EP0662177B1 - Verfahren und vorrichtung zur kontrolle einer strassenfraesmaschine in abhaengigkeit eines rueckschlagfalls - Google Patents

Verfahren und vorrichtung zur kontrolle einer strassenfraesmaschine in abhaengigkeit eines rueckschlagfalls Download PDF

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Publication number
EP0662177B1
EP0662177B1 EP94911760A EP94911760A EP0662177B1 EP 0662177 B1 EP0662177 B1 EP 0662177B1 EP 94911760 A EP94911760 A EP 94911760A EP 94911760 A EP94911760 A EP 94911760A EP 0662177 B1 EP0662177 B1 EP 0662177B1
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Prior art keywords
value
response
data signal
kickback
delivering
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English (en)
French (fr)
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EP0662177A1 (de
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Kevic C. Lent
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Caterpillar Paving Products Inc
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Caterpillar Paving Products Inc
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Priority claimed from US07/951,957 external-priority patent/US5318378A/en
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    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
    • E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
    • E01C23/08—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades
    • E01C23/085—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades using power-driven tools, e.g. vibratory tools
    • E01C23/088—Rotary tools, e.g. milling drums

Definitions

  • This invention relates generally to an automatic control process and apparatus for controlling a roadway planer and more particularly to an automatic control process and apparatus for controlling a roadway planer in response to a occurrence of a kickback event during roadway milling operations.
  • Roadway planers also known as pavement profilers, road milling machines or cold planers, are machines designed for scarifying, removing, mixing or reclaiming, material from the surface of bituminous or concrete roadways and similar surfaces. These machines typically have a plurality of tracks or wheels which support and horizontally transport the machine along the surface of the road to be planed, and have a rotatable planing cylinder that is vertically adjustable with respect to the road surface.
  • a kickback event sensor that senses fluid pressure in a hydraulic circuit regulating the height of an adjustable strut member on the cold planer is described in U. S. Patent 4,929,121 issued May 29, 1990 to Kevin C. Lent et al. and assigned to the assignee of the present invention.
  • the control system described in this reference employs a signal produced by a pressure switch, in response to a kickback event, to sequentially disengage the cutter, or planing cylinder, from the drive engine.
  • the planing cylinder on a typical down-cutting machine will attempt to rise up out of the cut.
  • changes in material density can cause the chassis on an up-cutting machine to also rise up out of the cut.
  • the cold planer is operating with an automatic grade control system, such as the portable string line system described in U. S. Patent 4,270,801 issued June 2, 1981 to George M. Swisher, Jr. et al
  • the automatic grade control sensing that the machine is above the desired grade, will attempt to lower the chassis by retracting the supporting strut members, leaving the machine principally supported on the rotor. In this position, the machine cannot be steered or braked because of insufficient contact between the strut mounted tracks, or wheels, and the ground. In this condition, the operator may not be able to stop, steer, or control undesirable movement of the machine.
  • the present invention is directed to overcoming the problems set forth above. It is desirable to have a kickback event control arrangement that, in the event of a kickback, will maintain sufficient vehicle weight on the ground support members to permit the operator to maintain operational control of the movement of the machine. It is also desirable to have a method of controlling the operation of a cold planer so that sufficient weight is maintained on the ground support members to inhibit loss of operational control of the machine during the occurrence of a kickback event.
  • a kickback control system for a cold planer having a vertically adjustable chassis supported by a plurality of extendable support members and a planing cylinder rotatably mounted on the chassis includes a first means for sensing a force imposed, in a direction normal to a ground surface, by the chassis on at least one of the support members and delivering a data signal that is responsive to the value of the sensed force.
  • the kickback control system also includes a second means for receiving the data signal and delivering a control signal if the value of the data signal is less than a predetermined value.
  • the kickback control system includes a third means for increasing the force imposed by the chassis on the extendable support members, and a fourth means for interrupting the rotation of the planing cylinder, in response to the control signal.
  • a method for controlling a cold planer in response to a kickback event in which the cold planer has a vertically adjustable chassis supported by a plurality of extendable support members and a planing cylinder rotatably mounted on the chassis, includes sensing a force imposed in a direction normal to a ground surface by the chassis on at least one of the support members and delivering a data signal that is responsive to the value of the sensed force.
  • the value of the data signal is compared with a predetermined value, and if found to be less than the predetermined value, a control signal is delivered.
  • the force imposed by the chassis on the support members is increased and rotation of the planing cylinder is interrupted.
  • a kickback control system 10 for a cold planer having a vertically adjustable chassis 12 supported by a plurality of extendable support members 14 each having a first end 16 connected to the chassis 12 and a second end 18 in contact with a ground surface 20 is shown schematically in Fig. 1.
  • Cold planers also known as roadway profilers or milling machines, are described in the aforementioned U.S. Patent No. 4,186,968 and are well known in the art.
  • Such machines typically have a rotor, or planing cylinder 21, rotatably mounted on the chassis at a position intermediate the forward and rearward ends of the chassis and disposed transversely with respect to the direction of travel of the cold planer.
  • the planing cylinder has a plurality of cutting bits mounted thereon which engage the ground or pavement which is fragmented by the cutting action of the bits.
  • the extendable support members 14 include hydraulically actuated strut assemblies 22 having at least one pressure chamber 24 that is connected, by way of a grade control system 26, to a source of pressurized hydraulic fluid which, as indicated in Fig. 1, is provided by a variable displacement pump 28.
  • the grade control system 26 typically includes a sensor to provide a grade reference for control of the position of the chassis 12 relative to the roadway 20.
  • grade control systems for cold planers are well known, as for of example the string line based grade reference arrangement described in the above mentioned U.S. Patent No. 4,270,801.
  • the operational mode of the grade controller 26 is governed by a dash-mounted switch that enables the machine operator to selectively place the grade controller in either an automatic or a manual operating mode.
  • the grade controller 26 includes a signal generator to provide a data signal indicative of the selected operating mode.
  • the kickback control system 10 includes a first means 3C for sensing the force imposed in a direction normal to the ground surface 20 by the chassis 12 on at least one of the support members 14, and delivering a data signal responsive to the value of the sensed force.
  • the first means 30 comprises a pressure sensor 32, having an integrated sending unit, in fluid communication with the pressure chamber 24 of one of the strut assemblies 22, e.g. the pressure sensor 32 may be connected near the pressure chamber 24 to a hydraulic line communicating with the pressure chamber.
  • the chassis 12 is raised upwardly by increasing the volume of an essentially incompressible fluid, such as hydraulic fluid, in the upper chamber 24 and correspondingly decreasing the volume of fluid in a lower pressure chamber 34 of the strut 22. Conversely, the chassis 12 is lowered by decreasing the volume of fluid in the upper chamber 24 and increasing the volume of fluid in the lower chamber 34.
  • an essentially incompressible fluid such as hydraulic fluid
  • the first means 30 may also include a pressure sensor 36 in fluid communication with the lower pressure chamber 34.
  • the pressure sensor 36 thus may provide an additional data signal indicative of the pressure in lower chamber 34.
  • the first means 30 may comprise a load cell or strain gage attached to the strut 22 to sense the compressive force, carried through the strut, that is imposed by the chassis 12 on the support member 14.
  • the kickback control system 10 also includes a second means 38 for receiving one or more data signals and delivering one or more control signals in response to the value of the data signals.
  • the second means 38 comprises an electronic controller 40, such as a Motorola 6809 8-bit programmable microprocessor, and an analog to digital converter 42 for converting analog data signals to digital signals.
  • the second means 38 also preferably includes a digital to analog converter 44 for converting the digital output signals of the microprocessor 40 to analog control signals.
  • the logic sequence controlling the processing of incoming data signals and the output of control signals is shown in Fig. 2 and described below in more detail.
  • the second means 38 may comprise a programmable logic ccntroller or may be incorporated as a subroutine in a comprehensive on-board computer that monitors and controls multiple vehicle systems.
  • the kickback control system 10 further includes a third means 46 for increasing the force imposed in a direction normal to the ground surface 20 by the chassis 12 on the support members 14.
  • the third means 46 includes a first valve 48 that, as shown in Fig. 1, is preferably a three position, center biased, valve that is solenoid operated to shift the valve to either a first operative position represented by the lower block of the valve diagram, or a second operative position represented by the upper block.
  • the third means 46 also includes a kickback solenoid 50 which, when activated in response to a control signal for the controller 40, shifts the first valve 48 to the second operative position, providing a flow of pressurized fluid to the upper pressure chamber 24 directly from the pump 28.
  • the strut assembly 22 is controllably extended, as described below, so that the second end 18 of the support member 14 is maintained in contact with the ground and a predetermined minimum weight, or force, is imposed on the extendable support member 14.
  • This action assures that sufficient force is provided on the strut assembly 14 to maintain weight bearing contact between the second end 18 of the support member and the ground surface 20.
  • the strut is not only prevented from lifting off the ground surface 20 but also, during the occurrence of a kickback event, the operator is able to maintain control of machine movements such as braking and steering.
  • the first valve 48 may be incorporated into the grade control system 26 as an integral part thereof, so that when a kickback event is sensed the grade controller will direct a flow of pressurized fluid only to the upper chamber 24, and relieve the lower chamber 34, in response to a control signal from the electronic controller 40.
  • the extendable support members 14 may comprise linearly actuated struts such as a ball-screw actuator, in which embodiment the third means 46 may comprise either an electric or hydraulic motor to drive the actuator.
  • the kickback control system 10 also includes a fourth means 52 for interrupting the rotation of the planing cylinder 21.
  • the fourth means 52 includes a second valve 54 in fluid communication with a pressure actuated clutch 56 and a source of pressurized fluid such as a pump 60.
  • the clutch 56 when pressurized, operatively couples the planing cylinder 21 to a drive engine 58.
  • the second valve 54 is a two position solenoid actuated valve that js spring biased to a normally open position to relieve fluid pressure from the clutch 56.
  • the solenoid When actuated by the solenoid, the second valve 54 is moved so that the portion of the valve represented by the upper block of the schematic representation is operable, and pressurized fluid is directed from the pump 60 to the clutch 56.
  • a data signal indicative of the position, either active or inactive/vented, of the second valve 54 in the clutch pressure circuit is provided to the electronic processor 40 which provides a control signal responsive to the active or inactive state of the fourth means 52.
  • the fourth means 52 may comprise multiple, sequentially actuated, components such as the belt tensioner, brake and clutch arrangement described in the aforementioned U.S. Patent 4,929,121. Although shown as a hydraulic system in the present embodiment, the fourth means 52 may comprise a compressed air system, or a combination of hydraulic and air components.
  • control system 10 also includes a switch 62 that is controlled by the machine operator between selective on and off positions to respectively activate or deactivate the fourth means 52.
  • a data signal is provided to the electronic controller indicative of the position of the switch, i.e., whether or not current or voltage is present at the closed terminal.
  • an indicator light 64 mounted on the vehicle operator's panel to alert the operator that a kickback event has been detected and that the subroutine controlling strut extension and planing cylinder rotation in response to the kickback event is active.
  • a momentary contact reset switch 66 spring biased to an open position, is provided on the operator's panel to enable the operator to selectively reinitiate the control system after detection of a kickback event, after execution of the appropriate control sequence, and after the operator determines that it is safe to resume normal operation of the vehicle.
  • the operational sequence controlling the receiving of data signals, computations and comparisons with preselected values, and delivery of output signals by the electronic processor 40 is shown in Fig. 2.
  • the processor 40 first determines, as indicated in blocks 100, 102 and 104, that the chassis raise valve, i.e., the first valve 48 is in the default/centered position indicated in Fig. 1, that the second, or clutch pressure circuit, valve 54 is in the default/vented position, and that the kickback indicator light 64 is on.
  • the control sequence checks the data signal indicative of the position of the second, or clutch pressure, valve 54, as indicated at block 106, and does not continue if the switch 62 is closed. If open, i.e., the clutch circuit off, the operating mode data signal received from the grade control system 26 is checked, at block 108, to assure that the automatic grade control system is not active, i.e., it is in the manual-off control position.
  • the data signal representative of the open or closed position of the switch 62 is referred to herein as the second data signal, and the data signal representative of the grade control operating mode is identified as the fourth data signal.
  • the control signals delivered by the electronic controller 40 in response to the values of the second and fourth data signals are respectively designated in the claims as the third and fourth control signals.
  • the control loop returns to the initial startup position and will not proceed further into the control sequence until both are inactivated.
  • the operator upon determining that the clutch system control switch 62 is not closed, i.e., that the clutch 56 is disengaged, and that the grade control system 26 is not in the automatic control mode, the operator, upon determining that the machine is ready for milling operations, may activate the grade control system, as indicated at block 110, by moving the selector switch provided on the instrument panel to the "automatic" position.
  • a first data signal, representative of the pressure in the upper chamber 24 of at least one of the struts 22, is measured by the pressure sensor 32 and delivered to the microprocessor 40.
  • the value of the measured pressure in the upper chamber 24 of a strut that has no pressure trapped in the lower chamber 34 will correspond directly to the force imposed by the chassis 12 on the support member 14, in a direction normal to the ground surface.
  • the pressure in the upper chamber 24 will be the sum of the trapped pressure in the lower chamber and the weight, or force, of the vehicle.
  • the force imposed by the chassis 12 on the support member 14 corresponds to the differential pressure, i.e., the upper chamber pressure minus the lower chamber pressure.
  • the value of the first data signal representing the pressure in the upper chamber, or alternatively the difference between the first data signal and a third data signal representing the pressure in the lower pressure chamber is compared with a predetermined high value, e.g. about 75% to 80% of the pressure required to support the weight of the vehicle.
  • a predetermined high value is identified as the "second predetermined value”.
  • the electronic controller 40 of the second means 38 is programmed to deliver a control signal, identified herein as a "second control signal", if the value of the first, or alternatively the first and third differential, data signal is greater than the predetermined second, or high, value.
  • the electronic controller will not generate the second control signal, and the control sequence will return to the initial start position. The sequence will not continue until the chassis is raised and sufficient weight shifted from the planing cylinder 21 to the support members 14 so that the strut pressure is greater than the predetermined second, or high value, and the second control signal is delivered by the controller 40.
  • This control function prevents start up of the planing cylinder with the cylinder buried in the ground with more than, in this example, about 20% to 25% of weight of the vehicle supported by the planing cylinder.
  • the kickback indicator light is deactivated, block 114, and the clutch pressure circuit, at block 116, is activated, i.e., the second valve 54 is shifted to the position indicated by the upper block.
  • the machine is in an operable mode, with the operator having control of the clutch and grade control systems. Rotation of the planing cylinder 21 is initiated by closing the switch 62. Upon activation of the clutch 56 the kickback control sequence continues, as indicated at block 118.
  • pressure in the upper chamber 24, or alternatively the differential pressure between the upper and lower chambers 24, 34 is continuously compared, at block 120 to determine if the pressure is above a preselected first, or low, value.
  • a preselected first, or low, value e.g., from 0% to about 10% of the weight of the chassis
  • the machine will attempt to rise up out of the cut.
  • the grade control system 26 sensing that the chassis is too high, will attempt to lower the chassis by retracting the extendable support members 14. This results in a dramatic drop in pressure in the upper chamber 24 of the strut 22.
  • the electronic processor 40 delivers a first control signal to deactivate the clutch pressure circuit 52, activate the kickback indicator light 64, and activate the kickback solenoid 50 on the first valve 48, as indicated at blocks 122, 124, and 126.
  • the second valve 54 in response to the first control signal, the second valve 54 is shifted to the biased position in which fluid pressure to the clutch is relieved, the kickback event indicator light is activated alerting the operator that a kickback event has occurred and that the control system is overriding normal machine operation.
  • the first valve 48 is shifted to the position indicated by the upper block of the valve schematic diagram in Fig. 1. As a result of these actions, rotation of the planing cylinder is interrupted, the lower pressure chamber 34 of the strut 22 is vented, and a supply of pressurized fluid is immediately directed to the upper pressure chamber 24.
  • the control routine continues in the subroutine indicated by blocks 122, 124 and 126 until, as indicated by block 128, the strut pressure, or differential pressure as the case may be, increases to a value greater than the aforementioned high, or second, value, e.g., about 75% to 80% of the pressure required to support the weight of the vehicle and, most importantly, the operator is able to maintain control of vehicle steering, braking, and traction.
  • the kickback solenoid 50 When the strut pressure increases to a value greater than the predetermined second, or high, value, the kickback solenoid 50 is deactivated, at block 130, releasing the first valve 48 to its normal, center biased, inactive position.
  • the control sequence continues in a subroutine indicated by blocks 128 and 130, continuously monitoring strut pressure, until the operator has determined that the problem precipitating the kickback event has been corrected, and that tne machine is ready to continue normal operation.
  • the reset switch 66 represented by block 132, the control routine is directed to the initial startup sequence.
  • the rear struts will tend to rise in the event of a kickback.
  • the front struts may tend to rise first.
  • the kickback control system 10 embodying the present invention advantageously permits an operator to maintain, or very quickly regain, operational control of a cold planer when a kickback event is experienced. Furthermore, certain safeguards, such as prevention cf planing cylinder rotation when excessive downward force is imposed on the cylinder, are provided in the subject kickback control system.
  • the elements comprising the kickback control system 10 the control logic routines defining the present invention may be combined with other existing control arrangements, or incorporated in comprehensive integrated control systems governing multiple vehicle functions such as propel and braking systems.
  • the present invention may be incorporated with present cutter and vehicle propulsion control and/or braking systems.
  • the present invention desirably increases strut pressure when a kickback event is sensed to provide the operator with improved control of vehicle motion.

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Claims (20)

  1. Rückschlagsteuersystem (10) für eine Planiermaschine mit einem vertikal einstellbaren Chassis (12) getragen durch eine Vielzahl von ausfahrbaren Traggliedern (14) deren jedes ein erstes mit dem Chassis (12) verbundenes und ein zweites in Kontakt mit der Erdoberfläche (20) Ende (18) aufweist und mit einem Planierzylinder (21) drehbar angebracht am Chassis (12), wobei das Rückschlagsteuersystem (10) folgendes aufweist:
    erste Mittel (30) zum Abfühlen einer in einer Richtung senkrecht zur Erdoberfläche (20) durch das Chassis mindestens eines der Tragglieder (14) angelegten Kraft und Lieferung eines ersten auf den Wert der abgefühlten Kraft ansprechenden Datensignals;
    zweite Mittel (38) zum Empfang des erwähnten ersten Datensignals und zur Lieferung eines ersten Steuersignals ansprechend auf den Wert des ersten Datensignals, wenn dies kleiner ist als ein erster vorbestimmter Wert; und
    vierte Mittel (52) zum Unterbrechung der Drehung des Planierzylinders (21) ansprechend auf das erste Steuersignal, gekennzeichnet durch
    dritte Mittel (46) zur Erhöhung der an das Chassis (12) an der Vielzahl von ausfahrbaren Traggliedern (14) angelegten Kraft ansprechend auf das erste Steuersignal.
  2. Rückschlagsteuersystem (10) nach Anspruch 1, wobei die zweiten Mittel (38) Mittel aufweisen zur Lieferung eines zweiten Steuersignals ansprechend darauf, daß der Wert des ersten Datensignals größer ist als ein vorbestimmter zweiter Wert, wobei der vorbestimmte zweite größer ist als der vorbestimmte erste Wert.
  3. Rückschlagsteuersystem (10) nach Anspruch 1, wobei jedes der ausfahrbaren Tragglieder (14) eine hydraulisch betätigte Stangenanordnung (22) aufweist, mit einer Druckkammer (24, 34) und wobei die dritten Mittel (46) ein erstes Ventil (48) umfassen, und zwar angeordnet zwischen einer Quellen hydraulischen Druckströmungsmittels und den Druckkammern (24, 34), wobei das erste Ventil (38) eine Strömung unter Druck stehenden hydraulischen Strömungsmittels von der Quelle zu den Druckkammern (24, 34) ansprechend auf das erste Steuersignal leitet.
  4. Rückschlagsteuersystem (10) nach Anspruch 1, wobei die vierten Mittel (52) ein zweites Ventil in Strömungsmittelverbindung mit einer strömungsmittelbetätigten Kupplung (56) und einer Druckströmungsmittelquelle aufweist, wobei die Kupplung (56) betriebsmäßig den Planierzylinder (21) mit einem Antriebsmotor (58) kuppelt, und wobei das erwähnte zweite Ventil (54) den Strömungsmitteldruck abläßt und den Planierzylinder (21) von dem Antriebsmotor (58) ansprechend auf das erste Steuersignal abkuppelt.
  5. Rückschlagsteuersystem (10) nach Anspruch 1, wobei das Steuersystem (10) einen Schalter (62) aufweist, der vierte Mittel (52) mit einer Quelle elektrischer Leistung verbindet, und wobei die vierten Mittel (52) Mittel aufweisen zur Lieferung eines zweiten Datensignals ansprechend auf den elektrischen Betriebszustand der vierten Mittel (52), wobei die zweiten Mittel (38) ferner Mittel aufweisen zum Empfang des zweiten Datensignals und zur Lieferung eines dritten Steuersignals ansprechend auf den Wert des zweiten Datensignals.
  6. Rückschlagsteuersystem (10) nach Anspruch 1, wobei jedes der ausfahrbaren Tragglieder (14) eine hydraulisch betätigte Stangenanordnung (22) aufweist, mit einer Druckkammer (24), und wobei erste Mittel (30) einen Drucksensor (32) aufweisen, und zwar in Strömungsmittelverbindung mit der Druckkammer (24) von mindestens einer der Stangen an der Stangenanordnung (22).
  7. Rückschlagsteuersystem (10) nach Anspruch 1, wobei jedes der ausfahrbaren Tragglieder (14) eine hydraulisch betätigte Stangenanordnung (22) aufweist, mit einer oberen Druckkammer (24), und einer unteren Druckkammer (34), und wobei die ersten Mittel (30) folgendes aufweisen:
    einen ersten Drucksensor (32) in Strömungsmittelverbindung mit der oberen Druckkammer (24) von mindestens einer der Stangenanordnungen (22), wobei das erste Datensignal auf den Wert des abgefühlten Drucks in der oberen Druckkammer (24) anspricht;
    einen zweiten Drucksensor (32) in Strömungsmittelverbindung mit der unteren Druckkammer (34) von mindestens einer der erwähnten Stangenanordnungen (22); und
    Mittel zur Lieferung eines dritten Datensignals ansprechend auf den Wert des abgefühlten Drucks in der unteren Druckkammer (34).
  8. Rückschlagsteuersystem (10) nach Anspruch 7, wobei die zweiten Mittel (38) Mittel aufweisen zum Empfang der ersten und dritten Datensignale, zum Vergleich der ersten und dritten Datensignale und zur Bestimmung eines Differenzwertes, wobei das erste Steuersignal auf den Differenzwert anspricht wenn dieser kleiner ist als der erwähnte erste vorbestimmte Wert und Lieferung eines zweiten Steuersignals ansprechend auf die Tatsache, daß der Differenzwert größer ist als ein zweiter vorbestimmter Wert, wobei der zweite vorbestimmte Wert größer ist als der erste vorbestimmte Werte.
  9. Rückschlagsteuersystem (10) nach Anspruch 1, wobei die ersten Mittel (30) eine an mindestens einem der erwähnten ausfahrbaren Tragglieder (14) angebrachte Lastzelle aufweisen.
  10. Rückschlagsteuersystem (10) nach Anspruch 1, wobei die Planiervorrichtung eine Gradierungs- oder Nivelliersteuervorrichtung (26) aufweist, um den Planierzylinder (21) in eine vorgewählten Höhenposition bezüglich der Erdoberfläche (20) zu halten, wobei die Gradiersteuervorrichtung (26) aufweist zum Liefern eines vierten Datensignals ansprechend auf die Betriebsart der Gradiersteuervorrichtung (26), und wobei die zweiten Mittel (38) Mittel aufweisen zum Empfang des vierten Datensignals und zur Lieferung eines vierten Steuersignals ansprechend auf den Wert des vierten Datensignals.
  11. Verfahren zur Steuerung einer Planiervorrichtung ansprechend auf ein Rückschlagereignis, wobei die Planiervorrichtung ein vertikal einstellbares Chassis (12) getragen durch eine Vielzahl von ausfahrbaren Traggliedern (14) von denen jedes ein erstes Ende (16) verbunden mit dem Chassis (12) und ein zweites in Kontakt mit der Erdoberfläche (20) stehendes Ende (18) aufweist und ferner einen Planierzylinder (21) drehbar angebracht an dem Chassis (12), wobei das Verfahren folgendes vorsieht:
    Abfühlen einer in Richtung senkrecht zur Erdoberfläche (20) durch das Chassis (12) auf mindestens eines der Tragglieder (14) ausgeübten Kraft;
    Liefern eines ersten auf den Wert der abgefühlten Kraft ansprechenden Datensignals;
    Vergleichen des Werts des ersten Datensignals mit einem vorbestimmten Wert;
    Liefern eines ersten Steuersignals ansprechend auf den Wert des ersten Datensignals wenn dieser kleiner ist als ein vorbestimmter Wert;
    Unterbrechen der Drehung des Planierzylinders (21) ansprechend auf das erste Steuersignal;
    gekennzeichnet durch das Vergrößern der durch das Chassis (12) auf die Vielzahl der ausfahrbaren Tragglieder (14) ausgeübten Kraft infolge des ersten Steuersignals.
  12. Verfahren zum Steuern einer Planiervorrichtung ansprechend auf ein Rückschlagereignis nach Anspruch 1, wobei das Verfahren folgendes aufweist: Liefern eines zweiten Steuersignals ansprechend auf den Wert des ersten Datensignals wenn dieser größer ist als ein vorbestimmter zweiter Wert, wobei der vorbestimmte zweite Wert größer ist als der erwähnte vorbestimmte erste Wert.
  13. Verfahren zur Steuerung einer Planiervorrichtung ansprechend auf ein Rückschlagereignis nach Anspruch 11, wobei jedes der ausfahrbaren Tragglieder (14) ein hyraulisch betätigte Stange (22) aufweist mit einer Druckkammer (24, 34) und Strömungsmittelverbindungen mit einem ersten Ventil (48) angeordnet zwischen einer Druckströmungsmittelquelle und den Druckkammern (24, 34), und wobei der Schritt des Vergrößerns der durch das Chassis (12) auf die Vielzahl von ausfahrbaren Traggliedern (14) ausgeübten Kraft das Leiten einer Druckströmungsmittelströmung von der Quelle zu den Druckkammern (24, 34) ansprechend auf das erste Steuersignal umfaßt.
  14. Verfahren zur Steuerung einer Planiervorrichtung ansprechend auf ein Rückschlagereignis nach Anspruch 11, wobei die Planiervorrichtung eine erste strömungsmitteldruckbetätigte Kupplung (56) aufweist, und zwar betriebsmäßig den Planierzylinder (21) mit einem Antriebsmotor (58) kuppelt und ferner mit einem Ventil (54) in Strömungsmittelverbindung mit der Kupplung (56), und wobei fer der Schritt des Unterbrechens der Drehung des Planierzylinders (21) umfaßt, daß das zweite Ventil (54) in eine Position bewegt wird, die ausreicht, um den Strömungsmitteldruck der die Kupplung betätigt (56) freizugeben und den Planierzylinder (21) von dem Antriebsmotor (58) abkuppelt, und zwar ansprechend auf das erste Steuersignal.
  15. Verfahren zur Steuerung einer Planiervorrichtung ansprechend auf ein Rückschlagereignis nach Anspruch 11, wobei folgendes vorgesehen ist: Liefern eines zweiten Datensignals ansprechend auf die Betriebsposition des zweiten Ventils (54) und Liefern eines dritten Steuersignals ansprechend auf den Wert des zweiten Datensignals.
  16. Verfahren zur Steuerung einer Planiervorrichtung ansprechend auf ein Rückschlagereignis nach Anspruch 11, wobei jedes der ausfahrbaren Tragglieder (14) eine hydraulisch betätigte Stangenanordnung (22) mit einer Druckkammer (24) aufweist, und wobei der Schritt des Abfühlens einer Kraft aufgeprägt in einer Richtung senkrecht zur Erdoberfläche durch das erwähnte Chassis (12) das Abfühlen des Drucks eines Strömungsmittels in Verbindung mit der Druckkammer an mindestens einem der Tragglieder (14) umfaßt.
  17. Verfahren zur Steuerung einer Planiervorrichtung infolge eines Rückschlagereignisses nach Anspruch 11, wobei jedes der erwähnten ausfahrbaren Tragglieder (14) eine hydraulisch betätigte Stangenanordnung (22) aufweist mit einer oberen Druckkammer (24) und einer unteren Druckkammer (34), und wobei der Schritt des Abfühlens einer Kraft in einer Richtung normal zur Erdoberfläche (20) durch das Chassis (12) angelegten Kraft das gesonderte Abfühlen des Drucks eines Strömungsmittels in Verbindung mit der oberen Druckkammer (24) umfaßt, und eines Strömungsmittels in Verbindung mit der erwähnten unteren Druckkammer (34) von mindestens einem der erwähnten Tragglieder (14), und wobei der Schritt des Liefern eines ersten Datensignals folgendes umfaßt: Liefern des ersten Datensignals ansprechend auf den Wert des Drucks des Strömungsmittels in Verbindung mit der oberen Druckkammer (24) und Liefern eines dritten Datensignals ansprechend auf den Wert des Drucks des Strömungsmittels in der Verbindung mit der unteren Druckkammer (34).
  18. Verfahren zur Steuerung einer Planiervorrichtung ansprechend auf ein Rückschlagereignis nach Anspruch 17, wobei das Verfahren folgende Schritte aufweist: Vergleichen der ersten und dritten Datensignale und Bestimmten eines Differenzwertes, Liefern des ersten Steuersignals ansprechend auf die Tatsache daß der Differenzwert kleiner ist als der erste vorbestimmte Wert und Liefern eines zweiten Steuersignals ansprechend darauf, daß der Differenzwert größer ist als ein zweiter vorbestimmter Wert, wobei der zweite vorbestimmte Wert größer ist als der erste vorbestimmte Wert.
  19. Verfahren zur Steuerung einer Planiervorrichtung ansprechend auf ein Rückschlagereignis nach Anspruch 11, wobei die Planiervorrichtung eine Lastzelle aufweist, die an mindestens einem der ausfahrbaren Tragglieder (14) angebracht ist, und wobei der Schritt des Abfühlens einer Kraft angelegt in einer Richtung normal oder senkrecht zur Erdoberfläche (20) das Abfühlen des Wertes der Kraft gemessen durch die Lastzelle umfaßt.
  20. Verfahren zur Steuerung einer Planiervorrichtung ansprechend auf ein Rückschlagereignis nach Anspruch 11, wobei die Planiervorrichtung eine Gradierungssteuervorrichtung (26) aufweist um den Planierzylinder (21) in einer ausgewählten Höhenposition bezüglich der Erdoberfläche (20) zu halten, und Mittel zum Liefern eines vierten Datensignals ansprechend auf den Betriebszustand der Gradierungssteuervorrichtung (26), wobei das Verfahren das Liefern eines vierten Steuersignals ansprechend auf den Wert des vierten Datensignals umfaßt.
EP94911760A 1992-09-28 1993-08-23 Verfahren und vorrichtung zur kontrolle einer strassenfraesmaschine in abhaengigkeit eines rueckschlagfalls Expired - Lifetime EP0662177B1 (de)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US95194792A 1992-09-28 1992-09-28
US07/951,957 US5318378A (en) 1992-09-28 1992-09-28 Method and apparatus for controlling a cold planer in response to a kickback event
US951957 1992-09-28
PCT/US1993/007903 WO1994008094A1 (en) 1992-09-28 1993-08-23 Method and apparatus for controlling a cold planer in response to a kickback event

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EP0662177A1 EP0662177A1 (de) 1995-07-12
EP0662177B1 true EP0662177B1 (de) 1998-11-25

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DE19617442C1 (de) * 1996-05-02 1998-01-29 Wirtgen Gmbh Fahrwerk für eine Maschine zum Abfräsen von Straßenbelägen

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US4186968A (en) * 1977-04-04 1980-02-05 Barco Manufacturing Company Roadway pavement planing machine
US4270801A (en) * 1979-08-14 1981-06-02 Cmi Corporation Steering and cutter drum positioning in a paved roadway planing machine
US4929121A (en) * 1989-09-05 1990-05-29 Caterpillar Paving Products Inc. Control system for a road planer

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WO2013096094A1 (en) * 2011-12-20 2013-06-27 Caterpillar Paving Products Inc. Suspension system and control method for track-propelled machines

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