EP0935024B1 - Soil compacting machine and method of controlling the same - Google Patents
Soil compacting machine and method of controlling the same Download PDFInfo
- Publication number
- EP0935024B1 EP0935024B1 EP99102195A EP99102195A EP0935024B1 EP 0935024 B1 EP0935024 B1 EP 0935024B1 EP 99102195 A EP99102195 A EP 99102195A EP 99102195 A EP99102195 A EP 99102195A EP 0935024 B1 EP0935024 B1 EP 0935024B1
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- European Patent Office
- Prior art keywords
- steering
- drums
- drum
- control device
- stop
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000000034 method Methods 0.000 title claims description 10
- 239000002689 soil Substances 0.000 title description 9
- 238000001514 detection method Methods 0.000 claims description 5
- 230000000284 resting effect Effects 0.000 claims 4
- 238000005056 compaction Methods 0.000 description 6
- 230000007704 transition Effects 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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Classifications
-
- 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
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
- E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
- E01C19/26—Rollers therefor; Such rollers usable also for compacting soil self-propelled or fitted to road vehicles
Definitions
- the invention relates to a two-band soil compaction device with double steering, in particular a road roller with double steering, and a method for controlling the steering drive of the soil compaction device as disclosed in DE-A-195 36 987, the steering drive of both being separately controllable Roller bandages depending on a control device the steering specifications selected by the roller operator and / or a control program that can be selected by the roller operator and, when preselecting a control program, "crab walking" Both steering drives are controlled in such a way that the two bandages with mutual track offset adjustable by the roller operator drive one behind the other.
- This mutual track offset makes it possible to have a work area to compact an operation that is wider than the road roller itself or as the roller bandages and in extreme cases almost double the road roller width is.
- Disadvantage of driving in Hundegang is that the available steering angle is around Track offset angle reduced, i.e. by the angle by which the chassis compared to the respective bandage compared to the alignment is pivoted without track offset.
- the reduced steering angle leads to that on the one hand the maneuverability and maneuverability of the machine is severely restricted in accordance with the reduced steering angle, and that on the other hand, in extreme cases, the ability to steer is completely eliminated becomes, namely when the road roller in maximum dog walking works with the greatest possible track offset, which means both drums rest on the steering stop.
- the roller operator must First reduce the track misalignment of the crab before it hits the road roller can convert from straight ahead to cornering.
- the present invention is based on the object working a soil compaction device at the beginning mentioned type in the control program "dog walking" to improve further.
- control device with one in the control program "Hundegang" with preset track offset based on a selected steering setting performed cornering the steering drive of both drums when reached a steering stop controls such that only the not on Free bandage applied to the steering stop at least as long until, as a result of the steering control the free bandage performed cornering of the soil compacting device the blocked Bandage has moved away from the steering stop.
- the advantage of this Control method is now that the road roller when reached the steering stop and thus even with maximum track offset remains steerable by only moving away from the steering stop Bandage is controlled by the control device and performs the desired cornering.
- the roller operator can concentrate fully on this cornering and do not have to at the same time try to reduce the track offset beforehand or during this adapt.
- the control device expediently controls accordingly the steering set both drums on it until it turns again one of the two bandages on the steering stop ensures that that the free mobility of both bandages is used as long as until in the course of further cornering and due to this existing track offset again a bandage on the steering stop invests.
- the control device then expediently controls only the free bandage that is not at the ready, and this again at least until the system at the steering stop is lifted is.
- control device ensures cornering with the maximum possible track offset, the track offset - if it is necessary for the steering maneuver - until it is reduced until either cornering is finished or until cornering in the the desired way by controlling both drums can be.
- control device for maintaining the set Track offset controlling the steering drive of the two drums an additional control signal superimposed such that at least after according to the guidance given by the course of the cure and at Transition to straight-ahead driving the preset track offset automatically is restored. So here the reduction of Track misalignment automatically by the control device during cornering undone again so that the roller operator himself can fully focus on steering the road roller during the Track offset is changed solely by the control device.
- the superimposed activation for restoration takes place the preset track offset already when cornering, so that whenever none of the rollers bandages on Steering stop is applied, the control device, the two steering drives in the sense of increasing the track offset.
- the present invention also extends on the soil compacting device itself, in particular on a Road roller with double-steer steering, the two separated by one Control device depending on the one selected by the roller operator Steering specifications and / or one that can be selected by the roller operator Control program controllable via a steering drive Has roller bandages, the steering drive through each bandage the control device can be controlled such that when preselecting one Control program "dog walking" both bandages with mutual, Move the track offset that can be set by the roller operator one after the other.
- the mentioned advantages according to the invention can be found in the soil compaction device thereby achieve that the steering drive of the Bandages by the control device in the control program "Hundegang" with a preset track offset when reaching the Steering stop of one or both drums can be controlled such that the selection of a steering specification for controlling only the steering drive leads of the free bandage not in contact with the steering stop assigned.
- control device on each assigned to the drum, especially for display angle detection devices for reaching the steering stop is connected, and that the control device such is controllable that at least as long as only the steering drive of the controls the free drum attached to the steering stop, like the angle detection device the other, at the steering stop, blocked bandage indicates a concern at the steering stop.
- Figure 1 is a road roller 1 in a perspective side view shown, which has a double-frame steering and here two individually steerable roller bandages 2, 3 comprises.
- the roller bandages are connected to each other via a chassis 4 on which a driver's cabin 5 is arranged for the roller guide.
- this road roller 1 The operation of this road roller 1 is shown schematically in Figure 2, the road roller 1 with its front drum 2 and its rear bandage 3 passes through six stations I to VI and this performs a steering maneuver despite maximum dog walking by by the left edge of the work area in the direction of travel to the direction of travel right edge changed.
- the track offset that the two bandages have against each other is indicated in Section I with c and is calculated from the vertical 12, 13 to the axes of the bandages 2, 3 in the center of the associated Steering axle. If a bandage width is added to this track offset c b, you get the total width d of the road roller covered work area.
- the two track offset angles are also ⁇ 1 of the bandage 2 and ⁇ 1 of the bandage 3, indicated by those mentioned Vertical 12, 13 to the drum axes on the one hand and the longitudinal axis 14 of the chassis 4 are enclosed on the other hand.
- Sections II to VI show the track offset angles so that together with the respective steering angle, they form a total angle form between the vertical supports 12, 13 and the longitudinal axis 14.
- the total angle ⁇ 2 corresponds to the track offset angle ⁇ 1
- the front drum 2 is in the steering stop and not the one selected by the roller operator according to the steering specification Can perform right-hand drive.
- the rear bandage 3 has one Total angle ⁇ 2, since the rear bandage 3 to achieve a Right-hand steering has been swung to the left away from its stop is, which of course also greatly reduces the mutual track offset has been.
- control device controls in sections I to IV only the steering drive of the free roller drum 3, while in Transition from section V to section VI only the steering drive the - in sections I to IV still blocked and now - free roller drum 2 is controlled.
- FIG. 2 shows cornering at maximum Track misalignment with both drums on their steering stops:
- the steering drives are naturally actuated in a similar manner even if there is no maximum lane offset when driving straight ahead is present and both bandages have a certain remaining Have steering angle and only one of the two when cornering Bandages to the steering stop is moved.
- FIG 3 it is indicated how the road roller the respective drum position when controlling the associated steering drives can.
- a control device 21 on steering angle sensors 22, 23 connected as a detection device for one Roll drum 2, 3 serve and the respective total angle detect and transmit to the control device 21.
- the control device then controls the roller operator accordingly on his steering wheel or steering joystick 27 selected steering specifications and taking into account the results of the angle sensors 22, 23 Steering drives 24, 25, each of which controls the steering angle of a drum.
- the angle sensors 22, 23 take into account the actual one Steering angle, i.e. the total angle between the addressed Vertical 12, 13 and the roll longitudinal axis 14, independently whether the road roller is running in dog gear or not.
- the Control mode is "dog walking" and the size of the track offset adjustable by a separate input device 26 from the roller operator and is taken into account accordingly by the control device 21.
- Figure 3 finally shows the other components of the overall control the road roller, namely an emergency stop switch 32 Solenoid valve 34 for the brake, a solenoid valve 35 for switching off of the motor, a solenoid valve 36 for controlling the forward drives Solenoid valve 37 for controlling the reverse travel and a solenoid valve 38 for the drive pump. Finally, there is an input device 39 provided for selection of drive gear or speed.
- the present invention offers the advantage that the preset track offset in the control program "dog walking" is automatically reduced to the extent that it is necessary for the implementation the cornering corresponding to the steering requirements is required. This can greatly simplify the work of the roller operator and improve the work result accordingly.
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Road Paving Machines (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
Description
Die Erfindung betrifft eine zweibandagige Bodenverdichtungsvorrichtung mit Doppellenkung, insbesondere eine Straßenwalze mit Doppelschemellenkung, und ein Verfahren zur Steuerung des Lenkantriebs der Bodenverdichtungsvorrichtung wie in DE-A-195 36 987 offenbart, wobei der Lenkantrieb beider getrennt ansteuerbaren Walzenbandagen von einer Steuerungsvorrichtung in Abhängigkeit der vom Walzenführer ausgewählten Lenkvorgaben und/oder eines vom Walzenführer vorwählbaren Steuerungsprogramms gesteuert wird, und wobei bei Vorwahl eines Steuerungsprogramms "Hundegang" beide Lenkantriebe derart angesteuert werden, daß die beiden Bandagen mit gegenseitigem, vom Walzenführer einstellbarem Spurversatz hintereinander herfahren.The invention relates to a two-band soil compaction device with double steering, in particular a road roller with double steering, and a method for controlling the steering drive of the soil compaction device as disclosed in DE-A-195 36 987, the steering drive of both being separately controllable Roller bandages depending on a control device the steering specifications selected by the roller operator and / or a control program that can be selected by the roller operator and, when preselecting a control program, "crab walking" Both steering drives are controlled in such a way that the two bandages with mutual track offset adjustable by the roller operator drive one behind the other.
Dieser gegenseitige Spurversatz ermöglicht es, einen Arbeitsbereich mit einem Arbeitsgang zu verdichten, der breiter als die Straßenwalze selbst bzw. als die Walzenbandagen ist und im Extremfall fast das Doppelte der Straßenwalzenbreite beträgt. Nachteilig an dem Fahren im Hundegang ist jedoch, daß sich der verfügbare Lenkwinkel um den Spurversatzwinkel reduziert, also um den Winkel, um den das Fahrgestell gegenüber der jeweiligen Bandage im Vergleich zur Ausrichtung ohne Spurversatz verschwenkt wird. Der reduzierte Lenkwinkel führt dazu, daß zum einen die Wendigkeit und Manövrierfähigkeit der Maschine entsprechend dem reduzierten Lenkwinkel stark eingeschränkt wird, und daß zum anderen im Extremfall sogar die Lenkfähigkeit ganz aufgehoben wird, nämlich dann, wenn die Straßenwalze im maximalen Hundegang mit dem größtmöglichen Spurversatz arbeitet, wodurch beide Bandagen am Lenkanschlag anliegen. Der Walzenführer muß in diesem Fall erst den Spurversatz des Hundeganges reduzieren, bevor er die Straßenwalze aus der Geradeausfahrt in eine Kurvenfahrt überführen kann.This mutual track offset makes it possible to have a work area to compact an operation that is wider than the road roller itself or as the roller bandages and in extreme cases almost double the road roller width is. Disadvantage of driving in Hundegang is that the available steering angle is around Track offset angle reduced, i.e. by the angle by which the chassis compared to the respective bandage compared to the alignment is pivoted without track offset. The reduced steering angle leads to that on the one hand the maneuverability and maneuverability of the machine is severely restricted in accordance with the reduced steering angle, and that on the other hand, in extreme cases, the ability to steer is completely eliminated becomes, namely when the road roller in maximum dog walking works with the greatest possible track offset, which means both drums rest on the steering stop. In this case, the roller operator must First reduce the track misalignment of the crab before it hits the road roller can convert from straight ahead to cornering.
Es liegt auf der Hand, daß hierdurch das Arbeiten im Steuerungsprogramm "Hundegang" erheblich erschwert wird, und daß der Walzenführer durch die Aufgabe, den Spurversatz manuell zu reduzieren und gleichzeitig die Lenkbewegung durchzuführen, in seiner Konzentration beeinträchtigt wird. Dies führt in der Regel dazu, daß der Walzenführer zuerst den Spurversatz verkleinern wird und erst danach die Kurvenfahrt durchführt, worunter die Produktivität seiner Arbeit überall dort beeinträchtigt wird, wo er zur Vorbereitung von Kurvenfahrten mit reduziertem Spurversatz fährt.It is obvious that this means working in the control program "Hundegang" is made considerably more difficult, and that the roller operator by the task of manually reducing the track offset and at the same time performing the steering movement, in its concentration is affected. This usually leads to the roller operator will first reduce the track offset and only then the cornering carries out what affects the productivity of his work everywhere there is where he used to prepare for cornering with reduced Track misalignment moves.
Hiervon ausgehend liegt der vorliegenden Erfindung die Aufgabe zugrunde, das Arbeiten einer Bodenverdichtungsvorrichtung der eingangs genannten Art im Steuerungsprogramm "Hundegang" weiter zu verbessern.Proceeding from this, the present invention is based on the object working a soil compaction device at the beginning mentioned type in the control program "dog walking" to improve further.
Diese Aufgabe wird erfindungsgemäß dadurch gelöst, daß die Steuerungsvorrichtung bei einer im Steuerungsprogramm "Hundegang" mit voreingestelltem Spurversatz aufgrund einer ausgewählten Lenkvorgabe durchgeführten Kurvenfahrt den Lenkantrieb beider Bandagen bei Erreichen eines Lenkanschlages derart steuert, daß nur die nicht am Lenkanschlag anliegende, freie Bandage zumindest so lange angesteuert wird, bis sich in Folge der der Lenkvorgabe entsprechenden durch die freie Bandage durchgeführte Kurvenfahrt der Bodenverdichtungsvorrichtung die blokkierte Bandage vom Lenkanschlag wegbewegt hat. Der Vorteil dieses Steuerungsverfahrens liegt nun darin, daß die Straßenwalze bei Erreichen des Lenkanschlags und somit selbst bei maximalem Spurversatz weiterhin lenkbar bleibt, indem nur die sich vom Lenkanschlag wegbewegende Bandage von der Steuerungsvorrichtung angesteuert wird und die gewünschte Kurvenfahrt durchführt. Hierbei kann sich der Walzenführer völlig auf diese Kurvenfahrt konzentrieren und muß nicht gleichzeitig versuchen, den Spurversatz zuvor zu reduzieren bzw. währenddessen anzupassen.This object is achieved in that the control device with one in the control program "Hundegang" with preset track offset based on a selected steering setting performed cornering the steering drive of both drums when reached a steering stop controls such that only the not on Free bandage applied to the steering stop at least as long until, as a result of the steering control the free bandage performed cornering of the soil compacting device the blocked Bandage has moved away from the steering stop. The advantage of this Control method is now that the road roller when reached the steering stop and thus even with maximum track offset remains steerable by only moving away from the steering stop Bandage is controlled by the control device and performs the desired cornering. Here the roller operator can concentrate fully on this cornering and do not have to at the same time try to reduce the track offset beforehand or during this adapt.
Zweckmäßigerweise steuert die Steuerungsvorrichtung entsprechend der Lenkvorgabe beide Bandagen hierauf so lange an, bis sich wieder eine der beiden Bandagen am Lenkanschlag befindet, sorgt also dafür, daß die freie Beweglichkeit beider Bandagen solange ausgenutzt wird, bis sich im Zuge der weiteren Kurvenfahrt und aufgrund des hierbei jeweils vorliegenden Spurversatzes wieder eine Bandage an den Lenkanschlag anlegt.The control device expediently controls accordingly the steering set both drums on it until it turns again one of the two bandages on the steering stop ensures that that the free mobility of both bandages is used as long as until in the course of further cornering and due to this existing track offset again a bandage on the steering stop invests.
Anschließend steuert die Steuerungsvorrichtung zweckmäßigerweise nur die freie Bandage an, die sich nicht im Anschlag befindet, und dies wiederum zumindest so lange, bis die Anlage am Lenkanschlag aufgehoben ist.The control device then expediently controls only the free bandage that is not at the ready, and this again at least until the system at the steering stop is lifted is.
Hierdurch sorgt die Steuerungsvorrichtung für eine Kurvenfahrt mit dem jeweils maximal möglichen Spurversatz, wobei der Spurversatz - sofern es für das Lenkmanöver erforderlich ist - solange reduziert wird, bis entweder die Kurvenfahrt beendet ist oder bis die Kurvenfahrt in der gewünschten Art und Weise durch Ansteuern beider Bandagen durchgeführt werden kann.As a result, the control device ensures cornering with the maximum possible track offset, the track offset - if it is necessary for the steering maneuver - until it is reduced until either cornering is finished or until cornering in the the desired way by controlling both drums can be.
Damit nicht nur das Arbeiten mit der Straßenwalze im Hinblick auf die Manövrierfähigkeit verbessert wird, sondern darüber hinaus auch noch das Arbeitsverhalten optimiert wird, ist es besonders vorteilhaft, wenn die Steuerungsvorrichtung zur Aufrechterhaltung des eingestellten Spurversatzes dem Ansteuern des Lenkantriebs der beiden Bandagen ein zusätzliches Ansteuersignal derart überlagert, daß zumindest nach entsprechend der Lenkvorgabe durchgeführter Kurverfahrt und beim Übergang in Geradeausfahrt der voreingestellte Spurversatz automatisch wieder hergestellt wird. Hierbei wird also die Reduzierung des Spurversatzes während der Kurvenfahrt selbsttätig von der Steuerungsvorrichtung wieder rückgängig gemacht, so daß der Walzenführer sich voll auf das Lenken der Straßenwalze konzentrieren kann, während der Spurversatz allein durch die Steuerungsvorrichtung verändert wird.So that not only working with the road roller with regard to the Maneuverability is improved, but also beyond the working behavior is optimized, it is particularly advantageous if the control device for maintaining the set Track offset controlling the steering drive of the two drums an additional control signal superimposed such that at least after according to the guidance given by the course of the cure and at Transition to straight-ahead driving the preset track offset automatically is restored. So here the reduction of Track misalignment automatically by the control device during cornering undone again so that the roller operator himself can fully focus on steering the road roller during the Track offset is changed solely by the control device.
Zweckmäßigerweise erfolgt das überlagerte Ansteuern zur Wiederherstellung des voreingestellten Spurversatzes bereits während der Kurvenfahrt, so daß jeweils dann, wenn keine der Walzen bandagen am Lenkanschlag anliegt, die Steuerungsvorrichtung die beiden Lenkantriebe im Sinne einer Vergrößerung des Spurversatzes ansteuert.Expediently, the superimposed activation for restoration takes place the preset track offset already when cornering, so that whenever none of the rollers bandages on Steering stop is applied, the control device, the two steering drives in the sense of increasing the track offset.
Neben dem Verfahren zur Steuerung des Lenkantriebes einer Bodenverdichtungsvorrichtung erstreckt sich die vorliegende Erfindung auch auf die Bodenverdichtungsvorrichtung selbst, insbesondere auf eine Straßenwalze mit Doppelschemellenkung, die zwei getrennt durch eine Steuerungsvorrichtung in Abhängigkeit der vom Walzenführer ausgewählten Lenkvorgaben und/oder eines vom Walzenführer vorwählbaren Steuerungsprogramms über jeweils einen Lenkantrieb ansteuerbare Walzenbandagen aufweist, wobei der Lenkantrieb jeder Bandage durch die Steuerungsvorrichtung derart ansteuerbar ist, daß bei Vorwahl eines Steuerungsprogramms "Hundegang" beide Bandagen mit gegenseitigem, vom Walzenführer einstellbarem Spurversatz hintereinander herfahren.In addition to the method for controlling the steering drive of a soil compaction device the present invention also extends on the soil compacting device itself, in particular on a Road roller with double-steer steering, the two separated by one Control device depending on the one selected by the roller operator Steering specifications and / or one that can be selected by the roller operator Control program controllable via a steering drive Has roller bandages, the steering drive through each bandage the control device can be controlled such that when preselecting one Control program "dog walking" both bandages with mutual, Move the track offset that can be set by the roller operator one after the other.
Die erwähnten erfindungsgemäßen Vorteile lassen sich bei der Bodenverdichtungsvorrichtung dadurch erreichen, daß der Lenkantrieb der Bandagen durch die Steuerungsvorrichtung im Steuerungsprogramm "Hundegang" mit voreingestelltem Spurversatz bei Erreichen des Lenkanschlages einer oder beider Bandagen derart ansteuerbar ist, daß die Auswahl einer Lenkvorgabe zu einem Ansteuern nur des Lenkantriebes führt, der der nicht am Lenkanschlag anliegenden, freien Bandage zugeordnet ist. The mentioned advantages according to the invention can be found in the soil compaction device thereby achieve that the steering drive of the Bandages by the control device in the control program "Hundegang" with a preset track offset when reaching the Steering stop of one or both drums can be controlled such that the selection of a steering specification for controlling only the steering drive leads of the free bandage not in contact with the steering stop assigned.
Gegenüber den bereits bezüglich des Steuerungsverfahrens aufgeführten Merkmalen zeichnet sich die Bodenverdichtungsvorrichtung in vorteilhafter Weise noch dadurch aus, daß die Steuerungsvorrichtung an jeweils den Walzenbandagen zugeordnete, insbesondere zur Anzeige des Erreichens des Lenkanschlags dienende Winkelerfassungsvorrichtungen angeschlossen ist, und daß die Steuerungsvorrichtung derart steuerbar ist, daß sie zumindest solange nur den Lenkantrieb der nicht am Lenkanschlag anliegenden, freien Bandage ansteuert, wie die Winkelerfassungsvorrichtung der anderen, sich am Lenkanschlag befindenden, blockierten Bandage ein Anliegen am Lenkanschlag anzeigt.Compared to those already listed regarding the control procedure Features of the soil compaction device are advantageous Way out in that the control device on each assigned to the drum, especially for display angle detection devices for reaching the steering stop is connected, and that the control device such is controllable that at least as long as only the steering drive of the controls the free drum attached to the steering stop, like the angle detection device the other, at the steering stop, blocked bandage indicates a concern at the steering stop.
Weitere Merkmale und Vorteile der vorliegenden Erfindung ergeben sich aus der nachfolgenden Beschreibung eines Ausführungsbeispieles anhand der Zeichnung; hierbei zeigen
- Figur 1
- eine Straßenwalze in perspektivischer Seitenansicht;
Figur 2- eine schematische Darstellung der Arbeitsweise einer erfindungsgemäßen Straßenwalze; und
- Figur 3
- ein schematisches Schaltbild einer erfindungsgemäßen Straßenwalze.
- Figure 1
- a road roller in perspective side view;
- Figure 2
- a schematic representation of the operation of a road roller according to the invention; and
- Figure 3
- a schematic diagram of a road roller according to the invention.
In Figur 1 ist eine Straßenwalze 1 in perspektivischer Seitenansicht
dargestellt, die eine Doppelschemellenkung aufweist und hierbei zwei
einzeln lenkbare Walzenbandagen 2, 3 umfaßt. Die Walzenbandagen
sind über ein Fahrgestell 4 miteinander verbunden, auf dem eine Fahrerkabine
5 für den Walzenführer angeordnet ist.In Figure 1 is a road roller 1 in a perspective side view
shown, which has a double-frame steering and here two
individually
Die Arbeitsweise dieser Straßenwalze 1 ist in Figur 2 schematisch dargestellt,
wobei die Straßenwalze 1 mit ihrer vorderen Bandage 2 und ihrer
hinteren Bandage 3 sechs Stationen I bis VI durchläuft und hierbei
ein Lenkmanöver trotz maximalen Hundegangs durchführt, indem es von
der in Fahrtrichtung linken Kante des Arbeitsbereichs zur in Fahrtrichtung
rechten Kante überwechselt. The operation of this road roller 1 is shown schematically in Figure 2,
the road roller 1 with its
Der Spurversatz, den die beiden Bandagen gegeneinander aufweisen,
ist in Abschnitt I mit c angedeutet und errechnet sich aus den Senkrechten
12, 13 zu den Achsen der Bandagen 2, 3 im Mittelpunkt der zugehörigen
Lenkachse. Addiert man zu diesem Spurversatz c eine Bandagenbreite
b, so erhält man die Gesamtbreite d des von der Straßenwalze
abgedeckten Arbeitsbereiches.The track offset that the two bandages have against each other
is indicated in Section I with c and is calculated from the vertical
12, 13 to the axes of the
In Abschnitt I aus Figur 2 sind auch die beiden Spurversatzwinkel α1
der Bandage 2 und β1 der Bandage 3 angedeutet, die von den angesprochenen
Senkrechten 12, 13 zu den Bandagenachsen einerseits und
der Längsachse 14 des Fahrgestells 4 andererseits umschlossen werden.In section I from FIG. 2, the two track offset angles are also α1
of the
In den Abschnitten II bis VI sind die Spurversatzwinkel so dargestellt,
daß sie zusammen mit dem jeweiligen Lenkwinkel einen Gesamtwinkel
zwischen den Bandagensenkrechten 12, 13 und der Längsachse 14 bilden.
In Abschnitt II entspricht der Gesamtwinkel α2 dem Spurversatzwinkel
α1, da sich die vordere Bandage 2 im Lenkanschlag befindet und
nicht die vom Walzenführer entsprechend der Lenkvorgabe ausgewählte
Rechtslenkung durchführen kann. Die hintere Bandage 3 weist einen
Gesamtwinkel β2 auf, da die hintere Bandage 3 zur Erzielung eines
Rechtslenkens nach links von ihrem Anschlag weg verschwenkt worden
ist, wodurch natürlich auch der gegenseitige Spurversatz stark reduziert
wurde.Sections II to VI show the track offset angles so
that together with the respective steering angle, they form a total angle
form between the vertical supports 12, 13 and the longitudinal axis 14.
In section II, the total angle α2 corresponds to the track offset angle
α1, since the
Es sei in diesem Zusammenhang erwähnt, daß bei Doppelschemellenkungen das Lenken in eine bestimmte Richtung dazu führt, daß nur die vordere Bandage in diese Richtung verschwenkt wird, während die hintere Bandage in entgegengesetzter Richtung verschwenkt wird, wodurch sich der Kurvenradius erheblich reduzieren läßt. It should be mentioned in this connection that with double-frame steering steering in a certain direction means that only the front bandage is pivoted in this direction, while the rear Bandage is pivoted in the opposite direction, whereby the curve radius can be significantly reduced.
In den Abschnitten III und IV entsprechen die Gesamtwinkel α3 und α4 jeweils noch dem Spurversatzwinkel α1, die Kurvenfahrt wird immer noch durch die Walzenbandage 3 durchgeführt, indem die Gesamtwinkel β3 und β4 entsprechend variiert werden.In sections III and IV the total angles correspond to α3 and α4 still the track offset angle α1, cornering is always still performed by the roller drum 3 by the total angle β3 and β4 can be varied accordingly.
Erst in Abschnitt V wird der Gesamtwinkel α5 der vorderen Bandage 2
kleiner, wobei sich die vordere Bandage 2 von ihrem Lenkanschlag
entfernt hat und sich nun die hintere Walzenbandage 3 an ihrem
Lenkanschlag befindet mit einem Gesamtwinkel β5, der dem Stufenversatzwinkel
β1 entspricht.Only in section V is the total angle α5 of the
Die weitere Kurvenfahrt wird folglich durch die vordere Bandage 2
durchgeführt, wobei dann in Abschnitt VI der maximale Spurversatz c
wiederhergestellt ist und der Gesamtwinkel α6 dem Spurversatzwinkel
α1 und der Gesamtwinkel β6 dem Spurversatzwinkel β1 entspricht.The further cornering is consequently caused by the
Folglich steuert die Steuerungsvorrichtung in den Abschnitten I bis IV
lediglich den Lenkantrieb der freien Walzenbandage 3 an, während im
Übergang vom Abschnitt V zum Abschnitt VI nur der Lenkantrieb der - in
den Abschnitten I bis IV noch blockierten und nun - freien Walzenbandage
2 angesteuert wird.Consequently, the control device controls in sections I to IV
only the steering drive of the free roller drum 3, while in
Transition from section V to section VI only the steering drive the - in
sections I to IV still blocked and now -
Das in Figur 2 dargestellte Beispiel zeigt die Kurvenfahrt bei maximalem Spurversatz, bei dem sich beide Bandagen an ihrem Lenkanschlag befinden: In ähnlicher Weise erfolgt das Ansteuern der Lenkantriebe natürlich auch dann, wenn in Geradeausfahrt noch kein maximaler Spurversatz vorliegt und beide Bandagen einen gewissen verbleibenden Lenkwinkel aufweisen und erst im Zuge der Kurvenfahrt eine der beiden Bandagen an den Lenkanschlag bewegt wird.The example shown in Figure 2 shows cornering at maximum Track misalignment with both drums on their steering stops: The steering drives are naturally actuated in a similar manner even if there is no maximum lane offset when driving straight ahead is present and both bandages have a certain remaining Have steering angle and only one of the two when cornering Bandages to the steering stop is moved.
In Figur 3 ist angedeutet, wie die Straßenwalze die jeweilige Bandagenposition
beim Ansteuern der zugehörigen Lenkantriebe berücksichtigen
kann. Hierzu ist eine Steuerungsvorrichtung 21 an Lenkwinkelsensoren
22, 23 angeschlossen, die als Erfassungsvorrichtung für jeweils eine
Walzenbandage 2, 3 dienen und hierbei den jeweiligen Gesamtwinkel
erfassen und an die Steuerungsvorrichtung 21 übermitteln. Die Steuerungsvorrichtung
steuert hierauf entsprechend den vom Walzenführer
an seinem Lenkrad oder Lenkjoystick 27 ausgewählten Lenkvorgaben
und unter Berücksichtigung der Ergebnisse der Winkelsensoren 22, 23
Lenkantriebe 24, 25, die den Lenkeinschlag jeweils einer Bandage steuern.In Figure 3 it is indicated how the road roller the respective drum position
when controlling the associated steering drives
can. For this purpose, there is a
Die Winkelsensoren 22, 23 berücksichtigen hierbei jeweils den tatsächlichen
Lenkeinschlag, also den Gesamtwinkel zwischen den angesprochenen
Senkrechten 12, 13 und der Walzenlängsachse 14, unabhängig
davon, ob die Straßenwalze nun im Hundegang fährt oder nicht. Der
Steuerungsmodus "Hundegang" und die Größe des Spurversatzes ist
durch eine separate Eingabevorrichtung 26 vom Walzenführer einstellbar
und wird entsprechend von der Steuerungsvorrichtung 21 berücksichtigt.The
Figur 3 zeigt schließlich noch die weiteren Komponenten der Gesamtsteuerung
der Straßenwalze, nämlich einen Notausschalter 32, ein
Magnetventil 34 für die Bremse, ein Magnetventil 35 zum Ausschalten
des Motors, ein Magnetventil 36 zur Steuerung der Vorwärtsfahrten, ein
Magnetventil 37 zur Steuerung der Rückwärtsfahrten und ein Magnetventil
38 für die Fahrpumpe. Schließlich ist noch eine Eingabevorrichtung
39 zur Auswahl von Antriebsgang oder -geschwindigkeit vorgesehen.
Zusammenfassend bietet die vorliegende Erfindung den Vorteil, daß der
voreingestellte Spurversatz beim Steuerungsprogramm "Hundegang"
selbsttätig in nur solchem Maße reduziert wird, wie es zur Durchführung
der den Lenkvorgaben entsprechenden Kurvenfahrt erforderlich ist.
Hierdurch läßt sich das Arbeiten des Walzenführers stark vereinfachen
und das Arbeitsergebnis entsprechend verbessern.Figure 3 finally shows the other components of the overall control
the road roller, namely an emergency stop switch 32
Claims (7)
- A method for controlling the steering drive of a double-drum road compactor and paver (1) with a double steering system, especially a street roller with double bogie steering, in which the steering drive of both separately controllable drums (2, 3) is controlled by a control device (21 ) as a function of the steering commands selected by the compactor driver and/or of a control program that can be preselected by the compactor driver, and in which when a "crab steering" control program is preselected, both steering drives are controlled in such a way that the two drums have a mutual axle offset (c) that can be adjusted by the compactor driver, characterized in that the control device (21) controls the steering drive of both drums (2, 3) upon reaching the steering stops during curve travel executed in the "crab steering" control program with preadjusted axle offset (c) due to a selected steering command in such a way that only the free drum not resting on the steering stop is controlled at least until the street drum has moved the blocked drum away from the steering stop as a result of the curve travel corresponding to the steering command and executed by the free drum.
- The method according to Claim 1, characterized in that the control device (21) controls both drums in accordance with the steering command until one of the two drums is back on the steering stop.
- The method according to at least one of the previous claims, characterized in that the control device (21) now controls only the free drum not located on the steering stop.
- The method according to at least one of the previous claims, characterized in that the control device (21) superimposes an additional control on the control of the steering drive in order to maintain the maximum axle offset in such a way that, at least after curve travel carried out in accordance with the steering command and in the case of an offset into straight travel, the preset axle offset (c) is automatically reestablished.
- The method according to Claim 4, characterized in that the superimposed control for reestablishing the preset axle offset (c) takes place during the curve travel.
- A double-drum compactor and paver (1) with a double steering system, especially a street roller with double bogie steering, in which the road compactor and paver comprise two separate drums that can each be controlled by a control device (21) via a steering drive (24, 23) [sic; (24,25)] as a function of the steering commands selected by the compactor driver and/or of a control program preselectable by the compactor driver, and in which the steering drive of each drum can be controlled by the control device in such a way that when the "crab steering" control program is preselected, both drums have a mutual axle offset (c) adjustable by the compactor driver, characterized in that the steering drive (24, 25) of the drums (2, 3) can be controlled in such a way by the control device (21) in the "crab steering" control program with preadjusted axle offset (c) upon reaching the steering stop of one or both drums that the selection of a steering command results in controlling only of the steering drive associated with the free drum not resting on the steering stop.
- The road compactor driver and paver according to Claim 6, characterized in that the controller device (21) is connected to angle detection devices (22, 23) associated with each of the drums (2, 3) and serving in particular to indicate the attainment of the steering stop, and that the control device (21) can be controlled in such a way that it controls only the steering drive (24, 25) of the free drum (2, 3) not resting on the steering stop at least as long as the angle detection device (22, 23) of the other blocked drum (3,2) located on the steering stop indicates resting on the steering stop.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE19804886A DE19804886A1 (en) | 1998-02-09 | 1998-02-09 | Soil compaction device and method for controlling it |
| DE19804886 | 1998-02-09 |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| EP0935024A2 EP0935024A2 (en) | 1999-08-11 |
| EP0935024A3 EP0935024A3 (en) | 2000-10-04 |
| EP0935024B1 true EP0935024B1 (en) | 2003-12-17 |
Family
ID=7856936
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP99102195A Expired - Lifetime EP0935024B1 (en) | 1998-02-09 | 1999-02-04 | Soil compacting machine and method of controlling the same |
Country Status (2)
| Country | Link |
|---|---|
| EP (1) | EP0935024B1 (en) |
| DE (2) | DE19804886A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4311878A3 (en) * | 2022-07-28 | 2024-04-03 | Wacker Neuson America Corporation | Compaction machine steering system |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE20020088U1 (en) * | 2000-11-27 | 2001-02-15 | Vibromax Bodenverdichtungsmasc | Soil compaction machine |
| CZ303105B6 (en) * | 2009-06-26 | 2012-04-04 | Ammann Czech Republic A.S. | Tandem-type compaction roller |
| DE102021212546A1 (en) | 2021-11-08 | 2023-05-11 | Bomag Gmbh | Tandem roller for compacting a subsoil |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CH552101A (en) * | 1972-12-19 | 1974-07-31 | Domenighetti Domenico | MULTIPLE THICKENER OPERATING MACHINE MADE OF THREE OR MORE ARTICULATED GROUPS FOR THE COMPACTION OF THE SOIL. |
| US4109742A (en) * | 1977-02-24 | 1978-08-29 | Iowa Manufacturing Company | Steering and width controls for expandable tandem rollers |
| FR2434072A1 (en) * | 1978-08-25 | 1980-03-21 | Albaret Sa | DEVICE FOR STEERING AND SPEED CONTROL OF A MOTOR VEHICLE |
| DE19536987A1 (en) * | 1995-03-31 | 1996-10-02 | Ammann Verdichtung Ag | Method for steering a two-band soil compaction device and soil compaction device |
| DE29620847U1 (en) * | 1996-11-30 | 1997-01-23 | Bomag Gmbh | Motorized soil compactor |
-
1998
- 1998-02-09 DE DE19804886A patent/DE19804886A1/en not_active Withdrawn
-
1999
- 1999-02-04 EP EP99102195A patent/EP0935024B1/en not_active Expired - Lifetime
- 1999-02-04 DE DE59908044T patent/DE59908044D1/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4311878A3 (en) * | 2022-07-28 | 2024-04-03 | Wacker Neuson America Corporation | Compaction machine steering system |
Also Published As
| Publication number | Publication date |
|---|---|
| EP0935024A3 (en) | 2000-10-04 |
| DE19804886A1 (en) | 1999-08-12 |
| DE59908044D1 (en) | 2004-01-29 |
| EP0935024A2 (en) | 1999-08-11 |
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