DE102022134454A1 - Construction machine - Google Patents

Abstract

In a self-propelled construction machine, in particular a stabilizer or recycler, with - a machine frame carried by driving devices, - a working device, in particular a milling/mixing rotor, pivotably mounted relative to the machine frame for working the soil, - a drive device, in particular a drive motor, for driving at least the working device and preferably the driving devices, - at least one first actuating device and at least one second actuating device, which are each connected to the working device and the machine frame, wherein the working device can be pivoted relative to the machine frame by adjusting the actuating devices, it is provided that a control device is provided which is designed to control the adjustment paths of the actuating devices in such a way that the adjustment paths of the first actuating device and the second actuating device have a defined difference from one another.

Description

The invention relates to a self-propelled construction machine according to claim 1, as well as a method for producing roadways by stabilizing insufficiently load-bearing soils or by recycling road surfaces according to claim 12.

Self-propelled construction machines for creating roadways by stabilizing soils with insufficient load-bearing capacity or by recycling road surfaces are known, which have a machine frame supported by driving devices. A working device, in particular a milling/mixing roller, is also provided for working the soil and is pivotably mounted relative to the machine frame. A drive device, in particular a drive motor, is provided for driving the working device. At least one first hydraulic actuating device and at least one second hydraulic actuating device are provided, each of which is connected to the working device and the machine frame, wherein the working device can be pivoted relative to the machine frame by adjusting the actuating devices.

For example, such a machine is from the EN 10 2018 126672 known.

The problem with the current state of the art is that the working equipment is always aligned parallel to the machine frame and the construction machine therefore always has to have the same transverse inclination as the inclination of the working equipment and in very rare cases the working equipment has to be aligned horizontally. Usually the working equipment has to be aligned parallel to the ground and therefore in most cases has a certain inclination to the horizontal. This in turn means that the entire construction machine has to have an inclination relative to the horizontal.

However, this has some disadvantages. On the one hand, the driver is also on the incline because he is seated in the driver's cab on the machine. Furthermore, tanks for water or fuel, for example, are often provided on the machine frame. Shifting the liquid therefore shifts the center of gravity of the machine, which in turn leads to an uneven load on the driving devices. Furthermore, with larger transverse inclines there is a risk of the machine tipping over because the track width of these machines is relatively narrow and the center of gravity of these construction machines is often very high. Furthermore, binding agents are added to self-propelled construction machines when working the soil for recycling or stabilization purposes. A transverse incline can cause the problem that the binding agents are not distributed evenly across the width of the construction machine.

The object of the present invention is therefore to provide a self-propelled construction machine in which the adjustment of the working device relative to the machine frame is improved.

The features of claims 1 and 12 serve to solve this problem.

The invention advantageously provides that a control device is provided which is designed to control the adjustment paths of the actuating devices in such a way that the adjustment paths of the first actuating device and the second actuating device have a defined difference from one another.

In this way, the work equipment can be positioned precisely in relation to the machine frame.

The at least one first and/or second actuating device may preferably be hydraulic actuating devices.

Alternatively, the at least one first and/or second actuating device can be actuating devices that can be adjusted by means of linear motors or spindle drives.

The working device can be mounted in swivel arms and can be swiveled about a swivel axis relative to the machine frame with the swivel arms. The working device can be swiveled about the swivel axis by the actuating devices.

The operating devices can be connected directly or indirectly to the work equipment and directly or indirectly to the machine frame.

The construction machine can also have four driving devices. All existing driving devices can also be steerable. In addition, all driving devices can be driven. The working device can be arranged between the front and rear driving devices. The front driving devices can form a front axle. The rear driving devices can form a rear axle. The drive device, in particular the drive motor, can be installed transversely.

According to the present invention, at least one sensor device can be mounted on or in the respective hydraulic actuating devices which is designed to detect the adjustment paths of the hydraulic actuating device and to send the detected values to the control device.

In this way, it is possible to precisely control the respective adjustment paths of the hydraulic actuating devices.

According to the present invention, at least one mechanical power transmission device can be provided which transmits the drive power from a drive shaft of the drive device to the working device.

The mechanical power transmission device can have at least one belt drive.

The mechanical power transmission device can be pivoted about a pivot axis with the working device mounted between pivot arms.

In this way, the mechanical power transmission device can be pivoted together with the working device relative to the machine frame.

The pivot axis can preferably be arranged coaxially or parallel to the drive shaft of the drive device.

As an alternative to the mechanical power transmission device, the roller can also be driven hydraulically.

The travel devices can be connected to the machine frame via lifting devices so that the height of the machine frame can be adjusted relative to the travel device by operating the lifting device. The lifting devices can be operated in such a way that the transverse and/or longitudinal inclination of the machine frame can be adjusted using the lifting devices.

The lifting devices can, for example, be operated individually in order to adjust the transverse and longitudinal inclination of the machine frame using the lifting device. Alternatively, the lifting devices can also be operated in pairs, for example, in order to adjust the transverse or longitudinal inclination of the machine frame using the lifting device.

The control device can be designed to control the adjustment paths of the hydraulic actuating devices such that the difference between the adjustment paths of the hydraulic actuating devices is substantially zero.

The control device can be designed to control the adjustment paths of the hydraulic actuating devices such that the hydraulic actuating devices can be adjusted essentially synchronously.

The advantage of synchronous adjustability is that the difference in the adjustment paths remains essentially the same over the long term. If the difference is set to zero and the actuating devices are adjusted synchronously, one advantage is that the work device almost never tilts. The elements in which the work device is mounted therefore have a significantly longer service life.

The present invention has the advantage that the adjustment paths of the hydraulic actuating devices can be coordinated with one another.

Both the first and the second actuating device can each have at least a first part which is adjustable relative to the respective second part, wherein the respective first part is connected to the working device and the respective second part is connected to the machine frame, wherein the respective first parts of the first and second actuating devices are only connected to one another via the working device.

The swivel arms pivotably mounted on the machine frame are also not further coupled to one another, so that the first and second actuating devices are only connected to one another via the working device.

There is no additional coupling, in particular no additional mechanical coupling between the first and second actuating device that would enable synchronization of the adjustment paths. Synchronization is carried out solely by the control device.

Mechanical couplings of the first and second actuating devices or couplings of the first and second actuating devices via synchronous cylinders or flow dividers are known in the prior art. According to the present invention, however, the coupling can only be carried out by the control device.

• - Bearbeiten des Bodens mittels einer relativ zu dem Maschinenrahmen einer Baumaschine schwenkbar gelagerten Arbeitseinrichtung, insbesondere Fräs-/Mischrotor,
• - wobei die Arbeitseinrichtung mittels einer Antriebseinrichtung angetrieben wird und
• - wobei die Arbeitseinrichtung durch Verstellen einer ersten und einer zweiten Betätigungseinrichtung relativ zum Maschinenrahmen verschwenkt wird.

According to the present invention, a method for constructing roadways by stabilizing soils with insufficient bearing capacity or by recycling road surfaces with the aid of a self-propelled construction machine can be provided, comprising the following steps:

• - Working the soil by means of a relative to the machine frame of a construction machine pivoting working equipment, in particular milling/mixing rotor,
• - wherein the working device is driven by a drive device and
• - wherein the working device is pivoted relative to the machine frame by adjusting a first and a second actuating device.

According to the present invention, it is provided that the adjustment paths of the actuating device are controlled by a control device such that the adjustment paths of the first actuating device and the second actuating device have a defined difference from one another.

The at least one first and/or second actuating device may preferably be hydraulic actuating devices.

The adjustment paths of the actuating device can each be detected by means of at least one sensor device and the detected values can be sent to the control device.

The control device can control the adjustment of the adjustment paths of the respective actuating device depending on the detected values of the respective adjustment paths and the predetermined difference between the adjustment paths.

The adjustment paths of the actuating devices can be controlled by means of the control device such that the difference between the adjustment paths of the hydraulic actuating devices is essentially zero.

The adjustment paths of the actuating devices can be controlled by means of the control device in such a way that the actuating devices are adjusted synchronously.

The drive power can be transmitted from an output shaft of the drive device to the working device via at least one mechanical power transmission device.

The mechanical power transmission device can be pivoted about a pivot axis with the working device mounted in pivot arms.

The present invention has the advantage that no additional coupling elements, such as mechanical coupling elements between the two actuating devices and/or between the swivel arms, are required in order to coordinate the adjustment paths with one another. In this way, installation space can be saved, since no installation space within the machine frame needs to be used for this. This means that neither the machine frame nor parts within the machine frame, such as the tank, need to be adapted in order to establish a coupling between the two actuating devices.

A controller in the sense of the present invention may include or be associated with a processor, a computer-readable medium, a database, and an input/output module or a control panel with a display. The controller may also include or be associated with an input/output device such as a keyboard, joystick, or other user interface to allow the human operator to enter instructions into the controller. It is understood that the controller described here may be a single controller having all of the functionality described, or it may include multiple controllers, wherein the functionality described may be distributed across the multiple controllers.

Various operations, steps or algorithms that a controller according to the present invention can perform can be embodied, for example, directly in hardware, in a computer program such as in a software module executed by the processor, or in a combination of the two. The computer program can be located, for example, in a RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, a hard disk, a removable storage device, or any other form of computer-readable medium known in the art. An exemplary computer-readable medium can be coupled to the processor, for example, such that the processor can read information from the memory/storage medium and write information to it. Alternatively, the medium can also be integrated into the processor. The processor and the medium can be located, for example, in an application-specific integrated circuit (ASIC). The ASIC can be located in a user terminal. Alternatively, the processor and the medium can be located as discrete components in a user terminal.

The term "processor" as used herein may refer to at least general purpose or special purpose processing devices and/or logic as one of ordinary skill in the art can understand, including but not limited to a microprocessor, a microcontroller, a state machine, and the like. A processor may also be implemented as a combination of computing devices. , e.g. a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core or another such configuration. At least one sensor device can be provided on or in the respective actuating devices, which is designed to detect the adjustment paths of the actuating device and to send the detected values to the control device.

The control device can be designed or programmed to receive the detected values from the at least one sensor device and to send control signals to the actuating devices in order to control the extension of the actuating devices.

In the following, embodiments of the invention are explained in more detail with reference to the drawings.

• 1 eine Seitenansicht zur erfindungsgemäßen Baumaschine, in der sich Arbeitswalze in einer Ruheposition befindet,
• 2 Baumaschine aus 1, in der sich die Arbeitswalze in einer Arbeitsposition befindet,
• 3 einen Antriebstrang zum Antreiben der Arbeitseinrichtung,
• 4 eine schematische Rückansicht der Maschine, bei der die Arbeitseinrichtung eine Neigung bezogen auf den Maschinenrahmen aufweist,
• 5 eine schematische Seitenansicht der Baumaschine aus 4, bei der die erste Betätigungseinrichtung dargestellt ist,
• 6 die weitere schematische Seitenansicht der Baumaschine aus 4, bei der die zweite Betätigungseinrichtung dargestellt ist,
• 7 eine schematische Rückansicht, bei der die Arbeitseinrichtung parallel zum Maschinenrahmen ausgerichtet ist,
• 8a und 8b schematische Seitenansichten der Baumaschine aus 7, bei denen die erste und zweite Betätigungseinrichtung dargestellt sind,
• 9 eine Steuereinrichtung.

Show it:

• 1 a side view of the construction machine according to the invention, in which the working drum is in a rest position,
• 2 Construction machine from 1 in which the working roll is in a working position,
• 3 a drive train for driving the working equipment,
• 4 a schematic rear view of the machine, in which the working device has an inclination relative to the machine frame,
• 5 a schematic side view of the construction machine 4 , in which the first actuating device is shown,
• 6 the further schematic side view of the construction machine from 4 , in which the second actuating device is shown,
• 7 a schematic rear view with the working device aligned parallel to the machine frame,
• 8a and 8b schematic side views of the construction machine from 7 , in which the first and second actuating devices are shown,
• 9 a control device.

1 shows a self-propelled construction machine 1, in particular a stabilizer or recycler. The construction machine has a machine frame 6 supported by driving devices 2 and 4. The driving devices 2, 4 can have wheels as shown. Alternatively, they can also have tracked drives.

The construction machine 1 also has a working device 8 that is pivotally mounted relative to the machine frame 6. The working device 8 can in particular be a milling and/or mixing rotor that is used to work the soil. The working device 8 is preferably surrounded by a housing 24. The space surrounded by the housing 24 is called the mixing space 23. The working device 8, which is designed as a milling/mixing rotor, can be used to mill soils that do not have sufficient load-bearing capacity or even road surfaces.

The construction machine 1 can furthermore have, as shown in the illustrated embodiment, lifting devices 12 with which the driving device 2 or 4 can be adjusted in height relative to the machine frame 6 and thus the machine frame 6 can be adjusted in height relative to the ground 14.

The construction machine 1 can also have four driving devices 2, 4, as shown in the exemplary embodiment shown. All of the driving devices 2, 4 present can also be steerable. In addition, all of the driving devices 2, 4 can be driven. The working device 8 can, as shown, be arranged between the front and rear driving devices 2, 4. The front driving devices 2 can form a front axle. The rear driving devices 4 can form a rear axle. The drive device 8, in particular the drive motor, can be installed transversely.

According to the present invention, at least one first hydraulic actuating device 10 and one second hydraulic actuating device 11 are provided, each of which is directly or indirectly connected to the working device 8 on the one hand and to the machine frame 6 on the other hand. In 1 only the first hydraulic actuating device 10 is shown. The second hydraulic actuating device is arranged on the opposite side of the construction machine 1. By adjusting the actuating devices 10, 11, the working device 8 can be pivoted relative to the machine frame 6.

The working device 8 can be mounted between swivel arms 30, 31. Furthermore, as shown in the figures, a mechanical power transmission device 20 can be provided on at least one side of the construction machine 1. The mechanical power transmission device 20 is covered by a housing 21. The mechanical power transmission can be a belt drive, for example. The drive power is transmitted from the output shaft 25 of the drive device 26 to the working device 8. The working device 8 has an axis 28 along which the belt drive runs. The swivel arm 30 is in the In the present case, it is formed by the housing 21. The swivel arm 31 is arranged on the opposite side of the construction machine and also swivels about a swivel axis which is arranged coaxially to the swivel axis 52.

Preferably, a gear can be provided between the mechanical power transmission device 20 and the working device 8. The gear can be a planetary gear, for example. The mechanical power transmission device 20 can pivot about the pivot axis 52 with the working device 8 mounted between pivot arms 30, 31. In the present case, the pivot axis 52 is arranged coaxially to the output shaft 25 of the drive device 26. Alternatively, the pivot axis 52 could also be arranged parallel to the output shaft 25 of the drive device 26.

In 2 the working device 8 is shown in the operating position. In this case, the actuating devices 10, 11 were actuated and the working device 8 was pivoted about the pivot axis 52 relative to the machine frame 6, so that the working device 8 can mill the soil 14. In 2 It can also be seen that the soil has been recycled or stabilized. For this purpose, the milled material collects in the mixing chamber 23 inside the housing 24. A binding agent can be added to the milled material in the mixing chamber 23. The milled material with the binding agent added can be removed by means of the stripping device 25 and then remains on the soil surface as processed soil 15. The processed soil 15 with the binding agent added is still very loose and the driving devices 4 can therefore sink into the soil as shown.

Furthermore, a control device 50 is arranged on the self-propelled construction machine 1, which is designed to control the adjustment paths of the hydraulic actuating devices such that the adjustment paths of the first hydraulic actuating device 10 and the second hydraulic actuating device 11 have a defined difference from one another.

In 3 a schematic drive train is shown. The drive device 26, which can preferably be an internal combustion engine, can preferably be installed transversely. A clutch 62 can be provided between the drive unit 26 and the working device 8.

A mechanical power transmission device 20 for driving the working device 8 is arranged between the coupling 62 and the working device 8. The mechanical power transmission device 20 can be a belt drive, for example. A gear, in particular a planetary gear, can also be arranged between the power transmission device 20 and the working device 8.

In 4 a schematic rear view of the construction machine according to the invention is shown. In the exemplary embodiment, it is shown that the working device 8 has a predetermined inclination in relation to the machine frame 6. The lifting devices are extended in such a way that the machine frame is aligned essentially perpendicular to the direction of gravity. The first and second hydraulic actuating devices are in 4 not shown, as this is only a schematic representation. However, these have different adjustment paths, so that the working device 8 is aligned essentially parallel to the ground surface. The working device 8 therefore has a predetermined inclination in relation to the machine frame 6.

In 5 and 6 the different sides of the construction machine are shown and thus the different adjustment paths L1 and L2 of the first hydraulic actuating device 10 and the second hydraulic actuating device 11.

In 7 is an example similar to 4 , in which, however, the travel paths of the hydraulic actuating devices 10, 11 are the same and thus the difference in the adjustment paths of the hydraulic actuating devices 10, 11 is essentially zero.

The control device 50 can thus be designed to control the adjustment paths of the hydraulic actuating devices 10, 11 such that the difference between the adjustment paths of the hydraulic actuating devices 10, 11 is substantially zero.

Furthermore, the control device 50 can be designed to control the adjustment paths of the hydraulic actuating devices 10, 11 such that the hydraulic actuating devices 10, 11 can be adjusted synchronously.

In 7 it can be seen that the hydraulic actuating devices 10, 11 have been adjusted in such a way that the difference in the adjustment paths of the hydraulic actuating devices 10, 11 is essentially zero, since the working device 8 is aligned parallel with respect to the machine frame 6. If the hydraulic actuating devices 10, 11 are subsequently adjusted synchronously, the working device 8 remains aligned parallel with respect to the machine frame 6.

In the 8a the actuating device 10 can be seen. The second actuating device 11 is arranged on the opposite side of the construction machine 1 and in the 8b The adjustment path of the second actuating device 11 essentially corresponds to the adjustment path of the first actuating device 10.

According to the present invention, as shown in the figures, a sensor device 60 can be provided which is provided in the respective hydraulic actuating device 10, 11 and is designed to detect the adjustment paths of the hydraulic actuating devices 10, 11 and to send the detected values to the control device 50.

The control device 50 may be a control device 202 as shown by way of example in 9 A controller 202 in accordance with the present invention may include or be associated with a processor 204, a computer-readable medium 206, a database 208, and an input/output module or control panel 210 with a display 212. The controller may also include or be associated with an input/output device 214, such as a keyboard, joystick, or other user interface, to allow the human operator to enter instructions into the controller. It is understood that the controller 202 described herein may be a single controller having all of the functionality described, or it may include multiple controllers, where the functionality described may be distributed across the multiple controllers.

For example, various operations, steps, or algorithms that a controller 202 may perform in accordance with the present invention may be embodied directly in hardware, in a computer program 216 such as a software module executed by the processor 204, or in a combination of the two. The computer program 216 may reside, for example, in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, a hard disk, a removable storage device, or any other form of computer-readable medium 206 known in the art. An exemplary computer-readable medium 206 may, for example, be coupled to the processor 204 such that the processor can read information from and write information to the memory/storage medium. Alternatively, the medium may be integrated into the processor. The processor and medium may, for example, be located in an application-specific integrated circuit (ASIC). The ASIC may be located in a user terminal. Alternatively, the processor and medium may be located as discrete components in a user terminal.

The term “processor” as used herein may refer to at least general purpose or special purpose processing devices and/or logic as would be understood by one of ordinary skill in the art, including but not limited to a microprocessor, a microcontroller, a state machine, and the like.

A processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.

At least one sensor device 60 can be provided on or in the respective actuating devices 10, 11, which is designed to detect the adjustment paths of the actuating device 10, 11 and to send the detected values to the control device 202.

The control device 50, 202 can be programmed to receive the detected values from the at least one sensor device 60 and to send control signals to the actuating devices in order to control the extension of the actuating devices 10, 11 and thus the adjustment paths of the actuating device.

QUOTES INCLUDED IN THE DESCRIPTION

This list of documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions.

Cited patent literature

• EN 102018126672 [0003]

Claims (16)

Self-propelled construction machine, in particular a stabilizer or recycler, with - a machine frame carried by driving devices, - a working device, in particular a milling/mixing rotor, pivotably mounted relative to the machine frame for working the soil, - a drive device, in particular a drive motor, for driving at least the working device and preferably the driving devices, - at least one first actuating device and at least one second actuating device, which are each connected to the working device and the machine frame, wherein the working device can be pivoted relative to the machine frame by adjusting the actuating devices, characterized in that a control device is provided which is designed to control the adjustment paths of the hydraulic actuating devices in such a way that the adjustment paths of the first actuating device and the second actuating device have a defined difference from one another. Self-propelled construction machine according to Claim 1 , characterized in that at least one sensor device is provided on or in the respective actuating devices, which is designed to detect the adjustment paths of the actuating device and to send the detected values to the control device. Self-propelled construction machine according to Claim 2 , characterized in that the control device is designed to receive the detected values from the at least one sensor device 60 and to send control signals to the actuating devices in order to control the adjustment paths of the actuating devices. Self-propelled construction machines according to one of the Claims 1 until 3 , characterized in that at least one mechanical power transmission device is provided which transmits the drive power from an output shaft of the drive device to the working device. Self-propelled construction machines according to Claim 4 , characterized in that the mechanical power transmission device has at least one belt drive. Self-propelled construction machines according to Claim 4 or 5 , characterized in that the mechanical power transmission device with the working device mounted between pivot arms can be pivoted about a pivot axis. Self-propelled construction machines according to one of the Claims 3 until 5 , characterized in that the pivot axis is preferably arranged coaxially or parallel to the output shaft of the drive device. Self-propelled construction machine according to one of the Claims 1 until 7 , characterized in that the travel devices are connected to the machine frame via lifting devices, so that the machine frame can be adjusted in height relative to the travel devices by actuating the lifting devices, wherein the lifting devices can also be actuated in such a way that the transverse and/or longitudinal inclination of the machine frame can also be adjusted with the aid of the lifting devices. Self-propelled construction machines according to one of the Claims 1 until 8th , characterized in that the control device is designed to control the adjustment paths of the actuating devices such that the difference between the adjustment paths of the actuating devices is substantially zero. Self-propelled construction machines according to one of the Claims 1 until 9 , characterized in that the control device is designed to control the adjustment paths of the actuating devices such that the actuating devices can be adjusted synchronously. Self-propelled construction machine according to one of the Claims 1 until 10 , characterized in that both the first and the second actuating device each have at least a first part which is adjustable relative to a respective second part, wherein the respective first part is connected to the working device and the respective second part is connected to the machine frame, wherein the respective first parts of the first and second actuating devices are only connected to one another via the working device. Method for producing roadways by stabilising soils with insufficient load-bearing capacity or by recycling road surfaces with the aid of a self-propelled construction machine, by - working the soil by means of a working device, in particular a milling/mixing rotor, which is pivotably mounted relative to a machine frame of the construction machine, - wherein the working device is driven by means of a drive device and - wherein the working device is pivoted relative to the machine frame by adjusting a first and a second actuating device, characterized in that the adjustment paths of the actuating devices are controlled by a control device such that the adjustment paths of the first actuating device and the second actuating device have a defined difference from one another. Procedure according to Claim 12 , characterized in that the adjustment paths of the actuating devices are each detected by means of at least one sensor device and the detected values are sent to the control device. Procedure according to Claim 12 or 13 , characterized in that the control device controls the adjustment of the adjustment paths of the respective actuating devices as a function of the detected values of the adjustment paths and the respectively predetermined difference between the adjustment paths. Method according to one of the Claims 12 until 14 , characterized in that the adjustment paths of the actuating devices are controlled by means of the control device such that the adjustment paths of the actuating devices have a defined difference of substantially zero from one another. Method according to one of the Claims 12 until 15 , characterized in that the adjustment paths of the actuating devices are controlled by means of the control device such that the actuating devices are adjusted synchronously.

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