Frame width adjustment by steering
A self-propelled construction machine includes machine frame that is laterally extendible to adjust a width of the machine frame. A frame lock can selectively lock and unlock the machine frame to permit the width adjustment. A controller includes a frame extension mode configured to steer at least one ground engaging unit to provide a lateral force to adjust the width of the machine frame as the machine is driven across the ground surface by the ground engaging units.
1. A method of operating a self-propelled construction machine, the machine including a machine frame, the machine frame being laterally extendible to adjust a frame width of the machine frame, at least one left side ground engaging unit steerably connected to the machine frame, at least one right side ground engaging unit steerably connected to the machine frame, each of the ground engaging units including a drive motor, and a linear actuator configured to laterally extend and retract the machine frame to adjust the frame width, the method comprising:
(a) providing powered adjustment of the frame width with the linear actuator as the construction machine moves across the ground surface; and
(b) during step (a), steering at least one of the left and right ground engaging units to provide a lateral force to aid in the adjustment of the frame width.
2. The method of claim 1 , wherein:
step (b) further comprises steering the other of the left and right ground engaging units in a steering direction opposite to that of the one of the left and right ground engaging units.
3. The method of claim 2 , wherein the left and right ground engaging units are steered toward each other.
4. The method of claim 2 , wherein the left and right ground engaging units are steered away from each other.
5. The method of claim 1 , wherein:
during step (b), the at least one of the left and right ground engaging units is steered under control of an automatic controller in response to an operator input, and the linear actuator causes an absolute quantity of change of frame width as determined by the controller according to an algorithm.
6. The method of claim 1 , the linear actuator including a hydraulic ram and a pressure control valve in a supply line to the hydraulic ram, and wherein:
during step (b), the at least one of the left and right ground engaging units is steered under control of an automatic controller, and the controller is configured such that the adjustment of frame width by the linear actuator is limited to providing a hydraulic pressure to the hydraulic ram controlled by the pressure control valve.
7. The method of claim 1 , wherein:
in step (b), the at least one of the left and right ground engaging units is steered under control of an automatic controller in response to an operator input corresponding to a final frame width.
8. The method of claim 1 , wherein:
in step (b), the at least one of the left and right ground engaging units is steered under manual control by a machine operator.
9. The method of claim 1 , wherein the ground engaging units comprise crawler tracks.
10. The method of claim 1 , wherein the construction machine is a slipform paving machine.
11. The method of claim 1 , wherein:
the at least one left side ground engaging unit includes a front and a rear left side ground engaging unit, and the at least one right side ground engaging unit includes a front and a rear right side ground engaging unit; and
in step (b) an automatic controller simultaneously steers the front and rear ground engaging units of each side in tandem and in the same direction.
12. The method of claim 11 , wherein:
in step (a) the linear actuator is controlled by the automatic controller.
13. A construction machine, comprising:
a machine frame, the machine frame being laterally extendible to adjust a frame width of the machine frame;
at least one left side ground engaging unit steerably connected to the machine frame;
at least one right side ground engaging unit steerably connected to the machine frame;
each of the ground engaging units including a drive motor configured such that each ground engaging unit is driven across a ground surface by its respective drive motor;
at least one linear actuator connected to the machine frame and arranged to provide powered lateral extension and retraction of the machine frame to adjust the frame width;
at least one extension sensor associated with the at least one linear actuator, the extension sensor being configured to sense an amount of lateral extension of the at least one linear actuator; and
a controller configured to receive signals from the at least one extension sensor and to send control signals to the at least one linear actuator to control the extension of the at least one linear actuator and thereby adjust the frame width as the construction machine moves across the ground surface.
14. The construction machine of claim 13 , wherein:
the at least one extension sensor is located internal of the at least one linear actuator.
15. The construction machine of claim 13 , wherein:
the at least one extension sensor is located external of the at least one linear actuator.
16. The construction machine of claim 13 , wherein:
the at least one linear actuator comprises a hydraulic ram including a cylinder and a piston.
17. The construction machine of claim 16 , further comprising:
a three way valve having an extension position, a retraction position, and a blocked position;
first and second hydraulic lines connecting the three way valve to the first and second ends of the cylinder;
wherein when the three way valve is in its blocked position the hydraulic ram is hydraulically blocked from movement.
18. The construction machine of claim 17 , wherein:
the controller is operably associated with the three way valve and the controller is configured to effect movement of the three way valve between its positions and to control the flow of hydraulic fluid provided to the hydraulic ram via the three way valve.
19. The construction machine of claim 18 , wherein:
the controller is configured to control an absolute magnitude of lateral extension of the frame.
20. The construction machine of claim 17 , further comprising:
a hydraulic fluid supply line to the three way valve and a pressure control valve in the supply line; and
the controller is configured to control the pressure of hydraulic fluid provided to the hydraulic ram via the three way valve.
21. The construction machine of claim 13 , wherein the construction machine is a slipform paving machine.
22. The construction machine of claim 13 , wherein the ground engaging units comprise crawler tracks.