DE19921761B4 - Method and device for adjusting the working distance - Google Patents

Abstract

Method for adjusting the distance of a working head (13) from a working surface, in particular a substrate (G), wherein the working head (13) is arranged at a free end of a cantilever arm (14) transversely to the direction of travel (10) of a working device,
characterized in that
the selection of the adjustment method of the distance is made automatically from at least two of the following adjustment methods:
- Adjustment by transverse displacement of the entire cantilever arm (14),
Adjusting by changing the length of one of the arm elements of the extension arm (14),
Adjustment by changing the intermediate angle of two articulated elements of the cantilever arm,
depending on which Verstellmethode results in a resulting adjustment of the working head, the perpendicular to the work surface, especially the ground (G), comes closest, and wherein the compensation of the occurring track offset by that adjustment simultaneously or immediately afterwards, the resulting adjustment direction of the working head of the inclination of the work surface comes closest.

Description

The The invention relates to a method for adjusting the distance of a Working head of a boom working device against a work surface after The preamble of claim 1 and a boom-working device after the Preamble of claim 5. Such boom work tools wear on free end of a mostly consisting of several arm elements cantilever arm a working head, such as a mowing head, Brush head, Suction head or similar.

she are common in the form of a vehicle, on the front or rear side mounting surface the boom is mounted, and its functions from the hydraulics powered by the vehicle and housed by a vehicle Control is controlled.

such Boom-tools become common to maintain the marginal strip areas next to roads, for washing tunnel walls u. Ä. used the vehicle being on the road drives, and by means of the cantilever arm and the attached working head on the strip next to the road mowing the grass, Shrubbery clears, garbage collects or similar Works done.

there it is known that the - in working position transverse to the direction of travel abstrebende - arm of two arm elements, the upper arm and forearm. The upper arm is one in the longitudinal direction extending axis pivotally relative to the mounting surface of the Vehicle mounted and in its angular position via a first hydraulic cylinder, the upper arm cylinder, adjustable. At the free end of the upper arm is The forearm is articulated, with the angle between the two turn over a hydraulic cylinder, the forearm cylinder, is controllable.

At the free end of the forearm, the working head is in turn pivotable fixed so that the working head in its angular position of the Can adjust the inclination of the ground. This attitude can turn over a Hydraulic cylinder between forearm and working head, the head cylinder, adjusted or by other means such as spring-loaded cam followers of the working head opposite the underground etc.

The Swivel axes of the individual parts to each other in all Usually parallel to each other, and the entire boom is often around a vertical axis opposite the mounting surface of the vehicle pivoted to from the side projecting working position in a deactivated position, in which the entire boom with working head not or only slightly over the base of the vehicle projects to be able to be spent.

A important function of such boom working equipment is the exact adjustability and compliance with a desired Distance between the working head and the work surface, mostly the background, this distance is preferably perpendicular to the work surface or measured to the ground.

Around For example, to increase the working distance of the working head is it was previously known, the upper arm cylinder and / or the forearm cylinder something continue to extend, leaving the working head more distance from the Underground wins. That here at low level the measured along the substrate side clearance of the working head changed to the vehicle is irrelevant, since this is less than that for a clean planar editing necessary overlap the individual traces of the working head, as long as that through the working head Ground to be processed approximately horizontally or approximately parallel to Lane on which the vehicle is moving, runs.

Frequently the site next to a street, however across from the street strongly inclined, thus forms approximately a relatively steeply rising from the street level Opposite or one from street level from strongly sloping embankment.

Becomes the pressing of the humeral cylinder and / or forearm cylinder for change the working distance, ie the working height, above the ground, measured vertically used to the underground, this causes on the one hand a strong Shifting the track, which drives the working head, and can also to a Cutting the left or right end of the working head into lead the underground.

The DE 27 07 394 A1 describes a proboscis for a slope mower. The proboscis is according to claim 1 and 1 on telescopic articulated arms ( 8th . 9 ), which are pivotable relative to each other after page 3, penultimate and last line.

The DE 298 21 732 U1 describes an agricultural implement. According to protection claim 1 and page 4, lines 9 to 10 are working units ( 3 ) arranged on the working device, which with displacement means ( 27 . 28 ) transverse to the longitudinal direction of a tractor ( 2 ) are displaceable.

The DE 196 11 281 A1 describes a controller for a work tool ( 6 ) attached to a base vehicle ( 1 ) is arranged. With the control, the working tool ( 6 ) with constant charge printed on the soil to be processed, column 1 lines 52 to 56.

It is therefore the object according to the invention, to provide a method and a device by means of which even on steeply inclined ground the particular perpendicular to Underground measured working distance of the working head against the Underground can be changed and adjusted in a boom working device can.

These The object is solved by the features of claims 1 and 5. advantageous embodiments emerge from the dependent claims.

Around the track shift as possible to keep low or at all to cause no track displacement of the working head, relative movements on the boom working device made in such directions, the least possible directional deviation have before the vertical to the ground, or will be such Movements combined so that no Track deviation of the working head more occurs. The movements will be there automatically, in particular by means of an electronic control, which also causes the selection of the respective direction of movement as well Selection and extent of performs relative movement necessary for track compensation.

A first option the relative movement consists in the change in length of an arm member of the Low arm, so in a two-part boom arm (upper arm forearm) z. B. a change in length of the forearm, for example by telescoping the forearm.

at This can be a change with a three-piece extension arm the intermediate angle between the outermost and the penultimate Be arm element, which then correspond together the forearm.

ever more precisely the direction of the forearm coincides with the perpendicular to the ground, the smaller is the change the working height of the working head by length change of the forearm, the lateral offset, so the track displacement of the Working head.

Preferably should in this type of working height adjustment Thus, the boom so be adjusted so that the in the length To be adjusted arm, for example, the forearm, if possible exactly the perpendicular to the ground corresponds. This is special then important, if in addition, too the possibility exists, the upper arm in its length to change, about to telescope. Then, by changing the length of the Upper arm set the angular position of the forearm to the ground become.

A second option is the entire boom transversely to the direction of travel relative to the Implement, So z. As the vehicle to move, which is usually in horizontal Direction will happen. Because of the angle between this horizontal Transverse direction and the perpendicular to the substrate to be processed this usually results in a track offset of the working head.

A third possibility is the angle between the elements of the boom, so z. B. between the upper arm and forearm to change by extension or Retraction of the corresponding hydraulic cylinder.

at the choice of the three options is therefore, proceed according to which of the two variants the least Track offset of the working head results, so in particular afterwards, like the angle differences over the perpendicular to the ground, on the one hand by the variable length Arm element, on the other hand by the transverse displacement of the entire boom or the change of that Kink angle, is.

The Selection of which of the three options available for working height adjustment is used automatically by the controller. It is primarily the one possibility used, the resulting displacement direction of the working head the smallest angular deviation relative to the perpendicular to be processed Area, for example the background. For this purpose, the current tendency of the to be machined surface or the ground permanently be known, which is preferably by Arrangement of a inclinometer directly at the working head is done, which has a Signal line the current inclination angle of the working head, the by a scanning roller and corresponding sensors always parallel to the underground, constantly to the controller for reports the boom.

One secondary The decision criterion is to achieve a maximum position the after primary Decision criterion chosen Movement type, so that one further shift with the primary chosen Movement type is no longer possible is. Then you have to the available second best option, So second least deviation of the resulting direction of movement of the working head opposite the perpendicular to the processing surface, are used.

Furthermore, the absolute angular position must or the relative angular position to the work surface or to the working head parallel thereto be known, which can be measured by appropriate sensors on the arm parts of the boom and forwarded to the controller:
These may be sensors for measuring the relative angular position of the adjacent component, ie the forearm, for example, with respect to the working head or the upper arm with respect to the vehicle, or absolute angle encoders on those components whose absolute angular position must be known:
When telescoping an arm part, this is the corresponding arm part, when changing the angle between two pivotally interconnected arm parts, these are both arm parts, as from the direction of movement can be determined, and when moving transversely, this is the angular position of the surface or guide, along which the transverse displacement he follows.

Furthermore the absolute angular position of the working head or the working surface is required, the is determined at the working head by means of a tilt sensor.

A another possibility is the available to combine standing procedures, and - by decomposition of the direction of adjustment (perpendiculars to the underground) - in Components of the available stationary directions of movement (eg direction of the telescopic Armelementes and Querverschieberichtung of the boom) to disassemble, and with these two options complementary a lifting of the working head in the direction perpendicular to the ground to effect, and thus a tracking error of the working head to avoid.

For the transverse shift is preferably the entire base plate on which the boom is mounted, along guides moved horizontally across the work surface of the vehicle. Preferably, the usually one-sided weight load is thereby the vehicle compensated by reversing a likewise on the work surface mounted counterweight.

This happens automatically with the help of the whole boom working device controlling electronic control.

Similar Problems occur not only in the processing of a counterhang, but also from a sloping embankment right next to the road. Again, through these measures a very accurate tracking of the working head parallel to the direction of travel of the vehicle despite changing the Working distance, so the working height can be achieved.

The Tracking is therefore of great Significance, as it determines the efficiency of surface treatment affected.

As soon as the track driven by the working head is not straight and parallel to the track Driving direction runs, but Going through curves, remain between the just edited track and the previously driven lenticular track, unprocessed remaining areas. These residual surfaces have to later in separate operations be reworked or the lateral overlap of the individual tracks must be like that be chosen big that these rest areas no longer occur, however, what the effective working width of each track drastically reduced.

A embodiment according to the invention described in more detail by way of example with reference to the figures. Show it:

1 : the working implement located in the working position considered in the direction of travel and a level surface at the processing point,

2 the boom implement when working on a counterhang,

3 the track course with incomplete angular compensation with respect to the perpendicular to the ground, and

4 the implement when working on a slope.

The 1 . 2 and 4 show a vehicle 4 as a working device, viewed in the direction of travel 10 So, for example, from behind, where on the behind the cab mounting surface 4a , usually the cargo area of a commercial vehicle, the boom 14 is constructed.

This consists of an upper arm 11 which is about a horizontal pivot axis 18a opposite the vehicle 4 is pivotable, wherein the angular position by an interposed hydraulic cylinder, the upper arm cylinder 1 , is adjustable.

The upper arm 11 is either directly on the mounting surface 4a attached, or on a base plate 8th which run along by guides as in 2 represented, transverse to the direction of travel 10 on the mounting surface 4a of the vehicle 4 is movable. For weight compensation is the same with a counterweight 7 which is also on the mounting surface 4a is arranged, possible.

At the free end of the upper arm 11 is the forearm 12 about another pivot axis 18b pivoted, the angular position on the forearm cylinder 2 is held.

At the free end of the forearm 12 is about another pivot axis 18c the working head 13 pivotally arranged so that they can lead parallel to the ground G. This adjustment can be made by means of the drawn further hydraulic cylinder, the head cylinder 3 , be made or by other means.

As 1 shows at substantially horizontal or parallel to the lane of the vehicle running underground, the adjustment of the working distance d by extending the humid cylinder 1 possible without a significant track displacement of the working head 13 occurs, in particular the lower the height distance between the substrate below the working head 13 and the pivot axis 18a of the upper arm 11 is.

In the presentation of 2 in which the work is shown on a counterhanging, it becomes clear that the extension of the humeral cylinder 1 in addition to the desired increase in the working distance d by δd also causes an undesirable strong track offset, so that - as in 3 shown - the track 15 of the working head 13 is shifted upwards on the opposite slope, and only with subsequent reduction of the working distance to the original height d can be returned to the old track, so that compared to the previously edited track 15 ' an unprocessed lenticular residual surface 16 would remain.

The closer the opposite slope next to the lane of the vehicle 4 begins to increase, the greater the risk that in this approach, even a corner of the working head 13 cuts into the ground.

Also an operation of the forearm cylinder 2 instead of the humeral cylinder 1 is not very helpful, since this is usually accompanied by an even stronger track shift with the adjustment of the distance d.

2 shows a boom working device, in which - in contrast to the 1 - forearm 12 is telescopic in length. When changing the working distance d by changing the length of the forearm 12 arises - because the perpendiculars 20 to the ground only a relatively small angular difference to the forearm 12 has only a small track offset δs, which is effected by changing the working distance by δd by means of a change in length of the lower arm by δdu.

On the other hand, the change in distance δd is exclusively due to transverse displacement of the entire cantilever arm 14 along the mounting surface 4a causes, it can be seen from the vector diagram that this already results in a larger track offset δs, due to the larger angular difference of this transverse displacement direction relative to the vertical 20 than the direction of the forearm 12 ,

This in 2 close to the working head 13 However, the vector diagram shown also shows that a combination of the two movements, ie of δdu and δdq, makes it possible to achieve a track offset δs = 0 if the extent of the two mutually compensating movements is given in the correct ratio by the electronic control.

For the sake of simplifying a control can also be specified, first to use the change in length of the forearm, while doing this as perpendicular to the ground, and only at a occurring exceeding a limit δs _max as the maximum acceptable tracking deviation compensation by simultaneous lateral displacement ds Cantilever to perform on the vehicle.

In order to avoid occurring lateral pitching movements of the vehicle, which also affect the working distance d, we recommend the additional and opposite displacement of a counterweight 7 to the cantilever arm during its transverse displacement on the mounting surface 4a ,

When working on a sloping embankment next to the carriageway, as in 4 shown, it can be seen that the telescoping of the forearm 12 not only for a sensitive control of the working distance d is necessary, but to be able to reach very low-lying embankment areas ever close to the vehicle.

The sensitivity of the adjustability of the working height d speaks for an application especially of the transverse displacement, but also the telescoping of the forearm, as by pressing the forearm cylinder 1 - In conventional procedure for working height change - naturally the entire cantilever arm slightly vibrates, which causes a few seconds after adjustment uneven distance of the working head to the ground.

On the other hand causes linear telescoping of the forearm none such vibrations of the closer lying on the vehicle areas of the boom, and the transverse displacement the entire boom affects because of the intermediate angle to the vertical of the ground only slightly from the working height.

1

arm cylinder

2

forearm cylinder

2a

outer tube

2 B

inner tube

3

cylinder head

4

vehicle

4a

mounting surface

6

control

7

counterweight

8th

baseplate

10

direction of travel

11

upper arm

12

forearm

13

working head

14

boom

15

track

16

rest area

17

wheel

18a, b, c,

swivel axis

20

vertical

d

distance

G

underground

Claims (7)

Method for adjusting the distance of a working head ( 13 ) with respect to a work surface, in particular a substrate (G), wherein the working head ( 13 ) at a free end of a cantilever arm ( 14 ) transverse to the direction of travel ( 10 ) of a working device, characterized in that the selection of the adjustment method of the distance is carried out automatically from at least two of the following adjustment methods: - Adjustment by transverse displacement of the entire cantilever arm ( 14 ), - adjustment by changing the length of one of the arm elements of the cantilever arm ( 14 ), - Adjustment by changing the intermediate angle of two articulated elements of the cantilever arm, depending on which Verstellmethode results in a resulting adjustment of the working head, the perpendicular to the work surface, in particular the ground (G), comes closest, and wherein the compensation the occurring track offset by that adjustment simultaneously or immediately afterwards happens, the resulting adjustment of the working head of the inclination of the work surface comes closest. A method according to claim 1, characterized in that the selection is made so that - first the change in length of the arm element or a forearm ( 12 ) is fully utilized, - only then the Querverschiebbarkeit of the cantilever arm ( 14 ) is used and - if both options are exhausted, the increase of the intermediate angle between the arm elements, in particular between an upper arm ( 11 ) and the forearm ( 12 ), is used in the sense of increasing the boom width. A method according to claim 1 or 2, characterized in that the change in the intermediate angle between two articulated elements of the cantilever arm also a change of the intermediate angle between the vehicle ( 4 ) and the attached first arm part ( 11 ) of the cantilever arm ( 14 ). Method according to one of claims 1 to 3, characterized in that before or at the latest at the change in length of the arm element or lower arm ( 12 ) This is set as perpendicular as possible to the work surface or to the ground (G). Boom implement with a plurality of articulated arm elements, in particular upper arm ( 11 ) and forearm ( 12 ), existing cantilever arm and one at a free end of the cantilever arm ( 14 ) arranged working head ( 13 ), where - the forearm ( 12 ) of the cantilever arm ( 14 ) is variable in length, - the intermediate angle between two articulated arm elements ( 11 . 12 ) is adjustable, - the relative angle between the on the vehicle ( 4 ) fixed first arm part ( 11 ) of the cantilever arm ( 14 ) and the vehicle ( 4 ) is adjustable, characterized in that - the cantilever arm ( 14 ) relative to the implement or vehicle ( 4 ) transverse to the direction of travel ( 10 ) is displaceable, - and that a control is present, which can control all the aforementioned adjustment options, and which the selection of the Verstellmethode the distance of the working head ( 13 ) relative to the working surface of at least two of the following adjustment methods: - Adjustment by transverse displacement of the entire cantilever arm ( 14 ), - adjustment by changing the length of one of the arm elements of the cantilever arm ( 14 ), - Adjustment by changing the intermediate angle of two articulated elements of the cantilever arm, automatically carried out depending on which Verstellmethode a resulting adjustment of the working head ( 13 ), which comes closest to the perpendicular to the ground (G); and wherein the compensation of the occurring track offset by that other adjustment simultaneously or immediately afterwards, the resulting adjustment direction of the working head ( 13 ) comes closest to the slope of the ground (G). Boom-working device according to claim 5, characterized in that the change in the intermediate angle between two articulated elements of the cantilever arm also a change of the intermediate angle between the vehicle ( 4 ) and the attached first arm part ( 11 ) of the cantilever arm ( 14 ). Boom working device according to claim 5 or 6, characterized in that the forearm ( 12 ) is telescopic.