KUOSMANEN, Seppo (Kauppatie 7 A 7, Tuusula, FI-33400, FI)
REINIKKA, Markus (Ritariperhonkuja 6, Tampere, FI-33400, FI)
KUOSMANEN, Seppo (Kauppatie 7 A 7, Tuusula, FI-33400, FI)
| CLAIMS 1. Unmanned apparatus for handling of material containing stone, rock- like material or soil, which apparatus comprises at least a frame structure (1) , a moving structure (2) intended for moving the frame structure (1) , and also a boom structure (3) connected to the frame structure (1) by means of a slewing ring (6) , which slewing ring (6) is fixed to the frame structure (1) for turning around a hinge (23) on the frame structure (1) , which hinge is at distance from the center axis of the slewing ring (6) , characterized in that the dimensioning of the boom structure (3) and the location point of the hinge pin (23) are selected such that the largest turning angle (A) of the slewing ring (6) is at least approx. 90 , if necessary also greater than 90 . 2. Apparatus according to claim 1, characterized in that in the initial position of the slewing ring (6) , when the center axis of the slewing ring is essentially vertical, the hinge (23) is at a distance from the slewing ring (6) on the front side of the slewing ring (6) .. 3. Apparatus according to claim 1 or 2, characterized in that the distance of the hinge (23) from the center axis of the slewing ring (6) is dimensioned such that when the slewing ring (6) is turned essentially approx. 90 with respect to its initial position and when the center axis of the slewing ring (6) is essentially horizontal, the distance of the center axis of the slewing ring (6) from the surface of the ground is greater than the maximum radius of the combined rotary motion of the first boom (7) of the boom structure (3) and the components rotating along with it. 4. Apparatus according to claim 1, 2 or 3, characterized in that the slewing ring (6) is fixed into an auxiliary frame (21) that is in the frame structure, in the front part of which auxiliary frame (21) , on the front side of the slewing ring (6) , is a hinge (23) for inclining the auxiliary frame (21) from its initial position upwards and forwards. 5. Apparatus according to any of the preceding claims, characterized in that the auxiliary frame (21) is hinged at its front part by means of a hinge (23) to the base frame (19) in the frame structure (1) such that the auxiliary frame (21) can be inclined around its hinge (23) by angle A with respect to its initial position, which angle is e.g. between -30 ...+120 , preferably between 0 ...+90 . 6. Apparatus according to any of the preceding claims, characterized in that for turning the auxiliary frame (21) around its hinge (23), there is a turning means (24), such as one or more hydraulic cylinders, between the base frame (19) and the auxiliary frame (21) , which turning means is supported at its first end on its fixing point in the base frame (19) and at its second end on its fixing point in the auxiliary frame (21) . 7. Apparatus according to any of the preceding claims, characterized in that the apparatus comprises at least one turning means (25) , such as one or more hydraulic cylinders, for inclining the base frame (19) around its hinge pin (20) in the direction of travel of the apparatus either forwards or backwards . 8. Apparatus according to any of the preceding claims, characterized in that inside the decking structure (la) of the apparatus is space for storing the materials and equipment to be used at a worksite. |
The object of the invention is an unmanned apparatus as defined in the preamble of claim 1 for handling of material containing stone, rock-like material or soil.
Owing to its diversity of application, the apparatus according to the invention is well suited to handling of different stone material, such as rock and boulders, but also to handling of hard material containing stone material, such as concrete, and also to handling of normal soft soil. The apparatus according to the invention is also very well suited for use in cramped locations, such as in the basements of completed buildings, in small tunnels and in other corresponding low and cramped spaces .
One problem at construction worksites, renovation worksites and quarrying worksites, particularly in population centers, has been that a machine of a suitable size and capacity, which machine would have properties of both rotary machines and directional machines and with which machine most demolishing work, boring work, supporting work and quarrying work could thus be handled, has not been available. Separate devices suitable for these types of tasks are e.g. rock boring devices, crack boring devices, stone splitting devices, rock breakers, bolting devices, injection devices, concrete spraying devices, diamond chain saws, diamond circular saws and demolition shears, et cetera. These devices are thus certainly available as separate devices, but in practice at construction worksites they must in this case be used manually, in which case a problem is the slowness and stressfulness of the manual work. Another problem at construction worksites, renovation worksites and quarrying worksites in population centers is that blasting work in the proximity of other buildings is awkward and may cause damages to the nearby buildings. In addition, performing blasting work in population centers is very awkward.
In addition, yet another problem is that the movement ranges of the booms of large machines intended for mines and opencast quarries are not generally sufficiently diversified for cramped and low spaces, in which e.g. spaces under old buildings are extended. In this case with the boom of large machines a tool cannot be taken e.g. right beside or in front of the machine, because the boom would rise e.g. too high. Likewise, machines having a cabin or a machinery compartment turning along with the boom are usually not suitable for construction sites and for tasks performed in basements because, due to their size, they do not fit in the space in question or they cannot be driven e.g. immediately beside a wall or a corresponding obstacle since when the boom is turned the cabin or the machinery compartment would strike against the wall or corresponding obstacle.
The aim of the present invention is to eliminate the aforementioned drawbacks and to achieve an inexpensive, efficient and versatile unmanned apparatus for handling of material containing stone, rock-like material or soil. Another aim is to achieve an apparatus suitable for use in free spaces but in particular in cramped and low spaces, on which apparatus a number of different tools can be easily attached. Yet another aim is also to achieve an unmanned apparatus, in which the movement ranges of the tools to be used are diversified and very extensive. The apparatus according to the invention is characterized by what is disclosed in the characterization part of claim 1. Other embodiments of the invention are characterized by what is disclosed in the other claims.
One advantage, among others, of the unmanned apparatus according to the invention is that with the apparatus it is possible to work in cramped and low spaces. Another advantage is the large movement range of a tool enabled by the boom structure, which movement range is even larger than that of special machines having only one tool in use. Another advantage is also that with the device according to the invention it is possible to work e.g. right against a wall, because at no stage does the boom, except for the other parts of the apparatus, extend outside the normal width of the apparatus. Yet another advantage is that owing to the boom structure it is possible to work with the tool also behind pillars or corners, and both behind and in front of the apparatus. One further advantage is that in the apparatus according to the invention the properties of a normal rotary machine are combined with e.g. properties of directional machines intended for tunnel use, in which case the apparatus is very versatile in its usability. In the following, the invention will be described in more detail by the aid of an example of its embodiment with reference to the attached drawings, wherein presents an oblique front view of an apparatus according to the invention, as viewed from above, presents a partially sectioned and simplified side view of an apparatus according to the invention when the slewing ring of the boom is in its initial position,
presents a partially sectioned and simplified side view of an apparatus according to the invention when the slewing ring of the boom is turned forwards ,
presents a simplified top view of an apparatus according to the invention when the slewing ring of the boom is turned forwards,
presents a partially sectioned and simplified side view of an apparatus according to the invention when the slewing ring of the boom and base frame are turned forwards, and
presents a partially sectioned and simplified side view of an apparatus according to the invention when the slewing ring of the boom is turned forwards and the base frame is turned backwards .
In all the figures the unmanned apparatus according to the invention is presented without a tool fixed to the end of the boom, because the tool is not necessary in this context for illustrating this invention. Fig. 1 presents an oblique front and top view of one unmanned apparatus according to the invention. The apparatus comprises, among other things, at least a frame structure 1, a moving structure 2 intended for moving the frame structure 1, and also a boom structure 3 connected to the frame structure. The apparatus is preferably unmanned and remote- controlled, but alternatively it can also have a cabin for driving the apparatus from the cabin.
The frame structure 1 comprises e.g. a machinery compartment, storage space and a decking structure la protecting the frame parts, inside which decking structure are the frame parts of the apparatus, which are described in more detail below, a drive motor functioning as the power source for moving and for the hydraulics, the scaled and distributed hydraulic system needed, and also a control system of the apparatus as well as storage space for the materials and equipment to be used. The moving structure 2 is connected in a hinged manner to the frame structure 1 and at the same time bears at least the weight of the frame structure 1 and of the boom structure 3. The moving structure 2 is e.g. a structure on both sides of the frame structure 1 comprised of a track frame 4 with its parts and of caterpillar tracks 5. The frame structure 1 of the apparatus is always essentially in the direction of the caterpillar tracks 5, i.e. in the direction of travel of the apparatus. In this case frame structure 1 and the decking structure la do not turn in relation to the caterpillar tracks 5 in the lateral direction of the apparatus. The forward side in the normal direction of travel of the apparatus is defined as the front part of the apparatus, the distance of the front side of which front part from the slewing ring 6 of the boom structure is shorter than the distance of the rear edge of the rear part from the slewing ring. In the figures, the front part of the apparatus is on the left and the rear part on the right .
The boom structure 3 is connected to a slewing rim, i.e. a slewing ring 6, in the frame part by means of attachment brackets 6a such that the boom structure 3 is able to turn 360 around the center axis of the slewing ring 6. In Fig. 1 the apparatus is essentially on a horizontal base, in which case the center axis of the slewing ring 6 is essentially vertical. The boom structure comprises at its first end, i.e. at its bottom end, a first boom 7, i.e. a bottom boom, hinged to the attachment brackets of the slewing ring, and a hydraulic cylinder 8 with its lever elements 9 driving said boom, and also a second boom 10, i.e. a telescopic boom, hinged at its first end to the second end of the first boom 7 via a lever mechanism, which second boom 10 comprises an outer boom 11 and an inner boom 12 that are nested and move in the longitudinal direction in relation to each other. The slewing and longitudinal movement of the booms are implemented with hydraulic cylinders that are not shown in Fig. 1.
The second end, i.e. the free end of the inner boom 12 comprises a lever mechanism 13, via which a third boom 14, i.e. the end of the boom intended for attaching a tool, is hinged at its first end to the free end of the inner boom 12. The third boom 14 is turned in the direction of the inclination plane of the boom structure 3 with a hydraulic cylinder 15 and transversely against the direction of the inclination plane around the hinge 17 with a hydraulic cylinder 16. The term inclination plane of the boom structure 3 refers to a plane on which each boom 7, 10, 14 can be turned around its hinge at the first end. In addition, the outer surface of the third boom 14 comprises attachment means 18 for attaching different tools to be used by the apparatus .
In connection with this application a tool refers to a separate structural assembly provided with a hydraulic system of its own, which assembly comprises a frame part of its own and a housing head, and which assembly can be connected from its frame part to be used with the device according to the invention, and which assembly can either have one function related to only one task or a plurality of functions related to different tasks. A tool having a function related to only one task is e.g. a circular saw tool provided with a stationary housing head, which saw tool only performs rotational movement. Different saw blades and discs can, however, also be changed on this type of circular saw tool. In addition to the rotational movement, a stationary housing head can, however, also perform other work cycles needed for the same task than the rotational work cycle, e.g. movement in the axial direction and other necessary movements or functions needed for the task. Correspondingly, a tool with a plurality of different functions needed for completely different tasks is e.g. a type of tool on which housing heads that enable functions needed for different tasks can be changed or to which different auxiliary components can be added. In this case completely different tasks can be performed with the same frame part of the tool .
The apparatus according to the invention and the boom structure 3 with its attachments are dimensioned in their strength and components to be such that the structure withstands working and changes in loading directions in any position of the booms 7, 10, 14 and also at the maximum range of the booms and when using any tool designed for the apparatus in connection with the third boom 14.
Fig. 2 presents a partially sectioned and simplified side view of an apparatus according to the invention when the slewing ring 6 of the boom is in its initial position, in which case the center axis of the slewing ring 6 is essentially vertical. Fig. 2 presents a diagrammatic and simplified view, and, inter alia, the track frame 4, the caterpillar tracks 5 and other less important parts from the viewpoint of the invention that are closest to the viewer have been taken away from in front of the frame parts. In addition, the decking structure la is presented with a dot- and-dash line.
A central part of the frame structure 1 is the frontward or backward tilting base frame 19, which is hinged to a track frame 4 on both of its sides via a hinge pin 20. Thus the base frame 19 can, if necessary, be turned around its hinge pin 20 in relation to the track frames 4 by means of one or more power means, e.g. a hydraulic cylinder. The aforementioned power means is not shown in the figures. The front part of the base frame 19 comprises a hinge point for the hinged auxiliary frame 21, which is supported in its lower position on the top surface of the base frame 19. The aforementioned hinge point comprises e.g. bearing housings 22 and a hinge pin 23 disposed in them, which hinge pin is fixed to the front part of the auxiliary frame 21, on the front side of the slewing ring 6 fixed to the auxiliary frame 21. The hinge pin 23 can be a shaft that goes through the auxiliary frame in the width direction of the auxiliary frame 21 or a shaft extending at a right angle from the auxiliary frame on both sides of the auxiliary frame 21. The direction of the hinge pin 23 is essentially at a right angle with respect to the center axis of the slewing ring 6 and is arranged such that the center axis of the slewing ring 6 can turn around the hinge pin 23.
Fig. 3 presents a partially sectioned, diagrammatic and simplified side view of an apparatus according to the invention when the slewing ring 6 of the boom is turned forwards along with the auxiliary frame 21 around the hinge pin 23 of the auxiliary frame 21 to the extent of the angle A with respect to its initial position. The dimensioning of the auxiliary boom 21 and the boom structure 3 as well as the placement of the hinge pin 23 are fitted such that the auxiliary frame 21, and along with it the slewing ring 6, can be turned forwards at least approx. 90 , but if necessary also more. In this case the auxiliary frame 21 can be turned around its hinge pin 23 in its front part to the extent of the angle A, the largest value of which angle is suitably at least 90 and which angle A preferably receives the values 0-120 . Often, however, it is sufficient that the angle A is essentially approx. 90 , or slightly smaller or larger than it. When the angle A is 90 , the auxiliary frame 21 has turned around its hinge pin into an essentially perpendicular position with respect to the base frame 19.
The position of the hinge pin 23 with respect to the apparatus is in the front part of the auxiliary frame 21 and at a distance from the center axis of the slewing ring 6. This distance from the center axis of the slewing ring 6 is dimensioned such that when the auxiliary frame 21 is turned 90 and when the center axis of the slewing ring 6 is essentially horizontal, the distance of the center axis of the slewing ring from the surface of the ground is greater than the maximum radius of the combined rotary motion of the first boom 7 of the boom structure 3 and of the levers and components rotating along with it. In this case the boom structure 3 fits to rotate 360 around the center axis of the slewing ring 6 also when the center axis of the slewing ring 6 is in an essentially horizontal position.
Fig. 4 presents a diagrammatic and simplified top view of an apparatus according to the invention when the slewing ring 6 of the boom is turned forwards along with the auxiliary frame 21 around the hinge pin 23 of the auxiliary frame essentially approx. 90 with respect to its initial position. For turning the auxiliary frame 21 around its hinge pin 23, there is a turning means 24, such as one or more hydraulic cylinders, between the base frame 19 and the auxiliary frame 21, which turning means is supported at its first end on its fixing point in the base frame 19 and at its second end on its fixing point in the auxiliary frame 21. The turning means 24 is sufficiently strong to keep the auxiliary frame 21 in any possible turning position whatsoever without separate locking. When turning forwards into its upper position around its hinge pin 23 the rear part of the auxiliary frame 21 rises at the same time to above the front part of the decking structure la from the aperture that is in the decking structure la.
Tilting of the auxiliary frame forwards increases the outreaches of the movement ranges of the boom structure. Thus the first boom 7 of the boom structure can rotate 360 both around its center axis in the vertical direction and around its center axis in the horizontal direction, and furthermore also around its center axis at all the angles between these positions. In fact, the first boom 7 of the boom structure can thus rotate more than 90 degrees around its turned center axis, as already mentioned above. For example, the maximum inclination of the center axis and at the same time of the auxiliary frame 21 can be up to 120 .
Figs. 5 and 6 present a partially sectioned, diagrammatic and simplified side view of an apparatus according to the invention when the auxiliary frame 21 is turned forwards and when at the same time the base frame 19 is turned out of its initial position either forwards or backwards. For turning the base frame 19 forwards and backwards, the apparatus comprises at least one turning means 25, such as a hydraulic cylinder, to which a lever 26 is hinged at its first end, which lever is further fixed at its second end to the shaft 20 of the base frame 19. The turning means 25 with its levers 26 is presented only in Fig. 5, where it is seen fixed in connection with the track frame 4. In Fig. 5 the base frame is turned forwards and in Fig. 6 backwards. When turning the base frame 19 with the turning apparatus 25, the base frame turns around its hinge pin 20, which hinge pin 20 is at essentially the same point in the longitudinal direction of the base frame 19 as the center axis of the slewing ring 6. In this case the hinge pin 20 of the base frame 19 is essentially just as far from the hinge pin 23 of the auxiliary frame 21 as the center axis of the slewing ring 6 and parallel with the center axis of the slewing ring 6 with respect to the hinge pin 23 of the auxiliary frame 21. The base frame 19 is turned around its hinge pin 20 generally only when terrain conditions so require. In this case the position of the apparatus and of the boom structure 3 can be made to better adapt to the shape of the terrain. It is obvious to the person skilled in the art that the different embodiments of the invention are not limited solely to the examples described above, but that they may be varied within the scope of the claims presented below. Thus, for example, the inclination of the center axis of the slewing ring can be implemented in a different manner to what is described above. For example, an auxiliary frame is not necessarily needed at all. What is essential is that the center axis of the slewing ring is inclined forwards with respect to the apparatus and that the center axis of the slewing ring is at a suitable distance from the hinge pin around which the inclination is performed.
Likewise it is obvious to the person skilled in the art that the moving structure of the apparatus can be different than the caterpillar track type structure presented in the preceding. The moving structure can comprise e.g. wheels, of which there can be, for instance, two or more on both sides of the frame of the apparatus . It is further obvious to the person skilled in the art that the extreme limits of the angle of inclination A of the auxiliary frame can be other than the 0-120 presented above. It is also possible to construct the apparatus such that the auxiliary frame can be turned backwards, in which case the angle of inclination A is negative. In this case the angle of inclination A can be e.g. between -30 ...+120 .
It is further obvious to the person skilled in the art that with suitable tools the apparatus can also be used for other than handling of material containing stone, rock-like material or soil. Nearly any type of functions, in which the hydraulically operated tool at the end of the boom system is used, can be performed with the apparatus, as long as the tool is designed to be connected to the attachment means of the third boom of the apparatus. Thus the apparatus according to the invention can be used e.g. for painting, washing, sand blasting, supporting a lifting platform, et cetera .