least about the horizontal axis, and at least a second actuator can pivot the conveying device at least about the vertical axis, wherein the movement of at least a first point of the conveying device is specified at at least one input device and the actuators are controlled by means of a control device such that the first point of the conveying device executes the specified movement.

[0059] A second position can be specified in relation to the machine frame, whereby the actuators can be controlled by the control device in such a way that the second position can remain at a specified position in relation to the machine frame.

[0060] At least one first collision area can be defined in relation to the machine frame, whereby the actuators can be controlled by the control device in such a way that the conveying device is not moved into the at least one first area.

[0061] The machine frame can be arranged in at least one first collision area so that the actuators can be controlled by the control device in such a way that the conveying device cannot collide with the machine frame.

[0062] In the following, an embodiment of the present invention will be explained in more detail with reference to the drawings.

[0063] They show schematically: Fig. 1 a top view of a slipform paver, Fig. 2 a perspective view of a conveying system, Fig. 3 a side view of the conveying system as Fig. 2 , Fig. 4.the conveyor system made of Figure 3in extended conveyor belt, Fig. 5 a conveying device according to Fig. 3 in an adjusted position, Fig. 6 a conveying device according to Fig. 4 in top view and for better illustration without conveyor belt, and Fig. 7 another view from below of the conveyor system according to Fig. 6 . Fig. 8 shows a control device, Fig. 9 shows a slipform paver in operation, Fig. 10 shows the slipform paver in a changed working position.

[0064] Fig. 1 Figure 1 shows a slipform paver. A slipform paver can be used to create floor coverings or structures. The slipform paver can move in working direction A.

[0065] The slipform paver 1 has at least one machine frame 2. Travel devices 4 are connected to the machine frame 2. Furthermore, at least one conveying device 6 is provided. The conveying device 6 can, for example, transport concrete to a working unit 12 ( Fig. 2 The work unit can be transported. Floor coverings or structures can be produced using the work unit. The work unit can be, for example, a concrete trough. The work unit can be interchangeable and also repositionable or widened. The drive units 4 can be connected to the machine frame in such a way that they can change their position relative to the machine frame.

[0066] In Fig.1 Figure 1 shows a slipform paver in which the longitudinal beams 81 of the machine frame 2 are variable in length. Furthermore, the machine frame 2 also has a machine frame section 200, which is variable in length in the longitudinal direction 230 and the transverse direction 220. Various working devices 12, e.g., differently shaped concrete troughs, can be attached to this machine frame section 200. These can be positioned differently with the help of the machine frame section 200.

[0067] The conveying device 6 can be connected to the machine frame 2 in such a way that the conveying device 6 can be pivoted relative to the machine frame at least about a horizontal axis and at least about a vertical axis. As shown in the exemplary embodiment, the conveying device 6 can also be moved translationally relative to the machine frame in at least a first direction.

[0068] With the help of the conveying device 6, material can be picked up and transported to the work device 12, with which the roadway or structures are produced.

[0069] In Fig. 2 The conveying device 6 is shown in more detail, in which the material is picked up at the first end 8 and placed at the second end 10 into the working device 12 designed as a concrete trough.

[0070] A control unit 62 is provided to control the actuators. This control unit 62 is connected to an input unit 82, at which the movement of a first position 9 of the conveyor 6 can be specified. The input unit 82 allows the user to input the desired movement of the conveyor 6, be it in the form of a direction of movement, a speed of movement, or a predefined movement target.

[0071] The actuators can be controlled so that the first position 9 of the conveyor 6 executes the specified movement. This is made possible by the control unit 62, which receives the signals from the input unit 82 and forwards the corresponding commands to the actuators.

[0072] The first position of the conveying device 6 can be any location on the conveying device 6. For example, as in the illustrated embodiment, it can be at the location of the first end 8, where the material is loaded onto the conveying device. Alternatively, the first position of the conveying device 6 could also be at the location of the second end 10.

[0073] Additionally, a second position 11 of the conveyor 6 can be specified in relation to the machine frame 2. The actuators can be controlled so that this second position remains at a specified position in relation to the machine frame 2.

[0074] The second point of the conveying device 6 can also be any point on the conveying device 6. For example, as shown in the embodiment, the second point of the conveying device 6 can be a point at the second end 10, where the transfer of the material into the working device 12, designed as a concrete trough, takes place.

[0075] In this way, for example, when changing a transport vehicle that provides the concrete to be installed, the first position 9 of the conveying device 6 can be moved to enable continuous loading, and at the same time, material can be placed into the concrete trough 12 at the second position 11 of the conveying device 6 without changing position.

[0076] Alternatively, if the first position 9 of the conveying device 6 is located at the position of the second end 10, the second position 11 of the conveying device 6 could also be located at the first end 8.

[0077] The input device 82 can be arranged separately from the control device 62, or the input device 82 and the control device can be designed as a single unit. The input device can be arranged on the slipform paver or separately from it.

[0078] In Fig. 3 The conveyor system 6 is shown in more detail. The conveyor system 6 has a conveyor belt or transport belt 14, which is located in Fig. 3The conveyor belt 14, and thus the conveying device 6, can be pivoted about a horizontal pivot axis 19 by means of at least one first actuator 22. Furthermore, the conveying device 6 can be pivoted about a vertical pivot axis 36 by means of a second actuator 34. Additionally, the conveying device 6 can also be moved translationally in at least one first direction 16 by means of a third actuator 18. Depending on the embodiment, the conveyor belt 14 can either be moved as a whole in the first translational direction 16 or only one end of the conveyor belt 14, thereby extending the conveyor belt. Alternatively, both could be possible.

[0079] Furthermore, the conveying device 6 is arranged on a parallelogram guide 106, with which the entire conveying device 6 is connected by means of a further Figure 3 The actuator 24, not shown, can be adjusted. This is related to Figure 7explained in more detail below. The parallelogram linkage 106 is arranged on the machine frame 2.

[0080] Fig. 4 shows the exemplary embodiment according to Fig. 3 with conveying device moved in translational direction 16, in which the conveying device as a whole has been moved in translational direction 16.

[0081] In Fig.4Furthermore, the first actuator 22 is shown, which can pivot the conveying device 6 about the pivot axis 19, wherein the axis 19 is preferably a horizontal axis. The pivot axis 19 is preferably arranged below the conveyor belt 14. The pivot axis 19 can be arranged in the upper third of the conveying device 6, as shown in the exemplary embodiment. In a further preferred embodiment, the pivot axis 19 can be arranged in the region of the middle third of the conveying device 6. In the illustrated exemplary embodiment, the first actuator 22 is pivotably mounted on a connecting element 100 about a pivot axis 102. The connecting element 100 is arranged on a parallelogram linkage 106. The first actuator 22 is also pivotably connected to the conveying device 6 at a second end about a lateral axis 103.The conveyor device can also be moved manually or translationally along axis 36 using an additional actuator.

[0082] In Fig. 5 This is a view of the embodiment from below. For clarity, the conveyor belt is not shown. The view shows at least one first actuator 22, at least one second actuator 34, and at least one third actuator 18. The second actuator 34 can pivot the conveyor 6 about the vertical pivot axis 36. The pivot axis 36 preferably intersects the conveyor belt. Furthermore, the pivot axis 36 can pass through the pivot axis 19. This is also possible. Figure 4The second actuator is, in the illustrated embodiment, connected at one end to the parallelogram linkage 106. At its other end, the second actuator 34 is pivotably connected to a connecting link 108, which in turn is connected to a hollow column 110 that is connected to the conveyor 6. By actuating and extending or retracting the second actuator 34, the hollow column 110, and thus the conveyor 6, can be pivoted about the pivot axis 36.

[0083] Furthermore, the Figure 5 An optional additional actuator 24 is also shown. This actuator allows the entire conveyor system 6 with the parallelogram guide 106 to be adjusted. The parallelogram guide 106 is arranged on the machine frame 2.

[0084] If the machine does not have the optional additional actuator 24 and the parallelogram guide 106, the axis 36 can also be mounted on the machine frame. Since the conveyor can be moved and positioned flexibly within the working area, at least by means of the actuators 22, 18, 34, and 24, material can be reliably transported to the work unit by means of the conveyor 6. The receiving point where the material is transferred to the conveyor 6 is flexible, as is the position where the material is transferred to the work unit 12.

[0085] As an alternative to the parallelogram guide 106, the axis 36 can also be arranged to be linearly displaceable, preferably in the machine transverse direction, perpendicular to the working direction A.

[0086] Horizontal in the sense of the present invention does not necessarily mean horizontal in relation to the ground surface, but horizontal to a plane defined by the longitudinal and transverse axes of the machine frame.

[0087] A control unit 62 (in Fig.2 The device shown (as illustrated) is designed to control the movements of at least one first position 9 of the conveying device 6. As already explained, the first position of the conveying device 6 can be any location on the conveying device 6. For example, as in the illustrated embodiment, it can be at the location of the first end 8 where the material is loaded onto the conveying device.

[0088] The control unit 62 is connected to the actuators 22, 18, 34, 24 and controls their movements based on inputs received via an input device 82. The input device is also shown schematically in Fig. 2As shown, the input device 82 can be used to specify the movement of at least one position of the conveyor 6. The control device 62 ensures that the actuators 22, 18, 34, 24 execute the specified movement so that the first position of the conveyor 6 performs the desired movement and / or reaches the desired position. If further actuators are provided, the control device 62 can also control the further actuators to control the first position 8 of the conveyor 6.

[0089] Fig. 6 The funding facility shows how in Fig. 4 , however in an incorrect position. In Fig. 6 is at least the first actuator 22 opposite Fig.4 has been changed. Fig. 6Furthermore, a movement space 40 is depicted. Movement space 40 is the space in which the conveying device 6 can be moved by moving at least the first, second, and third actuators. It is thus the space in which the conveying device 4 can theoretically move. Movement space 40 is defined in relation to the machine frame. If the slipform paver, and thus the machine frame, moves forward, movement space 40 will also move forward. Movement space 40 is necessarily determined by the design of the conveying device and the actuators that move this conveying device. Fig. 6 Only the movement area is shown in the side view.

[0090] A collision zone 60 can now be defined within the movement space. The collision zone 60 is an area within the movement space 40 into which the conveying device 6 should ideally not move. This collision zone 60 can, for example, be an area where a collision between the conveying device 6 and the machine frame 2, a transport device 4, or at least any other object could occur.

[0091] Fig. 7 Figure 1 shows a top view of the conveying device 6; however, for clarity, the conveyor belt 14 is not shown. This top view also shows the optional additional actuator 24. The additional actuator 24 can pivot the entire conveying device 6 in parallel. In the present embodiment, the optional additional actuator 24 pivots the conveying device by means of the parallelgram guide 106. Fig. 7The two control arms 26 and 28 are shown, each pivoting about a pivot axis 30 and 32.

[0092] In Fig. 7 The movement space 40 and the optional collision area 60 are shown in the top view. However, the movement space 40 and the collision area are only shown in a specific horizontal plane. The spatial extent of the collision area 60 and 40 outside this plane cannot be shown in this top view.

[0093] The conveying device 6 can be moved by means of at least one first actuator 22, at least one second actuator 34, and at least one third actuator 18 in relation to the machine frame 2 within a movement space 40. Optionally, as shown in the exemplary embodiment, the conveying device 6 can also be moved by means of at least one third actuator 18 in relation to the machine frame 2 within a movement space 40. The movement space 40 is in Fig. 6 and 7As shown. If additional actuators are provided, such as the further actuator 24, then the movement space 40 is the space in which the conveying device 6 can be moved by moving the first 22, second 34, third 18 and further actuator 24. It should be noted that more than one additional actuator may be provided. To define the movement space, all degrees of freedom of the conveying device and thus all actuators involved in the adjustment must be taken into account.

[0094] Furthermore, the optional collision zone 60 is also shown within the movement space 40. The optional collision zone 60 is the area within the movement space 40 into which the conveying device 6 should ideally not move. This collision zone 60 could, for example, be an area where a collision between the conveying device 6 and the machine frame 2, a drive unit 4, or at least some other object could occur. In general, the collision zone defines a sub-area of ​​the movement space into which the conveying device 6 should not move.

[0095] In Fig. 8 A control device 62 and an input device 82 are shown in more detail.

[0096] The control device 62 shown preferably includes a storage device 80. Furthermore, the control device 62 can be connected to an input device 82.

[0097] The input device 82 can be used to specify the movement of at least one position of the conveyor 6. The actuators provided can be controlled by the control device 62 such that the first position 8 of the conveyor 6 executes the specified movement.

[0098] Sensor signals 84 can also be sent to the control unit 62. These sensor signals 84 can, for example, be the position signals of the conveyor 6. Further sensor signals 86 can also be sent to the control unit 62. These further sensor signals 86 can be sensor signals relating to the position and / or size of the work equipment and / or travel devices 4. The control unit 62 can output at least one control signal 88, which is described in more detail below.

[0099] The input device 82 can be used to specify the movement of at least one position of the conveyor 6. The actuators provided can be controlled by the control device 62 such that at least the first position 8 of the conveyor 6 executes the specified movement.

[0100] For this purpose, for example, control signal 88 can be sent to the actuators, which control the actuators in such a way that at least one first point of the conveying device executes the movement specified at the input device.

[0101] The specified movement can be a direction of movement and / or a speed of movement and / or a predefined movement goal.

[0102] To illustrate the functioning of the slipform paver and the method according to the invention, the following are shown. Figure 9 and 10The slipform paver is again shown only schematically and exclusively with the relevant components. In the illustrated embodiment, the conveying device 6 has a conveyor belt 14.

[0103] Fig. 9 Figure 1 shows the slipform paver 1 in operation in working direction A. The slipform paver receives the concrete to be laid from a supply vehicle 400 via a supply unit 41 at the first end of the conveying device 6. The concrete is then conveyed via the conveyor belt 14 to the second end 10, where the concrete is placed into the concrete trough 12.

[0104] Only dashed lines are used in Fig. 9A second supply vehicle 400' with a second supply unit 41' is shown. If the concrete supply provided by the first supply vehicle 400 is exhausted, a change of supply vehicle becomes necessary. Due to the desired, uninterrupted supply of concrete, the second supply vehicle 400' can approach the slipform paver 1 parallel to the first supply vehicle 400.

[0105] As in Fig. 2 The diagram shows the first end 8 of the conveyor belt 14 as the first position 9 and the second end 10 of the conveyor belt 14 as the second position 11. It is irrelevant whether this assignment is stored in the control system or made beforehand by the machine operator.

[0106] To switch the concrete supply from the first supply vehicle 400 to the second supply vehicle 400', it is now necessary to position the first end 8, where the concrete is picked up by the slipform paver, under the supply unit 41'. For this purpose, the operator can make a control input at the input device 82, which causes the first position 9 of the conveying device 6, which in this embodiment is located at the first end 8, to move to the left in the direction of travel. The control unit 62 then coordinates the control of the actuators 22, 18, 34, 24 such that the first position 9 of the conveying device 6 moves into the Figure 10The position shown below the second supply device 41' is pivoted, while the second point 11 of the conveying device, which in the present embodiment is arranged at the second end 10, maintains its position above the concrete trough 12 to ensure a continuous introduction of the concrete into the trough.

[0107] Due to the in the Figure 3-7 In the illustrated arrangement of actuators, it is not sufficient to move just one of the actuators; rather, a coordinated movement is required. In the illustrated example, for instance, the handlebars 28 and 26 (in Figure 9 and 10 (not shown) the parallelogram guide 106 by means of the actuator 24 (in Figure 9 and 10(not shown) pivots to move axis 36 to the left in the direction of travel. Simultaneously, actuator 18 must also be activated to move point 8, where the material is picked up, along the longitudinal axis of conveyor belt 14 towards point 10. Furthermore, the inclination of conveyor belt 14 may also need to be adjusted via actuator 22, or the belt may need to be pivoted via actuator 34.

Claims

1. Slipform paver (1), comprising: - at least one machine frame (2), - at least three travel devices (4) connected to the machine frame (2), - at least one conveying device (6) connected to the machine frame (2) such that the conveying device (6) is pivotable relative to the machine frame (2) at least about a horizontal axis and at least about a vertical axis, - at least one first actuator arranged and designed such that the conveying device (6) is pivotable at least about the horizontal axis, - at least one second actuator arranged and designed such that the conveying device (6) is pivotable at least about the vertical axis, characterized by thatat least one control device (62) and at least one input device is provided, wherein the movement of at least one first position of the conveying device (6) can be specified at the input device (82) and that the actuators can be controlled by means of the control device (62) in such a way that the first position of the conveying device (6) executes the specified movement.

2. Slipform paver (1) according to claim 1, characterized by the fact that The specified movement is a direction of movement and / or a speed of movement and / or a predefined movement goal.

3. Slipform paver (1) according to claim 1 or 2, characterized by the fact that at least a second position of the conveying device (6) in relation to the machine frame (2) can be specified at the input device (82), wherein the actuators can be controlled by means of the control device (62) in such a way that the second position essentially remains at a predetermined position in relation to the machine frame (2).

4. Slipform paver (1) according to any one of claims 1 to 3, characterized by the fact that the first position (9) of the conveying device is located at the first end of the conveying device 8 or the second end of the conveying device 10.

5. Slipform paver (1) according to one of claims 3 to 4, characterized by the fact that the second position 11 of the conveying device is located at the first end of the conveying device 8 or the second end of the conveying device 10.

6. Slipform paver (1) according to any one of claims 1 to 5, characterized by the fact that at least one first collision area can be defined in relation to the machine frame (2), wherein the actuators can be controlled by means of the control device (62) in such a way that the conveying device (6) cannot be moved into the at least one first collision area.

7. Slipform paver (1) according to any one of claims 1 to 6, characterized by the fact thatthe conveying device (6) is connected directly or indirectly to the machine frame (2) at least via a first parallelogram guide, wherein the conveying device (6) is pivotable about the horizontal or vertical axis by means of the first parallelogram guide.

8. Slipform paver (1) according to any one of claims 1 to 7, characterized by the fact that the conveying device (6) is connected directly or indirectly to the machine frame (2) at least via a first joint, wherein the conveying device (6) is pivotable about the horizontal or vertical axis by means of the first joint.

9. Slipform paver (1) according to any one of claims 1 to 8, characterized by the fact that at least a third actuator is provided, which is arranged and designed in such a way that the conveying device (6) is movable translationally at least in a first direction.

10. Slipform paver (1) according to any one of claims 1 to 9, characterized by the fact thatConveyor system (6) has a conveyor belt.

11. Method for producing floor coverings or structures using a slipform paver (1) comprising at least one machine frame (2) to which at least one conveying device (6) is connected, wherein the conveying device (6) is pivoted relative to the machine frame (2) at least about a horizontal axis and at least about a vertical axis, wherein at least one first actuator can pivot the conveying device (6) at least about the horizontal axis, and at least one second actuator can pivot the conveying device (6) at least about the vertical axis, characterized by at least one input device (82) specifies the movement of at least one first position of the conveying device (6) and the actuators are controlled by means of a control device (62) such that the first position of the conveying device (6) executes the specified movement.

12. Method according to claim 11, characterized by the fact that at least a second position is specified in relation to the machine frame (2), wherein the actuators are controlled by means of the control device (62) such that the second position remains at a specified position in relation to the machine frame (2).

13. Method according to claim 11 or 12, characterized by the fact that at least one first collision area is defined in relation to the machine frame (2), wherein the actuators are controlled by means of the control device (62) such that the conveying device (6) is not moved into the at least one first area.

14. Method according to claim 13, characterized by the fact that the machine frame (2) in which at least a first collision area is arranged, so that the actuators are controlled by means of the control device (62) at least in such a way that the conveying device (6) does not collide with the machine frame (2).

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