A Method For Moving A Material Processing Device, A Device For Processing Mineral Material, And A Frame For A Processing Device

Abstract

A method for moving a processing device, a frame of a processing device and a processing device, which is movedon a base (S). The processing device comprises at least one processing unit (2, 3, 4) and a frame (6), to which the processing unit(2, 3, 4) is attached, as well as at least four legs (7) articulated to the frame (6). The legs (7) comprise support plates (12) settableagainst the base. The legs (7) are settable into a support phase, where the support plate (12) settles against the base (S) and into atransfer phase, where the support plate (12) is off the base (S). The processing device is moved without lowering the frame (6) ontothe base (S) so that the legs (7) are controlled to settle to the support phase and the transfer phase alternately so that at least threelegs (7) are in the support phase when the processing device moves.

Information

Applicants

Inventors

Specification

A method for moving a material processing device, a device for
processing mineral material, and a frame for a processing device
Field of the invention
The invention relates to a method for moving a material processing
device according to the preamble of the appended claim 1. The
invention also relates to a device for processing mineral material
according to the preamble of the appended claim 13, as well as a
frame for a processing device according to the preamble of the
appended claim 24.
Background of the invention
Processing devices for mineral material are typically used for feeding,
conveying, crushing, screening or washing mineral materials. Typically
such a processing device comprises a frame and at least one
processing unit suitable for processing mineral materials, for example a
feeder, a belt conveyor, a crusher, a screen, or a corresponding device
for transferring, refining or sorting mineral material. Often two or more
processing units are integrated in the same frame, thus attaining a
device suitable for versatile processing of mineral material.
Often such processing devices for mineral material are designed so
that they can be transported between different working sites or at least
within one working site. Thus, the frame of a processing device for
mineral material is often provided with runners, wheels or tracks.
Mineral material processing devices are often also provided with an
independent power source, for example a diesel motor that is
connected to wheels or tracks underneath the frame, thus attaining a
transferrable device that is capable of moving independently.
When a new transferrable processing device for mineral material is
designed, some objectives of the design work are, in addition to the
processing efficiency and productivity, the easy and safe transferability
of the processing device. These objectives are often contradictory, and

the designers must resort to compromises. For example, a high
productivity requires the use of productive, large-sized processing units
in the processing device for mineral material. However, the use of such
units makes the entire processing device large in size and difficult to
transfer not only inside the working site, but also between different
working sites.
Finnish patent publication Fl 109662 (corresponding US publication
7,004,411) discloses a mobile processing device for mineral material,
in which the processing units include a vibrating feeder, a jaw crusher,
two belt conveyors and a magnetic separator. The device comprises a
power source of its own, as well as tracks connected to the frame of
the device, with which tracks the unit can be moved in a working site
between different destinations.
Moving a track-mounted processing device for mineral materials on a
working site is difficult. The processing device cannot be moved
sideways, but transferring it sideways requires several forward and
backward movements of the entire processing device. Similarly, even a
small change in the position of the front or back end of the frame
requires forward and backward movements of the entire processing
device.
In addition, the suitability for terrain of a track-mounted processing
device for mineral materials is poor, because it must go around
different obstacles on the terrain, and therefore, it moves slowly in the
working site. Thus, transferring the processing device from one location
to another takes a long time.
When tracks or wheels are used for moving a device for processing
mineral material, the frame of the processing device must be such that
the tracks or wheels can be attached to it, and that the device keeps its
balance both when it is moved and used. This type of a frame structure
limits the placement of parts of the processing device to be attached to
the device and/or the frame, such as, for example, conveyors.

In addition, solutions are known, where the processing device for
mineral material is transferred in a working site with different leg-like
transfer means. In US publication 4,324,302 one leg has been
mounted under the frame supporting the crusher, which leg comprises
one vertically mounted first hydraulic cylinder. In addition, two other
hydraulic cylinders are connected to the leg, which cylinders move the
first hydraulic cylinder forwards and backwards, as well as sideways in
relation to the frame. When transferring the crusher, its frame is slid by
means of the leg along a base.
In US publication 3,446,301 one leg for moving the crusher has also
been mounted on the frame supporting a heavy device, such as a
crusher or a conveyor. The leg comprises five vertically mounted first
hydraulic cylinders, which are used for lifting the frame off the ground.
In addition, four pairs of vertically acting hydraulic cylinders are
connected to the leg, which cylinders move the leg forwards and
backwards, as well as sideways in relation to the frame. The device is
moved one step at a time by lifting the frame of the device off the
ground and by moving it in the air for a transfer distance defined by the
leg in the desired direction and by lowering the frame back to the
ground.
DE publication 6601257 discloses a solution suitable for moving a
crusher, where one leg based on a hydraulic cylinder is mounted to the
frame of the crusher. In another disclosed embodiment there are three
legs. Moving the crusher takes place one step at a time by transferring
the frame a small distance at a time in the desired direction. The frame
is lifted off the ground and lowered back down again at each step.
Transferring a heavy device by means of one leg is discontinuous,
which slows down and complicates moving. The device must be
lowered onto the ground between each step and the frame must be slid
along the ground. The device is not suitable for terrain, but potholes
and protrusions of the terrain can prevent the device from moving
completely.

In addition to the solutions presented above, other devices for moving
heavy working machines and loads are known, which devices comprise
several hydraulically functioning legs. The vertical lengthening and
shortening of the legs, as well as their movement sideways is
implemented by hydraulic cylinders. This kind of devices are disclosed,
for example, in patent publications US 3,638,747, GB2017605 and DE
2129197. Moving the device takes place either by sliding it on the
ground or by steps, where the frame is lifted off the ground and
transferred for a short distance and then the frame is lowered back
onto the ground. This uses unnecessary energy. Another problem of
these solutions is that transferring the device is slow and complicated.
In addition, GB publication 1368050 shows a kind of a stepping
mechanism for moving machines.
Brief summary of the invention
It is therefore an aim of the present invention to provide a device for
processing mineral material, which avoids the above-presented
problems and which can be moved from one place to another in a
working site easily, fast and accurately, and without requiring extra
movements. It is also an aim of the invention to provide a method for
moving a device for processing material. Further, a purpose is to
provide a frame for a processing device.
To attain this purpose, the method according to the invention is
primarily characterized in what will be presented in the characterizing
part of the independent claim 1.
The processing device according to the invention, in turn, is primarily
characterized in what will be presented in the characterizing part of the
independent claim 23.
The frame for a processing device according to the invention, in turn, is
primarily characterized in what will be presented in the characterizing
part of the independent claim 24.

The other, dependent claims will present some preferred embodiments
of the invention.
The invention is based on the idea that legs mounted to a processing
device for mineral material are used for moving the device, by means
of which legs a movement resembling walking is created. When the
processing device is transferred, the frame of the device, together with
the devices attached to it, is lifted off the ground by means of legs. The
legs carry the entire weight of the device and at the same time move
the device. The legs are controlled so that the movement of the device
resembles walking. At least four legs are attached to the frame of the
processing device; preferably there are six or more legs. The legs are
positioned in relation to the perimeter of the frame so that a steady and
continuous movement of the device without lowering the frame onto the
ground during movement, between steps, is possible.
The legs comprise three transfer members. The first transfer member
is vertically articulated to the frame of the processing device and it
takes care of adjusting the length of the leg and its vertical movement.
The second and third transfer member, which are attached to the first
transfer member at their one end, and to the frame of the device at
their other end, create the sideways movements of the legs. In
addition, measuring means are arranged in each leg for determining
the angle between the first transfer member and the frame of the
processing device and the position of the support plate of the leg
touching the ground. In addition, the pressure caused by the support
plate against a base is measured substantially continuously. The
attachment angle of the second and third transfer members to the first
transfer member is arranged so that the leg can be moved in any
direction. This means that the directions of movement of the
processing device are not limited in any way.
When the processing device is moved, the legs carry the entire weight
of the device and at the same time move the device. If the device is in
a working position resting by the frame on a base, the frame of the
device together with the devices connected to it is lifted off the ground

by means of legs before moving it. During movement the legs are
moved according to the selected walking mode, which is affected by
the number of legs mounted to the device and the direction of
movement and the desired speed of movement provided to the device
by the user of the device. In the walking mode a part of the legs are in
a support phase, i.e. touching the ground, and a part in a transfer
phase, i.e. in the air. The legs in the transfer phase are moved towards
a new position on the base and they are lowered onto the base, i.e.
ground to their new position. The movement of the legs in'the transfer
phase can take place at different times with respect to each other, or
the movement can be simultaneous, in which case, for example, two
legs are moved at the same time. The step height of the legs, i.e. how
much the leg is lifted when taking a step, can also be adjusted. This
adjustment can, if desired, be made separately for each leg in the
transfer phase.
The frame according to the invention can be utilized in moving such
processing devices or units that are separate from the frame, which do
not themselves comprise means for moving the device. This takes
place, for example, so that the processing device is moved on top of a
frame comprising legs and attached to it, after which the device can be
moved by the legs to a desired location.
An advantage of the invention is that the processing device can be
easily moved in all directions, sideways and cornerwise as well. In
addition to this, the device can be rotated around any arbitrary point.
This point can be located, for example, in the midpoint of the device, in
the material loading or discharge end of the device, or even outside the
device.
In addition, an advantage of the invention is that the processing device
can be moved significantly faster and easier than with transfer means
according to prior art. The frame is not lowered down between steps,
but the movement is continuous. Thus, the movement is steady and
energy is also saved. The terrain-suitability of a walking processing
device is also better than, for example, that of a track-mounted

processing device. By means of sensors arranged in the legs the
length of the legs and their contact to the ground can be monitored, in
which case the potholes and roughness of the ground can be
compensated by adjusting the length of the leg and the device can be
kept in balance. With adjusting the length of the leg the processing
device can be kept in balance, i.e. the frame is substantially horizontal
even when it is moving up or down a slope.
An advantage of the invention is that with the legs the processing
device can be tilted for maintenance. Thus, access from under the
frame to processing units attached to it, such as a crusher or a feeder,
becomes easier.
In addition, the legs improve the stability of the processing device when
the processing device is running, because the legs can be used to
support the processing device. When using the processing device, it
can be supported off the ground with the legs. Thus, in addition to
movement, the legs affect adjusting the position of the device and they
affect the functionality of processing, such as, for example, crushing or
screening. The device can be actively maintained in a predetermined
position, for example in horizontal position, during moving or crushing
by adjusting the length of the legs if the terrain is uneven. The
processing device can also be lowered to the ground to rest on the
frame in a working position. At least a part of the legs can also be
lowered to the ground, in which case they support the device.
Especially the legs at the front or back end of the frame, or close to the
ends, can be utilized as supporting legs. In addition, it is not necessary
to stop the processing device for moving the device, but the device can
continue its operation without breaks. This is especially advantageous
when the device is moved only a small distance or when the device is
to be repositioned, for example, by moving only its front or back end.
By adjusting the length of the legs it is also possible to adjust the
ground clearance of the processing device, in which case its movement
on uneven terrain is easier.

In addition, an advantage of the invention is that each leg is a separate
unit independent of the other legs. This provides freedom both to the
design of the frame and the placement of the processing devices. The
legs can be placed to the frame easily and there are more possibilities
for the placement of the processing devices.
Brief description of the drawings
In the following, the invention will be described in more detail with
reference to the appended drawings, in which
Fig. 1 shows a schernatical side view of a processing device for
mineral material comprising legs for moving the device,
Fig. 2 shows the processing device of Fig. 1 from below,
Figs. 3a and 3b
show schematically different options for the placement of
legs in a frame of a processing device,
Figs 4a to 4f
show some directions of movement of a processing
device,
Fig. 5 shows schematically a hydraulic leg in a front view,
Fig. 6 shows the leg of Fig. 5 in a top view,
Fig. 7 shows a control unit in a schematic view, and
Figs. 8a to 8d
show the different phases of moving a processing device
in a perspective view.

Detailed description of the invention
In this description a processing unit refers to any processing unit
suitable for processing materials, such as a feeder, a belt conveyor, a
crusher, a screen, or a corresponding device for transferring, refining or
sorting material. Processing units used in recycling material, such as
shredders and metal separators, belong to this group as well. The
material being processed can be mineral material. The mineral material
can be ore, broken rock or gravel, various types of recyclable
construction waste, such as concrete, bricks or asphalt. The material
can also be domestic waste, as well as wood, glass or metal.
Figure 1 shows a processing device 1 for mineral material comprising a
feeder 2 for feeding material to a crusher 3 and a belt conveyor 4 for
conveying the crushed product further away from the device. The
crusher in the figure is a jaw crusher, but other types of crushers, such
as a gyratory crusher, a cone crusher or a centrifugal crusher can be
placed as parts of the processing device. In addition, the device
comprises a power source 5, such as a diesel motor, which produces
energy for the use of processing units.
The feeder, crusher, power source and conveyor are attached to a
frame 6. Legs 7 for moving the device are also attached in an
articulated manner to the frame 6. In this embodiment there are six
legs 7, as is shown in figure 2 as well. Figure 2 shows the processing
device from below, without the conveyor belt of the conveyor. The legs
7 are attached to the frame in relation to the center of gravity so that
the frame 6 is substantially horizontal when the device is moved. The
legs are placed in the frame 6 in relation to the processing device 1 so
that one leg is in the front end A of the device, i.e. below the feeder 2,
and one leg is in the back end B of the device, i.e. below the conveyor
4. The remaining four legs are placed on both sides of the frame in
pairs so that the legs on opposite sides of the frame are at the same
point in relation to the length of the frame. As can be seen in figures 1
and 2, the legs 7 attached on the long sides 6a and 6b of the frame are
attached on the outside of the frame. In an embodiment of figure 1 the

processing device 1 is shown in a working position, where the frame is
lowered onto a base, i.e. on the ground and the support plates 12 of
the legs 7 have also been taken to the ground to support the device. In
addition, the device comprises a control unit 30, whose operation is
described more in detail later.
When placing the legs onto the frame, it must be taken into account
that the processing devices, for example side conveyors (not shown in
the figures) can be attached to the frame. In addition, it must be taken
into account that the legs are around the center of gravity. In addition,
from the point of view of movement it is important that the stability
marginal located around the center of gravity of the device is as wide
as possible. The stability marginal describes an imaginary planar
surface, inside which the center of gravity of the processing plant may
vary during movement in order to keep the device in balance and to
prevent it from falling over. Figures 3a and 3b show schematically the
different possibilities of placing legs 7 in a device and the stability
marginals 8 created on the basis of that. Figure 3a shows the
placement of legs 7 according to figures 1 and 2. As can be seen from
the figure, with this placement a large stability marginal 8 around the
center of gravity 9 is created. This increases the efficiency of
movement of the device, especially when moving sideways. The
stability marginal is especially increased by the placement of one leg at
both the front end A and the back end B of the device in order to
receive the load weights caused there. Figure 3b shows another
embodiment where the legs 7 are placed in pairs on both sides of the
device 1 so that the legs on opposite sides of the frame are at the
same point in relation to the length of the device. The stability marginal
of this alternative is not as large as in the embodiment of figure 3a. It is,
however, enough for moving the device from one location to another
without the danger of losing the balance of the device.
When transferring the processing device a part of the legs is always in
a support stage, i.e. touching the ground, and a part in a transfer
phase, i.e. off the ground and moving towards a new position. The
predefined plan that defines how many legs are in the support and

transfer phases is called a walking mode. For example, the possible
walking modes of a processing device comprising six legs are a 5/6
mode, a 4/6 mode and a 3/6 mode. The first number refers to the
number of legs in the support phase and the second number to the
total number of legs. Thus, in the 5/6 mode the device comprises six
legs, five of which are in the support phase, i.e. only one leg at a time
is off the ground and moving towards a new position. In the 4/6 mode
four legs are in the support phase and two legs in the transfer phase.
Correspondingly, in the 3/6 mode three legs are in the support phase
and three legs in the transfer phase. The greatest speed of moving is
reached by this walking mode. If at least two legs are in the transfer
phase, the movement of the legs can take place at different times with
respect to each other, or the movement can be simultaneous. For
example, the legs can move simultaneously in pairs. However, there
must always be at least three legs in the support phase. Support and
transfer phases follow each other at each leg. The legs in the support
phase not only keep the device in balance, but also move the frame of
the device to the desired direction: The legs in the transfer phase move
in the air according to a path and direction of movement defined for
them, until they are again lowered to the ground and they transfer to
the support phase. During movement the legs are moved according to
the selected walking mode. The selection of the walking mode is
primarily affected by the difficulty of the terrain, but also the number of
legs and the desired speed of movement. The movement and the
alternation of the support and transfer phases of the legs are described
more in detail in connection with figures 8a to 8d.
The processing device can be transferred to various directions. Figures
4a to 4f show some examples of the directions of movement of the
processing device. The processing device 1 can naturally be
transferred forward, in the direction of arrow D1, and backward, in the
direction of arrow D2, as shown in figure 4a. Transfer in both side
directions is also possible. This is shown by arrows D3 and D4.
Transfer of the device forward and backward in the direction of its
corners is shown by arrows D5, D6, D7 and D8. It is also possible to
transfer the device 1 so that the device moves in the desired direction

and it is turned at the same time, as shown in figure 4b. The direction
of movement is shown by arrow D9 and the new position of the device
is shown by dashed lines. Figure 4c shows the direction of movement,
where the device moves to the desired direction so that the frame is
not turned, but it is kept in the starting direction the entire time. This
walking can also be called crab walking. The direction of movement is
indicated with arrow D10. Transfer according to figures 4b and 4c can
take place in all directions shown in figure 4a.
The processing device 1 can also be transferred or its position can be
changed by turning it freely around a selected point. The freely
selectable point 34 can be located anywhere inside or outside the
bottom area of the device. It can be, for example, the center of the
device, around which the device is turned. This is illustrated by arrows
D11 in the figure 4d. In figure 4e a freely selectable point 34 is placed
inside the bottom area of the device 1 and the possible turning
directions of the device are illustrated by arrows D12. The freely
selectable point 34 can also be placed outside the device, as is shown
in figure 4f. The arrows D13 show the turning directions of the device.
All the above-presented directions of movement and turning
alternatives can naturally be combined as desired.
Figure 5 shows a leg 7. This type of legs are also arranged in the
processing device shown in figures 1 and 2. The leg 7 comprises three
transfer members 10, 14 and 15, which are rigid in relation to their
longitudinal axis. In this embodiment the transfer members are
hydraulic cylinders, but other longitudinally adjustable transfer
members can also be used. The longitudinal movement can be
created, for example, with a worm screw and an electric motor. This
kind of an arrangement is called an electric cylinder as well.
The first hydraulic cylinder 10 is vertically attached in an articulated
manner to the frame of the processing device. It is possible to adjust
the length of the leg by means of it. It also carries the vertical forces
and the weight of the processing device when the processing device is
moved or when the leg acts as a support leg when using the device. In

the figure the first hydraulic cylinder 10 is shown in a position where a
part of a transfer arm 11a of the cylinder is outside a cylinder chamber
11. A support plate 12 is attached to the lower end of the transfer arm
11a of the first cylinder 10, the lower surface of which plate, i.e. a
support surface 13 touches the ground when the leg 7 is in the support
phase. The support surface 13 can have, for example, a square-like
shape with side lengths of 350mm x 350mm. The area of the support
surface is dimensioned according to the type of base of the working
site. The weight of the processing device is also taken into account in
the dimensioning. The support plate 12 is attached to the end of the
transfer arm of the first hydraulic cylinder with a fastening means 12a,
which enables the tilting of the support plate in relation to the transfer
arm. For example, a ball joint can be used as the fastening means. The
first cylinder is articulated to the frame 6 of the processing device by
means of a first articulation 20 and a second articulation 21 arranged in
the upper end of the cylinder chamber 11. The second and third
hydraulic cylinder 14 and 15 are articulated to the first hydraulic
cylinder 10 substantially horizontally and on the same level with each
other. The transfer arms 16 and 17 of the second hydraulic cylinder 14
and the third hydraulic cylinder 15 are attached by means of a third
articulation 22 and a fourth articulation 23 to the lower part of the
cylinder chamber 11 of the first hydraulic cylinder, within a distance
from the lower end of the cylinder chamber. Their ends on the side of
the cylinder chamber 18 and 19 are, in turn, articulated to the frame 6

Measuring means, i.e. sensors, are arranged in the leg 7, for defining
the position of the leg and the position of the support plate 12
substantially continuously. In connection with the first hydraulic
cylinder, in its upper end, or, for example, inside articulations 20 and 21
are arranged first measuring means, i.e. two angle sensors 26 and 27,
with which the angle position of the hydraulic cylinder 10 in relation to
the frame 6 is measured. In addition, a second measuring means 28,
such as a linear sensor for measuring the vertical position of the
support plate 12 in relation to the frame, is arranged in the first cylinder.
Thus, the linear sensor measures the magnitude of the vertical
movement of the first cylinder 10. For example, a magnetostrictive
sensor can be used as a linear sensor. The second measuring means
can also be an optical measuring means, such as a measuring device
based on a laser or image processing. In addition, measuring devices
based on acoustic methods as well as magnetic field measuring, such
as an ultrasound sensor or an eddy current sensor, can be used. With
these three sensors 26, 27 and 28 the position of the support plate 12
in relation to the frame can be defined.
Measuring means 38 and 39 arranged in the hydraulic cylinders 14 and
15 can also function as first measuring means, which may have the
same measuring principle as the above-mentioned measuring means
28. By means of them the length of at least one of the hydraulic
cylinders 14 and/or 15 is measured, from which length it is possible to
determine the angle position of the hydraulic cylinder 10 and further the
position of the support plate 12 in relation to the frame.
The pressure prevailing in the cylinder chamber of the first hydraulic
cylinder 10 is measured as well. The measurement takes place by
means of a pressure sensor 29. On the basis of pressure
measurements it is possible to determine the pressure caused by the
support plate 12 against the base and to ensure that the force the
support plate 12 touches the ground with is sufficient. The sensors
perform measurements substantially continuously and by means of the
measurements the position of the support plate 12 in both the transfer
and support phases can be determined continuously. In addition, the

position of the frame in relation to the base is measured with an
inclination sensor 32. The inclination sensor can be, for example, an
inclinometer. The measuring signals measured by the sensors are sent
to a control unit 30 placed in the processing device. The control unit 30
controls the movement of the processing device according to
commands provided by the user of the processing device, which
commands are sent to the control unit 30 with a user interface 31
connected to it. The user interface can be, for example, a joy-stick-type
interface based on wireless signal transfer, or a keyboard. Thus, a
transmitter is arranged in the user interface for transmitting control
commands to the control unit, and a receiver is arranged in the control
unit for receiving them. In the figure the wireless data transfer is
illustrated by a dashed line. In addition, the user interface 31 may be
connected to the control unit 30 by a cable.
The measurement signals measured by the measuring means, i.e. the
angle sensors 26 and 27, the linear sensor 28, the pressure sensor 29
and the inclination sensor 32, can be directed to the control unit 30
either via cables or wirelessly. If the measurements are transmitted to
the control unit wirelessly, the measuring means are provided with a
transmitter for transmitting measurement results, and the control unit is
provided with a receiver for receiving measurement signals. The
control unit forms control commands for moving the hydraulic cylinders
of the legs on the basis of the measurement signals and other control
parameters. The control commands produced by the control unit can
also be conveyed to the legs either via cables or wirelessly. If the
control commands are transmitted to the legs wirelessly, such as via
radio waves or infrared radiation, the control unit is provided with a
transmitter for transmitting control commands and the legs are
provided with a receiver for receiving control commands.
The control unit 30 comprises means for performing the operations of
the method according to the invention. Figure 7 shows more closely a
control unit 30, which includes means 33 to 35 for calculating and
determining the parameters necessary for moving the process device,
as well as for determining the control signals. The steps of the above-

described method can be performed by a program, for example by a
micro processor. The means may be composed of one or more
microprocessors and the application software contained therein. In this
example, there are several means, but the different steps of the
method can also be performed in a single means.
The control unit 30 comprises calculating means 33, which receive the
data concerning the desired walking mode and the direction and speed
of movement of the processing device sent by the user of the
processing device. The calculating means 33 also receive the
measurement signals measured by the measuring means 26, 27, 28,
29 and 32 and on the basis of them and the selected walking mode
they calculate a step diagram for each leg 7 and on the basis of that
determine their next path and direction of movement. Determining the
path and direction of movement of the legs also takes into account the
so-called step box, i.e. a cubic capacity in square space, where the
support plate 12 can move within the limits set by the cylinders.
The paths and directions of movement determined for each leg by the
calculating means 33 are transmitted to control signal formation means
35 in the control unit, which means form control commands for each
hydraulic cylinder 10, 14 and 15 of each leg 7. After this, the control
commands are sent to the valves (not shown in the figure) controlling
the hydraulic cylinders 10, 14 and 15.
The means 33 and 35 contained by the control unit perform the
procedures designated for them continuously while the processing
device moves. The control unit receives data from the measuring
means on the position of each support plate in relation to the frame and
continuously controls the movement of all legs according to the
selected walking mode so that the targets for the direction of
movement set by the controller of the device are realized. The
processing of measurement signals can be performed in a centralized
manner with one control unit.

As was stated above, the control unit 30 comprises means for
controlling the movement of the legs. The control unit may also
comprise means for controlling the process itself, such as the operation
of a crusher, conveyor or the like.
Figure 6 shows the leg 7 of figure 5 in a basic position seen from
above. As can be seen in the figure, the second and third hydraulic
cylinders 14 and 15 are attached to the first hydraulic cylinder 10 so
that an angle a is formed between them. The size of the angle a
depends on several factors, for example, on the fastening point of the
cylinders 14 and 15 to the frame 6, the dimensions of the processing
device, the length of the cylinders 14 and 15, and the diameter of their
cylinder chambers, as well as the required horizontal powers. These
factors are selected so that the desired step box is created.
When taking a step, the hydraulic cylinders of the leg in the transfer
phase operate in the following manner: first, the support plate 12 of the
leg is lifted off the ground by means of the first cylinder 10, by pulling
the transfer arm 11a of the first cylinder inside the first cylinder
chamber 11. How high the support plate 12 of the leg is lifted depends
on the desired height of the step. After this the second and/or third
cylinder 14 and 15 move the first cylinder 10 to the desired direction by
pushing and/or pulling the transfer arms 16 and 17 of the cylinders
from the cylinder chambers / to the cylinder chambers 18 and 19, until
the desired direction of the step is reached. Finally, the first hydraulic
cylinder lowers the support plate 12 of the leg back to the ground by
pushing the transfer arm 11a of the first cylinder outwards from the first
cylinder chamber. Naturally the operations of the first hydraulic cylinder
and the second and/or third hydraulic cylinder can take place
simultaneously as well. The legs in the support phase move the frame
of the processing device towards the desired direction continuously; it
is not lowered to the ground between steps. The length of the step, and
at the same time the transfer speed of the device is controlled with the
control system.

The movement and the alternation of the support and transfer phases
of the legs are described more in detail in connection with figures 8a to
8d. For clarity, the processing device is not shown in the figure. Six
legs 7 are attached to the frame and the movement takes place in a 3/6
walking mode. In figure 8a the device is shown in the starting position,
where all the legs are on the base S, i.e. on the ground.
In figure 8b a part of the legs, i.e. the legs 7A in the transfer phase are
lifted off the ground. The legs 7B in the support phase are still on the
ground. The desired direction of movement is indicated with the arrow
M.
Next, the legs 7A in the transfer phase are tilted in the air against the
direction of movement and moved towards the ground. Simultaneously
the legs 7B in the support phase move the frame 6 in the determined
direction of movement, which is marked with the arrow M. Figure 8c
shows the phase where the support plates 12 of the legs 7A have
already reached the ground.
When the supporting plates 12 of the legs 7A have again been lowered
to the ground and it has been ensured that the device is in balance, the
legs 7A transfer to the support phase and the legs 7B that were
previously in the support phase transfer to the transfer phase. Thus,
two things take place simultaneously: the legs 7A are straightened to a
position perpendicular to the surface of the ground and are tilted
towards the direction of movement, simultaneously moving the device
towards the direction of movement. At the same time the legs 7B begin
to rise, straighten and further tilt and lower to the opposite side, i.e.
against the direction of movement. The above-presented phases 8b to
8d follow each other until the desired new position of the processing
device is reached.
The user of the processing device can, if desired, change the direction
and speed of movement of the device while the processing device is
moving. Thus, if necessary, the control unjt calculates new control
commands according to the new, desired direction.

As disclosed above, the processing device for mineral material
comprises a frame and at least one processing unit, for example, a
feeder, a belt conveyor, a crusher or a screen. It is also possible to
use a device combination in processing material, which combination
comprises several transferable processing devices. This kind of a
combination could be, for example, a separate device composed of a
feeder, a crusher and a conveyor, as well as a separate device
composed of a screen and conveyors, which are placed in relation to
each other so that the crushed material from the crusher is fed directly
to the screen. Both these processing devices can be equipped with
legs and they can be moved in the working site from one place to
another as one entity. Thus, control means for moving several
processing devices at the same time and to the same direction are
formed in the control unit. This can be implemented, for example, so
that the coordinates of different processing devices are locked to each
other so that by controlling one processing device the other one will
follow in the same manner. The location of the devices in the working
site is transmitted to the control unit by entering the location data of
one device and then positioning the devices in relation to each other.
The location of the devices can also be determined with a positioning
system, such as a GPS system. Both devices can naturally be moved
independently as well. In that case both units must have separate
control means.
Legs can be used not only for transferring the processing device, but
also for supporting it during a work phase. In figure 1 the processing
device is shown in a working position, where the device is lowered to
the ground supported by the frame. The legs are also in contact with
the ground, in which case they support the device. If there are potholes
in the base, the length of the legs is adjusted so that the device is in
balance.
The frame 6, to which the legs 7 are attached, can also be utilized in
moving such processing devices or units that do not themselves
comprise means for moving the device, such as tracks or wheels. Such

a frame is disclosed, for example, in figures 8a to 8d. The frame 6 is
brought next to the processing device by means of the legs 7, after
which the processing device is moved onto the frame and attached to
it. After this the combination of the frame and processing device is
moved to the desired position in the working site and the processing
device is again detached from the frame and lowered to the ground.
Then, the control unit is placed in the frame.
The invention is not intended to be limited to the embodiments
presented as examples above, but the invention is intended to be
applied widely within the scope of the inventive idea as defined in the
appended claims.

Claims
1. A method for moving a processing device on a base, e.g. the
ground, the processing device comprising:
- at least one processing unit (2, 3, 4) for processing mineral
material, and
- a frame (6) to which the processing unit (2, 3, 4) is attached,
characterized in thatthe processing device further comprises:
at least four legs (7) articulated to the frame (6) for moving the
processing device, wherein each leg (7) comprises a support plate (12)
settable against the base, and wherein each leg (7) is settable into a
support phase and a transfer phase, in which support phase the
support plate (12) sets against the base (S) and in which transfer
phase the support plate (12) is off the base (S), and
a control unit (30) for controlling the legs,
the method comprising:
moving the processing device on the base by means of the
legs (7) without lowering the frame (6) onto the base (S),
controlling each leg to settle to the support phase and the
transfer phase alternately so that at least three of the legs (7) are in the
support phase during the movement of the processing device.
2. The method according to claim 1, characterized by moving the
processing device in a desired direction of movement by the legs (7) in
the support phase.
3. The method according to claim 1, characterized by controlling the
legs (7) to settle alternately to a supporting and transfer phase in
groups comprising one or more legs (7).
4. The method according to claim 1, characterized in that the leg (7)
comprises:
a first transfer member (10),
a second transfer member (14) and a third transfer member (15),
wherein the second transfer member and the third transfer member are
articulated to the frame (6) and the first transfer member (10),

wherein the method further comprises:
adjusting the length of the leg by the first transfer member.
5. The method according to claim 4, characterized by:
controlling the legs (7) in the supporting and transfer phase
continuously with the control unit (30)defining control signals for the
first, the second and the third transfer member.
6. The method according to claim 4, characterized by:
- measuring the angular position between the first transfer
member (10) and the frame (6);
- measuring the vertical position of the support plate (12); and
- determining the position of the support plate (12) in relation to
the frame (6) on the basis of the measurements.
7. The method according to claim 1, characterized by:
monitoring the contact of the leg with the base by means of
determining the pressure caused by the support plate against the base.
8. The method according to claim 4 or 6, characterized in that for
defining the control signals, at least one of the following parameters is
used:
- the position of the support plate (12) in relation to the frame (6),
- the pressure caused by the support plate (12) against the base
(S),
- a walking mode,
- the direction of movement of the processing device, and
- the speed of movement of the processing device.
9. The method according to claim 1, characterized in that the
processing unit is at least one of the following: a feeder, a crusher, a
screen, a shredder, or a separator.
10. The method according to claim 9, characterized in that the
processing device is a processing device for mineral material.

11. The method according to claim 1, characterized by:
rotating, by means of the legs, the processing device around a
freely selectable point (34).
12. The method according to claim 1, characterized in that the leg
further comprises:
a hydraulic cylinder (10) for adjusting the length of the leg, and
a pressure sensor (29) for measuring the pressure prevailing in
the hydraulic cylinder,
wherein the method further comprises:
determining, on the basis of the pressure in the hydraulic cylinter,
the pressure caused by the support plate against the base.
13. A processing device, comprising:
- a frame (6),
- at least one processing unit (2, 3, 4) for processing mineral
material, wherein the processing unit is attached to the frame (6),
characterized in that the processing device further comprises:
- at least four legs (7) articulated to the frame (6) for moving the
processing device without lowering the frame (6) onto a base (S),
e.g. the ground, wherein each leg (7) comprises a support plate
(12) settable against the base, and wherein each leg (7) is
settable into a support phase and a transfer phase, in which
support phase the support plate (12) sets against the base (S)
and in which transfer phase the support plate (12) is off the base
(S), and
- a control unit (30) for controlling the legs (7), wherein the control
unit is configured to control each leg (7) to settle to the support
phase and the transfer phase alternately so that at least three
legs (7) are in the support phase when moving the processing
device.
14. The processing device according to claim 13, characterized in that
the processing device is arranged to be moved in a desired direction of
movement by the legs (7) in the support phase.
AMENDED

15. The processing device according to claim 13, characterized in
that control unit (30) is arranged to control the legs (7) to settle
alternately to a supporting and transfer phase in groups comprising one
or more legs (7).
16. The processing device according to claim 13, characterized in that
the leg (7) comprises a first transfer member (10) arranged to adjust
the length of the leg (7).
17. The processing device according to claim 16, characterized in that
the leg (7) further comprises a second transfer member (14) and a third
transfer member (15), wherein the second transfer member and the
third transfer member are articulated to the frame (6) and the first
transfer member (10).
18. The processing device according to claim 17, characterized in that
the control unit (30) is configured to define control signals for the first,
second and third transfer members (10,14, 15).
19. The processing device according to claim 18, characterized in that
the leg (7) further comprises:
measuring means (26, 27, 28) for measuring the angular position
between the first transfer member (10) and the frame (6), and the
vertical position of the support plate (12), and
wherein the control unit (30) is arranged to determine the
position of the support plate (12) by means of the measurements.
20. The processing device according to claim 19, characterized in that
the control unit (30) is arranged to determine the pressure caused by
the support plate (12) against the base.
21. The processing device according to any of the preceding claims 18
to 201, characterized in that the control unit (30) is further configured
to use at least one of the following parameters for defining control
signals:
- the position of the support plate (12),

- the pressure caused by the support plate (12) against the base
(S),
- a walking mode,
- the direction of movement of the processing device, and
- the speed of movement of the processing device.

22. The processing device according to claim 13, characterized in that
the processing unit is at least one of the following: a feeder, a crusher,
a screen, a shredder, or a separator.
23. The processing device according to claim 13, characterized in that
the control unit is further configured to monitor the contact of the leg
with the base by means of determining the pressure caused by the
support plate (12) against the base (S).
24. A frame of a processing device, wherein the frame comprises:
at least four legs (7) articulated to the frame for moving the
processing device without lowering it onto a base (S), e.g. the ground,
wherein each leg (7) comprises a supporting plate (12) settable against
the base, and wherein each leg (7) is settable into a support phase and
a transfer phase, in which support phase the support plate (12) sets
against the base (S) and in which transfer phase the support surface
(13) of the support plate (12) is off the base (S), and each leg (7) is
arranged to settle to the support phase and the transfer phase
alternately so that at least three of the legs (7) are in the support phase
during the movement of the processing device,
characterized in that the processing device is for processing mineral
material.
25. The frame according to claim 24, characterized in that the
processing device, separate from the frame, comprises at least one
processing unit (2, 3, 4) for processing mineral material, wherein the
processing device is configured to be moved on top of the frameand to
be attached to the frame (6).

26. The frame according to claim 24, characterized in that the frame
(6) is a fixed part of the processing device, and wherein the processing
device comprises at least one processing unit (2, 3, 4) for processing
mineral material.
27. The frame according to claim 24, characterized in that the frame
(6) is arranged to be moved in a desired direction of movement by
means of the legs (7) in the support phase.
28. The frame according to ciaim 24, characterized in that the leg (7)
comprises a first transfer member (10) arranged to adjust the length of
the leg (7).
29. The frame according to claim 28, characterized in that the leg (7)
further comprises a second transfer member (14) and a third transfer
member (15), wherein the second transfer member and the third
transfer member are articulated to the frame (6) and the first transfer
member (10).
30. The frame according to claim 24, characterized in that the frame
further comprises:
a control unit (30) arranged in connection with the frame and
arranged to control the legs (7), wherein the control unit is further
configured to to monitor the contact of the leg with the base by means
of determining the pressure caused by the support plate (12) against
the base (S).
31. The frame according to claim 24, characterized in that the leg
comprises:
a hydraulic cylinder (10) for adjusting the length of the leg, and
a pressure sensor (29) for measuring the pressure prevailing in
the hydraulic cylinder (10) and for determining the pressure caused by
the support plate against the base.

A method for moving a processing device, a frame of a processing device and a processing device, which is moved
on a base (S). The processing device comprises at least one processing unit (2, 3, 4) and a frame (6), to which the processing unit
(2, 3, 4) is attached, as well as at least four legs (7) articulated to the frame (6). The legs (7) comprise support plates (12) settable
against the base. The legs (7) are settable into a support phase, where the support plate (12) settles against the base (S) and into a
transfer phase, where the support plate (12) is off the base (S). The processing device is moved without lowering the frame (6) onto
the base (S) so that the legs (7) are controlled to settle to the support phase and the transfer phase alternately so that at least three
legs (7) are in the support phase when the processing device moves.

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