Mobile working machine provided with stability monitoring
The invention relates to a mobile working machine, particularly a mobile concrete pump, comprising a device for monitoring the stability thereof when in operation. The working machine comprises a chassis ( 10 ), which contains a supporting structure with two front and two rear support struts ( 20 ). The support struts can be extended out of a transporting position and into at least one supporting position and each can be supported on a surface ( 28 ) by a telescopic supporting jack or foot ( 26 ). The working machine additionally comprises a working boom ( 14 ), which can be extended out of a transporting position and into working positions that project beyond the chassis, which can rotate about a vertical axis that is fixed with regard to the chassis, and which is preferably provided in the form of a concrete distributing boom. Measuring devices for determining the respective supporting load are arranged in the area of the supporting foot and their output signals are sent to a stability monitoring device. According to the invention, at least one force sensor ( 32, 34 ) is arranged in each supporting jack and is connected in an electrical measuring circuit ( 36, 38 ) for outputting a supporting load dependent measurement signal. The monitoring device comprises an evaluation electronic unit ( 54 ) which, in predetermined sampling cycles, can be subjected to supporting load measured values and, for their comparison, can be subjected to at least one predetermined stability-determining threshold value.
1. A mobile work device comprising
a vehicle chassis ( 10 ),
two forward and two rearward support struts ( 20 ) extendable from a transport position to at least one support position and supportable upon the ground ( 28 ) with respectively one telescopic support foot ( 26 ),
a work boom ( 14 ) extendable from a driving position to a work position projecting beyond the vehicle chassis and rotatable about a vehicle chassis-fixed vertical axis ( 13 ),
a measurement device ( 30 ) provided in the area of the support feet ( 26 ) for determining the respective support loads and
a support stability monitoring device responsive to the output signals of the measurement device,
wherein at least one force sensor ( 32 , 34 ) is provided for each support foot ( 26 ), wherein each force sensor is provided in an electrical measurement circuit ( 36 , 38 ) for output of a support load dependent measurement signal, wherein the monitoring device includes an evaluation electronic ( 54 ) which in predetermined sampling cycles evaluates support foot derived support load measurement values for comparison with at least one predetermined stability determining threshold value, and wherein the electrical measuring circuits ( 36 , 38 ) exhibit a measurement precision which decreases going from low to high support foot derived support load measurement values.
2. A work device according to claim 1 , wherein the electrical measuring circuits ( 36 , 38 ) are adjusted to an increased measurement precision in the measuring range below approximately 30% of the support foot derived maximal load.
3. A work device according to claim 1 , wherein the measurement precision of the electrical measurement circuit ( 36 , 38 ) is selectively reversible.
4. A work device according to claim 1 , wherein two force sensors ( 32 , 34 ) are provided in each support foot ( 26 ), which are provided in independent measurement circuits ( 36 , 38 ) for providing a support load derived measurement signal.
5. A work device according to claim 4 , wherein the evaluation electronic ( 54 ) includes a software routine ( 60 ) for pair-wise comparison with respect to their agreement of the support load measurement values derived from the support load measurement signals.
6. A work device according to claim 1 , wherein the evaluation electronic ( 54 ) includes a software routine ( 62 ) for determining the second lowest support foot related support load measurement value for each sampling cycle and for the comparison thereof with a stability determining threshold value.
7. A work device according to claim 1 , wherein the evaluation electronic ( 54 ) includes a software routine for determining the highest support foot derived support load measurement value for each sampling cycle and for the comparison thereof with a stability determining threshold value.
8. A work device according to claim 1 , wherein the evaluation electronic ( 54 ) includes a threshold value provider for predetermining a minimal force.
9. A work device according to claim 1 , wherein the evaluation electronic ( 54 ) includes a threshold value provider for providing an advance warning force.
10. A work device according to claim 1 , wherein the evaluation electronic ( 54 ) includes a threshold value provider for providing a maximal force.
11. A work device according to claim 1 , wherein the evaluation electronic ( 54 ) is connected with a control device ( 56 ) for controlling the work boom ( 14 ).
12. A work device according to claim 1 , wherein the evaluation electronic ( 54 ) is connected with a control device ( 56 ) for controlling a concrete pump.
13. A work device according to claim 1 , wherein the evaluation electronic ( 54 ) is connected with an acoustic and/or optical signal provider ( 58 ).
14. A work device according to claim 1 , wherein the force sensors ( 32 , 34 ) comprise a strain measuring strip.
15. A work device according to claim 1 , wherein the force sensors ( 32 , 34 ) are piezoelectric sensors.
16. A work device according to claim 1 , wherein the electrical measuring circuits ( 36 , 38 ) include a bridge switch, in one branch of which the associated force sensor ( 32 , 34 ) is provided.
17. A work device according to claim 16 , wherein the measuring circuits ( 36 , 38 ) include an operation amplifier ( 40 , 42 ) connected on the input side with diagonal pick-offs ( 50 , 52 ) from the bridge switch.
18. A work device according to claim 1 , wherein the force sensors ( 32 , 34 ) are provided in a foot element ( 44 , 46 ) that can be retrofitted securely to the support foot ( 26 ).
19. A work device according to claim 18 , wherein the at least one measuring circuit ( 36 , 38 ) is integrated in the associated foot element ( 44 , 46 ).
20. A work device according to claim 19 , wherein the at least one measuring circuit ( 36 , 38 ) is coupled via a galvanic or wireless transmission path with the evaluation electronic ( 54 ).
21. A mobile work device as in claim 1 , wherein said mobile work device is a mobile concrete pump, and wherein said a work boom ( 14 ) is a concrete distribution boom.
22. A work device according to claim 1 , wherein the electrical measuring circuits ( 36 , 38 ) are adjusted to an increased measurement precision in the measuring range below approximately 15% of the support foot derived maximal load.
23. A mobile work device comprising
a vehicle chassis ( 10 ),
two forward and two rearward support struts ( 20 ) extendable from a transport position to at least one support position and supportable upon the ground ( 28 ) with respectively one telescopic support foot ( 26 )
a work boom ( 14 ) extendable from a driving position to a work position projecting beyond the vehicle chassis and rotatable about a vehicle chassis-fixed vertical axis ( 13 )
a measurement device ( 30 ) provided in the area of the support feet ( 26 ) for determining the respective support loads and
a support stability monitoring device responsive to the output signals of the measurement device,
wherein at least one force sensor ( 32 , 34 ) is provided for each support foot ( 26 ), wherein each force sensor is provided in an electrical measurement circuit ( 36 , 38 ) for output of a support load dependent measurement signal, wherein the monitoring device includes an evaluation electronic ( 54 ) which in predetermined sampling cycles evaluates support foot derived support load measurement values for comparison with at least one predetermined stability determining threshold value, and wherein the evaluation electronic ( 54 ) includes a software routine ( 62 ) for determining the second lowest support foot related support load measurement value for each sampling cycle and for the comparison thereof with a stability determining threshold value.
24. A mobile work device as in claim 23 , wherein said mobile work device is a mobile concrete pump, and wherein said a work boom ( 14 ) is a concrete distribution boom.