Mobile Working Machine Stability Using Residual Wheel Load Sensing
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Solution Overview
Problem
Mobile work machines, such as mobile concrete pumps, face instability issues when partially excavated, leading to potential vibrations and tipping due to residual wheel loads on axles not fully raised, especially on uneven terrain.
Innovation Solution
A mobile work machine equipped with sensors to measure residual wheel loads, a processing unit for stability calculations, and a method to adjust the stability calculation by subtracting residual wheel loads from the machine's mass and center of gravity, incorporating tilt monitoring to prevent tipping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If the wheel axle is not fully raised (partial excavation), then vibrations are reduced and the machine can operate on sloping terrain, but the machine stability deteriorates due to residual wheel load
Solution Approach 1:
The system dynamically changes the stability calculation parameters by incorporating residual wheel load measurements. When partial excavation is detected, the control unit adjusts the stability assessment by subtracting the residual wheel load from the total machine mass and adjusting the center of gravity position, allowing the machine to operate safely in intermediate states between fully supported and fully excavated
Solution Approach 2:
The system uses measuring sensors to continuously monitor wheel load and provides feedback to the control unit. This feedback loop enables real-time stability assessment and allows the operator to make informed decisions about whether to proceed with partial excavation or fully raise the axle, thus managing the trade-off between vibration reduction and stability
2Adaptability or versatility
If the wheel axle is not fully raised, then the machine can operate on sloping terrain and reduce vibrations, but the reach of the working boom is limited
Solution Approach 1:
The system enables flexible operation by dynamically adjusting the stability calculation based on residual wheel load. This allows the machine to operate in intermediate states where the axle is partially raised, providing adaptability for sloping terrain while maintaining awareness of the reduced boom reach through corrected stability parameters
3Stability of the object's composition
If the wheel axle is fully raised, then the machine stability is maximized and boom reach is extended, but vibrations increase and the machine cannot operate on sloping terrain
Solution Approach 1:
The system transitions from a static stability assessment to a dynamic one by continuously monitoring residual wheel load and adjusting stability calculations in real-time. This allows the machine to adapt its operational state, moving between fully raised (maximum stability), partially raised (reduced vibrations), and fully lowered (maximum boom reach) positions based on terrain and operational requirements
Data Source
Figure 1a~1b
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AI summary
Mobile working machine (100) with a substructure (10) supporting a working boom (14), which has a chassis with at least two wheel axles (31, 32) and wheels (30) arranged thereon, a support device (20, 22) arranged on the substructure (10) which can be supported on a surface (28) when the working machine (100) is raised, and a measuring sensor system (50, 60) for determining a wheel load acting on the wheels (30) of the at least two wheel axles (31, 32), as well as a computing unit (42) for performing a stability calculation, wherein the stability calculation includes a residual wheel load acting on at least one wheel (30) of a wheel axle (31, 32) when the working machine (100) is not fully raised.