EP2037042B1 - Road milling machine or machine for exploiting deposits - Google Patents

Road milling machine or machine for exploiting deposits Download PDF

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Publication number
EP2037042B1
EP2037042B1 EP08012356.5A EP08012356A EP2037042B1 EP 2037042 B1 EP2037042 B1 EP 2037042B1 EP 08012356 A EP08012356 A EP 08012356A EP 2037042 B1 EP2037042 B1 EP 2037042B1
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EP
European Patent Office
Prior art keywords
machine
milling
distance
arrangement
edge
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EP08012356.5A
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German (de)
French (fr)
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EP2037042A1 (en
Inventor
Winfried von Schönebeck
Günter Dr. Hähn
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Wirtgen GmbH
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Wirtgen GmbH
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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
    • 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
    • E01C19/004—Devices for guiding or controlling the machines along a predetermined path
    • 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

  • the invention relates to a road milling machine or a machine for the exploitation of deposits, for example, deposits of coal, ores, minerals, etc. in opencast mining.
  • the road milling machines have a milling device which has a mechanically or hydraulically driven milling drum. Also known as surface miners machines for exploitation of deposits have a milling device with a milling drum, which is also referred to as a cutting roller in a surface miner.
  • the milling drum of the road milling machines and surface miners is equipped with tool holders for holding the milling tools.
  • the milling rollers of the road milling machines or machines for exploiting deposits have a predetermined working width, which corresponds to the width of the milling drum.
  • the problem arises that the surfaces to be machined may have an extent whose width corresponds to a multiple of the working width of the machine. Then it is necessary to mill for machining the entire surface of several adjacent strips. This requires a precise guidance of the machine, since the individual milling strips must be aligned exactly with each other. On the one hand, the milling strips should run so close together that no unprocessed area remains between the strips, on the other hand, the milling strips should not overlap, so that the productivity is not reduced. In practice, only a very small Overlapping is sought to ensure full machining of the area with high productivity.
  • the machining of the surface takes place in a plurality of successive milling strips by visual comparison between the dimensions of the machine and the surface to be machined by the machinist.
  • This adjustment is very tiring and tiring for the machinist because he has to control the machine along the many other tasks that he has to do, such as the coordination of material loading or leveling, the exact milling over the entire milling section.
  • the machinist always has the conflict that drifting off in the previously processed milling strip reduces the efficiency and drifting in the opposite direction results in the surface not being completely machined.
  • the US-A-4,041,623 describes a road milling machine with crawler tracks, which provides an automatic specification of the direction of travel. This requires, however, that a string is stretched, which is attached to along the desired FrasstMails spaced apart posts.
  • the control device for the steering device has a scanning device with a feeler element, which slides along the tensioned line.
  • the steering device for steering the chain drives is controlled so that the machine follows exactly the course of the string.
  • the US-A-5,362,176 describes a construction machine having means for determining the distance of the construction machine to a particular edge. These Device generates a control signal that is used to control the machine.
  • a road milling machine with a arranged between the front and rear drives milling device is for example from the US-A-3,414,327 known.
  • the invention is based on the object to provide a road milling machine or machine for the exploitation of deposits, which allows efficient processing of even broad areas.
  • the road milling machine or machine for exploiting deposits according to the invention is characterized in that an efficient machining of a wide area does not require any preparatory measures, for example the tensioning of a string or the like.
  • the machine according to the invention can be handled as the known machines, but allows automatic guidance of the machine, so that the individual milling strips are exactly next to each other.
  • the machine according to the invention has a device for detecting the course of a milling edge of a milling strip, wherein the means for detecting the course of the milling edge means for detecting the distance between at least one reference point of the machine and the milling edge.
  • the device for detecting the profile of the milling edge interacts with the means for steering the track drives so that the machine follows the course of the milling edge.
  • the distance between the at least one reference point of the machine and the milling edge can be adjusted so that the side-by-side milling strips are exactly aligned with each other.
  • the distance to be set depends on where the at least one reference point of the machine is located.
  • the definition of only one reference point is sufficient. But it can also be set several reference points to determine the distance at different locations. These values can be evaluated statistically, for example, the mean value can be formed. Also, the milling edge can be assigned to one or more reference points.
  • the means for detecting the course of the milling edge first means for detecting the distance between a reference point, preferably arranged at the lower end of the left edge protection, more preferably at the front lower end of the left edge protection of the milling machine and second means for detecting the distance between a reference point, which is preferably arranged at the lower end of the right edge protector, particularly preferably at the front lower end of the right edge protector, wherein the first or second means are activated depending on the direction of travel of the road milling machine . can be deactivated.
  • the device for detecting the profile of the milling edge has a device for monitoring the distance, which compares the measured distance between the at least one reference point of the machine and the milling edge with a desired distance.
  • the means for monitoring the distance then acts in such a way with the device for steering the crawler tracks that the crawler tracks are steered such that the measured distance corresponds to the desired distance.
  • the means for monitoring the distance is preferably designed such that this device only cooperates with the device for steering the crawler tracks when the distance between the at least one reference point and the milling edge is within predetermined limits. If the distance is outside predetermined limits, for example, outside the detection range of the means for detecting the distance or no value is determined for the distance, so there is no automatic control. In this case, an alarm can be given. The machinist can then control the machine by hand.
  • the means for detecting the distance between the reference point of the machine and the milling edge can be designed differently.
  • An embodiment of the machine according to the invention provides a mechanical scanning device with a mechanical probe element.
  • electrical or electronic scanning devices with electrical or electronic "feeler elements" can also be provided according to the invention.
  • the ultrasound sensors known from ultrasonic measuring devices or the capacitive sensors known from capacitive proximity switches can be used to determine the distance.
  • the known laser triangulation sensors are particularly suitable for detecting the milling edge.
  • cameras can be used with which the milling edge can be detected and the distance can be determined.
  • a device is provided with which the mechanical probe element can be moved in the horizontal plane. This makes it possible to introduce the probe element laterally to the vertical surface of the milling edge.
  • the means for detecting the distance having means with which the angular position of the shaft can be determined.
  • the device for moving the probe element in the horizontal plane preferably has means with which the probe element can be resiliently biased against the milling edge. This ensures that the probe element always rests against the milling edge, even if the milling edge is not flat.
  • the probe element is biased with a piston / cylinder assembly resiliently against the milling edge, which at the same time a method of the probe element in the horizontal plane allowed. But it is also possible to provide a spring to bias the probe element against the milling edge.
  • the reference point of the machine is preferably a point at the bottom End of the left or right edge protection is arranged. This has the advantage that the reference point is located directly next to the milling edge.
  • the reference point is a point which is arranged at the front end in the direction of travel of the left or right edge protector. This is the reference point in the direction of travel in front of the milling drum. If only the front track drive is steered, it is advantageous if the reference point lies directly in front of the milling drum, since then an uneven course of the milling edge is not copied exactly, but smoothed, and can be driven to the end of the milling track.
  • the reference point can also be set at a greater distance in front of the milling drum on the machine frame.
  • the steering device for steering the track drives can then be controlled in dependence on the distance between the old and the new milling edge.
  • means for further automation Detecting the position of the left and right edge protection provided.
  • one of the two edge protectors rests on the already milled surface, while the other edge protection rests on the surface that has not yet been machined.
  • the means for activating the first or second means for detecting the distance between the reference point and the milling edge cooperate with the means for detecting the position of the left and right edge protection, that those means are activated for detecting the distance associated with the edge protection, the is in the lower position while deactivating the other means for determining the distance associated with the edge guard which is in the upper position. This ensures that the distance to the milling edge is always determined on the side on which milling is also performed. It is therefore not necessary for the machine operator to specify on which side of the machine the distance is measured.
  • Fig. 1 shows in side view a machine for the exploitation of deposits in opencast mining, which is referred to below as a surface miner. Since the structure and mode of operation of a surface miner are known to the person skilled in the art, only those components of the surface miner which are relevant for the understanding of the invention will be described below. On the description of a road milling machine, whose construction and operation is also known in the art, is omitted because only the milling device and the steering device of the road milling machine is relevant to the invention, but of the milling and steering device of a surface miner with respect to Basically not different for the invention relevant components.
  • the surface miner for milling or cutting of rock has a chassis 1, which is designed as a rigid welded construction.
  • a milling device 2 is provided, which is arranged below the chassis.
  • the depth of cut adjustment is made by raising or lowering the chassis 1, which can be moved on two front and two rear chain drives 3A and 3B, which are arranged on the front and back of the chassis.
  • the height adjustment device of the chassis 1 has parallelogram guides associated with each of the crawler tracks 3A, 3B of which the parallelogram guides disposed at the front of the chassis are designated by the reference numeral 4A and the parallelogram guides disposed at the rear of the chassis are designated by the reference numeral 4B.
  • the four track drives 3A, 3B are oscillating on the parallelogram guides suspended, wherein the crawler tracks can be moved in relation to the chassis in a vertical plane.
  • the front crawlers 3A are rotated about a vertical axis.
  • a piston / cylinder arrangement 5 is provided for each front chain drive 3A, the piston 5A is pivotally connected to the chassis suspension, and the cylinder 5B is pivotally connected to the chassis.
  • the front crawlers are rotated about the vertical axis.
  • the piston / cylinder assemblies 5 together with the hydraulic pumps, not shown, as well as other components, not shown, the steering device 6 of the machine. It is also possible to move the surface miner in addition to the front and the rear crawler 3B to adjust.
  • the material milled from the milling device 2 is received by a loading device 7 which has a receiving belt 7A in the direction of travel behind the milling device 3 and a height-adjustable and pivotable loading belt 7B.
  • Fig. 2 shows the side view of the milling device 2 in an enlarged view, which is arranged below the chassis 1 between the front and rear crawler tracks 3A, 3B.
  • the milling device 2 comprises a milling drum housing 8, which has a left and right side wall 9 in the direction of travel and a front wall and rear wall, which are not visible in the side view. Before the left and right side wall 9 of the Fräswalzengephinuses 8 each edge protection 10 is arranged before the left and right side wall 9 of the Fräswalzengephinuses 8 each edge protection 10 is arranged.
  • the edge protector 10 is a height-adjustable plate that can be raised from the ground or lowered to the ground.
  • the device 11 for height adjustment of the left and right edge protection 10 has the left and right edge protection associated piston / cylinder assemblies 11A and 11B. By actuating the piston / cylinder assemblies 11A, 11B, the left or right edge protector 10 can be adjusted in height.
  • the milling drum 12 is rotatably mounted, wherein the axis of rotation extends transversely to the direction of travel.
  • the milling drum 12 has distributed around the circumference arranged milling tools 12 A, with which the rock is crushed.
  • the FIGS. 3A and 3B show a section of the milling drum 12 with the milling tools 12A in plan view.
  • the milling drum of a road milling machine points also milling tools for crushing the roadway. In this respect, the milling devices of both machines do not differ from each other.
  • the device for exploiting deposits moves at a relatively low feed rate in the direction of travel.
  • the lower edge 10A of the left and right edge protector 10 lies on both sides of the milling edge on the ground.
  • Fig. 4A shows the milling drum housing 8 of the milling device 2 with the milling drum 12 in a view in the direction of travel from behind.
  • the left and right milling edges of the milling strip 13 are designated by reference numerals 13A and 13B, respectively.
  • Fräskanten here are the vertical surfaces on both sides of the milling drum, ie viewed the end faces of the milling drum surfaces.
  • the width of the milling strip 13 corresponds to the distance between the two milling edges 13A and 13B. This is the working width of the machine. If you want to machine an area wider than the working width of the machine, you will need to cut several milling strips that run parallel to each other.
  • FIG. 4B shows a view in the direction of travel in front of the milling drum
  • Fig. 4C a view in the direction of travel behind the milling drum shows.
  • the left side bumper should end exactly where the right side bartender starts. This requires exact control of the machine.
  • the machine according to the invention has a device 14 for detecting the course of the milling edge of the milling strip.
  • Milling edge detection means 14 has means 14A, 14B for determining the distance between a reference point I of the machine, preferably located at the front lower end of edge protector 10, and milling edge 13A, 13B.
  • Such means 14A, 14B are provided on both sides of the milling drum 12. They each have a mechanical feeler element 15 in the form of a paddle, which is pivotable in the horizontal plane. The feeler element 15 is attached to the lower end of a vertical shaft 16 which is rotatably mounted in the direction of travel before the edge protector 10.
  • the means 17 for moving the feeler element 15 comprises a piston / cylinder arrangement 18, whose cylinder 18A on the edge protector 10 and the piston 18B on a lever 19 rotatable is fixed, which protrudes from the upper end of the shaft 16.
  • the probe element 15 is brought to the milling edge 13.
  • the probe element is resiliently biased by means of the piston / cylinder arrangement against the milling edge, so that the probe element follows the course of the milling edge during the advancement of the machine.
  • the feeler slides on the milling edge when the machine is moved. Since the pivot point of the feeler element lies in the direction of travel before its contact point on the milling edge, the feeler element is pulled along the milling edge, so that it can not tilt at unevennesses of the milling edge.
  • an angle sensor 20 with which the angular position of the shaft is measured.
  • the angular position of the shaft corresponds to the distance between the milling edge 13 and the reference point I.
  • the path can also be measured via the position of the piston 18 B in the piston / cylinder assembly 18.
  • the device 14 for detecting the course of the milling edge has an in Fig. 1 only hinted means 21 for monitoring the distance, which cooperates with the means 6 for steering the front crawler tracks 3A and 3B.
  • the means 21 for monitoring the distance compares the measured distance between the reference point I and the milling edge 13A or 13B with a desired value for the distance between the reference point and the milling edge.
  • the means 6 for steering the crawler drives the piston / cylinder assemblies 5 for rotating the crawlers so that the measured distance during the milling operation corresponds to the predetermined distance. If this is the case, the machine moves along the milling edge of the previous milling strip, so that the preceding and subsequent milling strips are exactly next to each other.
  • the device 14 for detecting the course of the milling edge does not actuate the device 6 for steering the track drives. This can be the case, for example, if the milling edge is outside the measuring range. In this case, an alarm is given, which signals that the control of the machine is now done by hand. This excludes that one automatic control of the machine for specifying a wrong milling direction leads.
  • the device 14 for detecting the course of the milling edge is designed such that the automatic control of the steering device is then interrupted immediately when the driver makes an intervention in the machine control, ie the controls operated to steer the machine.
  • the distance between the reference point and the milling edge can be measured on both sides of the milling drum housing.
  • corresponding sensing elements and means for moving the sensing elements are provided on both sides of the Fräswalzengephaseuses. When milling but only one of the two sensing elements is needed.
  • the machine according to the invention provides an automatic selection of one of the two feeler elements.
  • FIG. 1 only suggestively illustrated means 22 for detecting the position of the left and right edge protection, which are preferably cable pull sensors 22, the ropes are respectively attached to the left and right edge protection.
  • the cable pull sensors 22 cooperate with the distance sensing means 14A and 14B to activate those means 14A or 14B associated with the edge guard which is in the lower position and at the same time deactivating those means which are the edge guard are assigned, which is located in the upper position.
  • the stylus 15A disposed in front of the left edge protector 10 abuts the mill edge 13A, so that the distance between the reference point and the mill edge can be measured while the key element 15B located in front of the right edge protector is not active ,
  • the milling edge can be regarded as a vertical flat surface. Therefore, it is sufficient if only one reference point is defined on the milling edge. However, it is possible to specify several reference points, wherein the determined distance values are evaluated statistically For example, the mean value can be formed from the determined values.
  • Fig. 5 shows in a simplified schematic representation of the region of the front lower end of the two edge protectors 10 anticiansforrn, wherein the means for detecting the distance via two non-contact distance measuring devices with non-contact ultrasonic sensors 15 'have, at the front lower end of the respective edge protector 10th are spaced apart.
  • the means for detecting the distance have means which calculate the mean value or also another characteristic variable from the values for the distance measured with the two sensors 15 '.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Road Repair (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Description

Die Erfindung betrifft eine Straßenfräsmaschine oder eine Maschine zur Ausbeutung von Lagerstätten, beispielsweise von Lagerstätten von Kohle, Erzen, Mineralien etc. im Tagebaubetrieb.The invention relates to a road milling machine or a machine for the exploitation of deposits, for example, deposits of coal, ores, minerals, etc. in opencast mining.

Es sind verschiedene Arten von selbstfahrenden Maschinen zum Fräsen bekannt. Zu diesen Maschinen zählen insbesondere Straßenfräsmaschinen, mit denen bestehende Straßenschichten des Straßenoberbaus abgetragen werden, oder Maschinen zur Ausbeutung von Lagerstätten im Tagebaubetrieb.Various types of self-propelled milling machines are known. These machines include, in particular, road milling machines, with which existing road layers of the road superstructure are removed, or machines for exploiting deposits in opencast mining.

Die Straßenfräsmaschinen verfügen über eine Fräseinrichtung, die eine mechanisch oder hydraulisch angetriebene Fräswalze aufweist. Auch die als Surface Miner bezeichneten Maschinen zur Ausbeutung von Lagerstätten verfügen über eine Fräseinrichtung mit einer Fräswalze, die bei einem Surface Miner auch als Schneidwalze bezeichnet wird. Die Fräswalze der Straßenfräsmaschinen und Surface Miner ist mit Werkzeughaltern zur Aufnahme der Fräswerkzeuge bestückt.The road milling machines have a milling device which has a mechanically or hydraulically driven milling drum. Also known as surface miners machines for exploitation of deposits have a milling device with a milling drum, which is also referred to as a cutting roller in a surface miner. The milling drum of the road milling machines and surface miners is equipped with tool holders for holding the milling tools.

Die Fräswalzen der Straßenfräsmaschinen oder Maschinen zur Ausbeutung von Lagerstätten haben eine vorgegebene Arbeitsbreite, die der Breite der Fräswalze entspricht. Beim Einsatz der Maschine stellt sich das Problem, dass die zu bearbeitenden Flächen eine Ausdehnung haben können, deren Breite einem Vielfachen der Arbeitsbreite der Maschine entspricht. Dann ist es erforderlich, zur Bearbeitung der gesamten Fläche mehrere nebeneinander liegende Streifen zu fräsen. Dies erfordert eine präzise Führung der Maschine, da die einzelnen Frässtreifen exakt zueinander ausgerichtet sein müssen. Einerseits sollten die Frässtreifen so dicht nebeneinander verlaufen, so dass nicht eine unbearbeitete Fläche zwischen den Streifen zurückbleibt, andererseits sollten sich die Frässtreifen nicht überlappen, so dass die Produktivität nicht verringert wird. In der Praxis wird eine nur sehr kleine Überlappung angestrebt, um bei hoher Produktivität eine vollständige Bearbeitung der Fläche sicherzustellen.The milling rollers of the road milling machines or machines for exploiting deposits have a predetermined working width, which corresponds to the width of the milling drum. When using the machine, the problem arises that the surfaces to be machined may have an extent whose width corresponds to a multiple of the working width of the machine. Then it is necessary to mill for machining the entire surface of several adjacent strips. This requires a precise guidance of the machine, since the individual milling strips must be aligned exactly with each other. On the one hand, the milling strips should run so close together that no unprocessed area remains between the strips, on the other hand, the milling strips should not overlap, so that the productivity is not reduced. In practice, only a very small Overlapping is sought to ensure full machining of the area with high productivity.

Bei den bekannten Straßenfräsmaschinen und Maschinen zur Ausbeutung von Lagerstätten erfolgt die Bearbeitung der Fläche in mehreren aufeinander folgenden Frässtreifen durch visuellen Abgleich zwischen den Abmessungen der Maschine und der zu bearbeitenden Fläche vom Maschinisten. Dieser Abgleich ist für den Maschinisten sehr anstrengend und ermüdend, da er neben den vielen anderen Aufgaben, die er zu erledigen hat, beispielsweise die Koordination der Materialverladung oder die Nivellierung, die Maschine über die gesamte Frässtrecke exakt steuern muss. Dabei besteht für den Maschinisten immer der Konflikt, dass ein Abdriften in den zuvor bearbeiteten Frässtreifen die Effizienz herabsetzt und ein Abdriften in die Gegenrichtung dazu führt, dass die Fläche nicht vollständig bearbeitet wird. Im Übrigen besteht bei einer Fräsmaschine, die über einen Kantenschutz verfügt, noch die Gefahr, dass die Maschine ernsthaft beschädigt wird, weil der Kantenschutz abgerissen wird.In the known road milling machines and machinery for exploiting deposits, the machining of the surface takes place in a plurality of successive milling strips by visual comparison between the dimensions of the machine and the surface to be machined by the machinist. This adjustment is very tiring and tiring for the machinist because he has to control the machine along the many other tasks that he has to do, such as the coordination of material loading or leveling, the exact milling over the entire milling section. The machinist always has the conflict that drifting off in the previously processed milling strip reduces the efficiency and drifting in the opposite direction results in the surface not being completely machined. Incidentally, there is a risk that the machine will be seriously damaged in a milling machine, which has an edge protection, because the edge protection is torn off.

Die US-A-4,041,623 beschreibt eine Straßenfräsmaschine mit Kettenlaufwerken, die eine automatische Vorgabe der Fahrtrichtung vorsieht. Dies setzt aber voraus, dass eine Schnur gespannt wird, die an entlang des gewünschten Frässtreifens im Abstand zueinander angeordneten Pfosten befestigt wird. Die Steuerungseinrichtung für die Lenkeinrichtung weist eine Abtasteinrichtung mit einem Tastelement auf, das an der gespannten Schnur entlang gleitet. Die Lenkeinrichtung zum Lenken der Kettenlaufwerke wird derart gesteuert, dass die Maschine exakt dem Verlauf der Schnur folgt. Zwar erlaubt die bekannte Straßenfräsmaschine eine exakte Steuerung der Fahrtrichtung, als nachteilig erweist sich jedoch die Notwendigkeit, entlang des gewünschten Frässtreifens eine Schnur spannen zu müssen.The US-A-4,041,623 describes a road milling machine with crawler tracks, which provides an automatic specification of the direction of travel. This requires, however, that a string is stretched, which is attached to along the desired Frasstreifens spaced apart posts. The control device for the steering device has a scanning device with a feeler element, which slides along the tensioned line. The steering device for steering the chain drives is controlled so that the machine follows exactly the course of the string. Although the known road milling machine allows precise control of the direction of travel, it is disadvantageous to have to stretch a line along the desired milling tire.

Die US-A-5 362 176 beschreibt eine Baumaschine, die über eine Einrichtung zur Bestimmung des Abstandes der Baumaschine zu einer bestimmten Kante verfügt. Diese Einrichtung erzeugt ein Kontrollsignal, das für die Steuerung der Maschine verwendet wird.The US-A-5,362,176 describes a construction machine having means for determining the distance of the construction machine to a particular edge. These Device generates a control signal that is used to control the machine.

Eine Straßenfräsmaschine mit einer zwischen den vorderen und hinteren Laufwerken angeordneten Fräseinrichtung ist beispielsweise aus der US-A-3 414 327 bekannt.A road milling machine with a arranged between the front and rear drives milling device is for example from the US-A-3,414,327 known.

Der Erfindung liegt die Aufgabe zu Grunde, eine Straßenfräsmaschine oder Maschine zur Ausbeutung von Lagerstätten zu schaffen, die eine effiziente Bearbeitung auch breiter Flächen ermöglicht.The invention is based on the object to provide a road milling machine or machine for the exploitation of deposits, which allows efficient processing of even broad areas.

Die Lösung dieser Aufgabe erfolgt erfindungsgemäß mit den Merkmalen des Patentanspruchs 1. Vorteilhafte Ausführungsformen sind Gegenstand der Unteransprüche.The solution of this object is achieved according to the invention with the features of claim 1. Advantageous embodiments are the subject of the dependent claims.

Die erfindungsgemäße Straßenfräsmaschine oder Maschine zur Ausbeutung von Lagerstätten zeichnet sich dadurch aus, dass eine effiziente Bearbeitung einer breiten Fläche keine vorbereitenden Maßnahmen, beispielsweise das Spannen einer Schnur oder dgl. erfordert. Die erfindungsgemäße Maschine kann so gehandhabt werden, wie die bekannten Arbeitsmaschinen, erlaubt aber eine automatische Führung der Maschine, so dass die einzelnen Frässtreifen exakt neben einander liegen.The road milling machine or machine for exploiting deposits according to the invention is characterized in that an efficient machining of a wide area does not require any preparatory measures, for example the tensioning of a string or the like. The machine according to the invention can be handled as the known machines, but allows automatic guidance of the machine, so that the individual milling strips are exactly next to each other.

Die erfindungsgemäße Maschine verfügt über eine Einrichtung zur Erkennung des Verlaufs einer Fräskante eines Frässtreifens, wobei die Einrichtung zur Erkennung des Verlaufs der Fräskante Mittel zur Erfassung des Abstandes zwischen mindestens einem Bezugspunkt der Maschine und der Fräskante aufweist. Die Einrichtung zur Erkennung des Verlaufs der Fräskante wirkt derart mit der Einrichtung zum Lenken der Kettenlaufwerke zusammen, dass die Maschine dem Verlauf der Fräskante folgt.The machine according to the invention has a device for detecting the course of a milling edge of a milling strip, wherein the means for detecting the course of the milling edge means for detecting the distance between at least one reference point of the machine and the milling edge. The device for detecting the profile of the milling edge interacts with the means for steering the track drives so that the machine follows the course of the milling edge.

Der Abstand zwischen dem mindestens einen Bezugspunkt der Maschine und der Fräskante kann so eingestellt werden, dass die nebeneinander liegenden Frässtreifen exakt zueinander ausgerichtet sind. Dabei ist der einzustellende Abstand davon abhängig, wo der mindestens eine Bezugspunkt der Maschine liegt.The distance between the at least one reference point of the machine and the milling edge can be adjusted so that the side-by-side milling strips are exactly aligned with each other. In this case, the distance to be set depends on where the at least one reference point of the machine is located.

Grundsätzlich ist die Festlegung nur eines Bezugspunkts ausreichend. Es können aber auch mehrere Bezugspunkte festgelegt werden, um den Abstand an verschiedenen Stellen zu bestimmen. Diese Werte können statistisch ausgewertet werden, beispielsweise kann der Mittelwert gebildet werden. Auch der Fräskante können ein oder mehrere Bezugspunkte zugeordnet werden.Basically, the definition of only one reference point is sufficient. But it can also be set several reference points to determine the distance at different locations. These values can be evaluated statistically, for example, the mean value can be formed. Also, the milling edge can be assigned to one or more reference points.

Bei der erfindungsgemäßen Straßenfräsmaschine oder Maschine zur Ausbeutung von Lagerstätten weist die Einrichtung zur Erkennung des Verlaufs der Fräskante erste Mittel zur Erfassung des Abstandes zwischen einem Bezugspunkt, der vorzugsweise am unteren Ende des linken Kantenschutzes, besonders bevorzugt am vorderen unteren Ende des linken Kantenschutzes der Fräsmaschine angeordnet ist, und zweite Mittel zur Erfassung des Abstandes zwischen einem Bezugspunkt auf, der vorzugsweise am unteren Ende des rechten Kantenschutzes, besonders bevorzugt am vorderen unteren Ende des rechten Kantenschutzes angeordnet ist, wobei die ersten oder zweiten Mittel in Abhängigkeit von der Fahrtrichtung der Straßenfräsmaschine aktiviert bzw. deaktiviert werden können.In the road milling machine according to the invention or equipment for exploiting deposits, the means for detecting the course of the milling edge first means for detecting the distance between a reference point, preferably arranged at the lower end of the left edge protection, more preferably at the front lower end of the left edge protection of the milling machine and second means for detecting the distance between a reference point, which is preferably arranged at the lower end of the right edge protector, particularly preferably at the front lower end of the right edge protector, wherein the first or second means are activated depending on the direction of travel of the road milling machine . can be deactivated.

Eine bevorzugte Ausführungsform sieht vor, dass die Einrichtung zur Erkennung des Verlaufs der Fräskante eine Einrichtung zur Überwachung des Abstandes aufweist, die den gemessenen Abstand zwischen dem mindestens einen Bezugspunkt der Maschine und der Fräskante mit einem gewünschten Abstand vergleicht. Die Einrichtung zur Überwachung des Abstandes wirkt dann derart mit der Einrichtung zum Lenken der Kettenlaufwerke zusammen, dass die Kettenlaufwerke derart gelenkt werden, dass der gemessene Abstand dem gewünschten Abstand entspricht.A preferred embodiment provides that the device for detecting the profile of the milling edge has a device for monitoring the distance, which compares the measured distance between the at least one reference point of the machine and the milling edge with a desired distance. The means for monitoring the distance then acts in such a way with the device for steering the crawler tracks that the crawler tracks are steered such that the measured distance corresponds to the desired distance.

Die Einrichtung zur Überwachung des Abstandes ist vorzugsweise derart ausgebildet, dass diese Einrichtung nur dann mit der Einrichtung zum Lenken der Kettenlaufwerke zusammenwirkt, wenn der Abstand zwischen dem mindestens einem Bezugspunkt und der Fräskante innerhalb vorgegebener Grenzen liegt. Wenn der Abstand außerhalb vorgegebener Grenzen liegt, beispielsweise außerhalb des Erfassungsbereichs der Mittel zur Erfassung des Abstandes liegt bzw. kein Wert für den Abstand ermittelt wird, erfolgt also keine automatische Steuerung. In diesem Fall kann ein Alarm gegeben werden. Der Maschinist kann die Maschine dann von Hand steuern.The means for monitoring the distance is preferably designed such that this device only cooperates with the device for steering the crawler tracks when the distance between the at least one reference point and the milling edge is within predetermined limits. If the distance is outside predetermined limits, for example, outside the detection range of the means for detecting the distance or no value is determined for the distance, so there is no automatic control. In this case, an alarm can be given. The machinist can then control the machine by hand.

Die Mittel zur Erfassung des Abstands zwischen dem Bezugspunkt der Maschine und der Fräskante können unterschiedlich ausgebildet sein. Eine Ausführungsform der erfindungsgemäßen Maschine sieht eine mechanische Abtasteinrichtung mit einem mechanischen Tastelement vor. Neben einer mechanischen Abtasteinrichtung können erfindungsgemäß auch elektrische oder elektronische Abtasteinrichtungen mit elektrischen oder elektronischen "Tastelementen" vorgesehen sein. Beispielsweise können zur Bestimmung des Abstands die aus Ultraschall-Messeinrichtungen bekannten Ultraschallsensoren oder die aus kapazitiven Näherungsschaltern bekannten kapazitiven Sensoren eingesetzt werden. Es ist auch eine Abtastung der Fräskante mittels eines Lasers oder eines Radars möglich. Besonders bieten sich die bekannten Laser-Triangulations-Sensoren zur Erkennung der Fräskante an. Auch können unter dem Einsatz moderner Bildverarbeitungstechniken Kameras eingesetzt werden, mit denen die Fräskante erkannt und der Abstand bestimmt werden kann.
Bei einer bevorzugten Ausführungsform ist eine Einrichtung vorgesehen, mit der das mechanische Tastelement in der horizontalen Ebene bewegt werden kann. Dadurch ist es möglich, das Tastelement seitlich an die vertikale Fläche der Fräskante heranzuführen. Bei einer besonders bevorzugten Ausführungsform weist die Einrichtung zum Bewegen des Tastelements in der horizontalen Ebene eine um eine vertikale Achse drehbare Welle auf, wobei die Mittel zur Erfassung des Abstandes Mittel aufweisen, mit denen die Winkelstelle der Welle bestimmt werden kann. Es ist aber auch möglich, zur Bestimmung des Abstandes die translatorische Bewegung des entlang einer Schiene bewegbaren Tastelementes zu erfassen.
Die Einrichtung zum Bewegen des Tastelements in der horizontalen Ebene weist vorzugsweise Mittel auf, mit denen das Tastelement federnd gegen die Fräskante vorgespannt werden kann. Dadurch wird sichergestellt, dass das Tastelement immer an der Fräskante anliegt, selbst dann wenn die Fräskante nicht eben ist. Vorzugsweise wird das Tastelement mit einer Kolben-/Zylinderanordnung federnd gegen die Fräskante vorgespannt, die gleichzeitig ein Verfahren des Tastelements in der horizontalen Ebene erlaubt. Es ist aber auch möglich, eine Feder vorzusehen, um das Tastelement gegen die Fräskante vorzuspannen.The means for detecting the distance between the reference point of the machine and the milling edge can be designed differently. An embodiment of the machine according to the invention provides a mechanical scanning device with a mechanical probe element. In addition to a mechanical scanning device, electrical or electronic scanning devices with electrical or electronic "feeler elements" can also be provided according to the invention. For example, the ultrasound sensors known from ultrasonic measuring devices or the capacitive sensors known from capacitive proximity switches can be used to determine the distance. It is also possible to scan the milling edge by means of a laser or a radar. The known laser triangulation sensors are particularly suitable for detecting the milling edge. Also, with the use of modern image processing techniques, cameras can be used with which the milling edge can be detected and the distance can be determined.
In a preferred embodiment, a device is provided with which the mechanical probe element can be moved in the horizontal plane. This makes it possible to introduce the probe element laterally to the vertical surface of the milling edge. In a particularly preferred embodiment, the device for moving the probe element in the horizontal plane on a shaft rotatable about a vertical axis, wherein the means for detecting the distance having means with which the angular position of the shaft can be determined. However, it is also possible to determine the translatory movement of the movable along a rail probe element for determining the distance.
The device for moving the probe element in the horizontal plane preferably has means with which the probe element can be resiliently biased against the milling edge. This ensures that the probe element always rests against the milling edge, even if the milling edge is not flat. Preferably, the probe element is biased with a piston / cylinder assembly resiliently against the milling edge, which at the same time a method of the probe element in the horizontal plane allowed. But it is also possible to provide a spring to bias the probe element against the milling edge.

Bei der erfindungsgemäßen Straßenfräsmaschine oder Maschine zur Ausbeutung von Lagerstätten, die zu beiden Seiten der Fräswalze über einen in Längsrichtung verlaufenden linken und rechten Kantenschutz mit einer Einrichtung zur Höhenverstellung des linken und rechten Kantenschutzes verfügt, ist der Bezugspunkt der Maschine vorzugsweise ein Punkt, der am unteren Ende des linken oder rechten Kantenschutzes angeordnet ist. Dies hat den Vorteil, dass der Bezugspunkt unmittelbar neben der Fräskante liegt.In the inventive road milling machine or machine for exploiting deposits, which has on both sides of the milling drum via a longitudinally extending left and right edge protection with a device for adjusting the height of the left and right edge protection, the reference point of the machine is preferably a point at the bottom End of the left or right edge protection is arranged. This has the advantage that the reference point is located directly next to the milling edge.

Vorzugsweise ist der Bezugspunkt ein Punkt, der an dem in Fahrtrichtung vorderen Ende des linken oder rechten Kantenschutzes angeordnet ist. Damit liegt der Bezugspunkt in Fahrtrichtung vor der Fräswalze. Wenn nur das vordere Kettenlaufwerk gelenkt wird, ist von Vorteil, wenn der Bezugspunkt unmittelbar vor der Fräswalze liegt, da dann ein ungleichmäßiger Verlauf der Fräskante nicht exakt kopiert, sondern geglättet wird, und bis zum Ende der Frässpur gefahren werden kann. Der Bezugspunkt kann aber auch in einem größeren Abstand vor der Fräswalze am Maschinenrahmen festgelegt werden.Preferably, the reference point is a point which is arranged at the front end in the direction of travel of the left or right edge protector. This is the reference point in the direction of travel in front of the milling drum. If only the front track drive is steered, it is advantageous if the reference point lies directly in front of the milling drum, since then an uneven course of the milling edge is not copied exactly, but smoothed, and can be driven to the end of the milling track. The reference point can also be set at a greater distance in front of the milling drum on the machine frame.

Es ist grundsätzlich möglich, nicht nur den Abstand zu der Fräskante des in dem vorhergehenden Arbeitsgang gefrästen Streifens zu ermitteln, sondern auch den Abstand zu der Fräskante des Frässtreifens, der gerade gefräst wird. Die Lenkeinrichtung zum Lenken der Kettenlaufwerke kann dann in Abhängigkeit von dem Abstand zwischen der alten und der neuen Fräskante gesteuert werden.It is in principle possible to determine not only the distance to the milling edge of the milled in the previous step strip, but also the distance to the milling edge of the milling strip, which is being milled. The steering device for steering the track drives can then be controlled in dependence on the distance between the old and the new milling edge.

Bei einer besonders bevorzugten Ausführungsform sind zur weiteren Automatisierung Mittel zur
Erfassung der Position des linken und rechten Kantenschutzes vorgesehen. In Abhängigkeit von der Fahrtrichtung der Straßenfräsmaschine liegt einer der beiden Kantenschutze auf der bereits gefrästen Fläche auf, während der andere Kantenschutz auf der noch nicht bearbeiteten Fläche aufliegt. Die Mittel zum Aktivieren der ersten oder zweiten Mittel zur Erfassung des Abstandes zwischen Bezugspunkt und Fräskante wirken derart mit den Mitteln zur Erfassung der Position des linken und rechten Kantenschutzes zusammen, dass diejenigen Mittel zur Erfassung des Abstandes aktiviert werden, die dem Kantenschutz zugeordnet sind, der sich in der unteren Position befindet, während die anderen Mittel zur Bestimmung des Abstandes deaktiviert werden, die dem Kantenschutz zugeordnet sind, der sich in der oberen Position befindet. Dadurch wird sichergestellt, dass immer der Abstand zu der Fräskante an der Seite bestimmt wird, auf der auch gefräst wird. Es ist also nicht erforderlich, dass der Maschinenführer vorgibt, auf welcher Seite der Maschine der Abstand gemessen wird.In a particularly preferred embodiment, means for further automation
Detecting the position of the left and right edge protection provided. Depending on the direction of travel of the road milling machine, one of the two edge protectors rests on the already milled surface, while the other edge protection rests on the surface that has not yet been machined. The means for activating the first or second means for detecting the distance between the reference point and the milling edge cooperate with the means for detecting the position of the left and right edge protection, that those means are activated for detecting the distance associated with the edge protection, the is in the lower position while deactivating the other means for determining the distance associated with the edge guard which is in the upper position. This ensures that the distance to the milling edge is always determined on the side on which milling is also performed. It is therefore not necessary for the machine operator to specify on which side of the machine the distance is measured.

Im Folgenden wird ein Ausführungsbeispiel einer erfindungsgemäßen Maschine unter Bezugnahme auf die Zeichnungen im Einzelnen erläutert.In the following, an embodiment of a machine according to the invention will be explained in detail with reference to the drawings.

Es zeigen:

Fig. 1
eine Vorrichtung zur Ausbeutung von Lagerstätten in der Seitenansicht,
Fig. 2
einen Ausschnitt von Fig. 1 in vergrößerter Darstellung, der die Fräseinrichtung der Vorrichtung zur Ausbeutung von Lagerstätten zeigt,
Fig. 3A
die Fräswalze der Vorrichtung zur Ausbeutung von Lagerstätten in der Draufsicht, wobei eine erste Arbeitsposition dargestellt ist,
Fig. 3B
die Fräswalze in der Draufsicht, wobei eine zweite Arbeitsposition dargestellt ist,
Fig. 4A
das Fräswalzengehäuse mit der Fräswalze der Vorrichtung zur Ausbeutung von Lagerstätten während des Fräsens eines ersten Frässtreifens in einer Ansicht aus einer Richtung hinter der Fräswalze,
Fig. 4B
das Fräswalzengehäuse beim Fräsen eines neben dem ersten Streifen liegenden zweiten Frässtreifens aus einer Ansicht in Fahrtrichtung vor der Fräswalze,
Fig. 4C
die Fräswalze während des Fräsens des zweiten Frässtreifens aus einer Ansicht hinter der Fräswalze und
Fig. 5
eine Ausführungsform mit zwei Ultraschall-Sensoren zur Abstandsmessung in schematischer Darstellung.
Show it:
Fig. 1
a device for the exploitation of deposits in the side view,
Fig. 2
a section of Fig. 1 in an enlarged view showing the milling device of the device for exploiting deposits,
Fig. 3A
the milling drum of the device for exploiting deposits in plan view, wherein a first working position is shown,
Fig. 3B
the milling drum in plan view, wherein a second working position is shown,
Fig. 4A
the milling drum housing with the milling drum of the device for exploiting deposits during the milling of a first milling strip in a view from a direction behind the milling drum,
Fig. 4B
the milling drum housing during milling of a second strip lying next to the first strip from a view in the direction of travel in front of the milling drum,
Fig. 4C
the milling drum during milling of the second Fräserreifens from a view behind the milling drum and
Fig. 5
an embodiment with two ultrasonic sensors for distance measurement in a schematic representation.

Fig. 1 zeigt in der Seitenansicht eine Maschine zur Ausbeutung von Lagerstätten im Tagebaubetrieb, die nachfolgend als Surface Miner bezeichnet wird. Da Aufbau und Funktionsweise eines Surface Miners dem Fachmann bekannt sind, werden im Folgenden nur diejenigen Komponenten des Surface Miners beschrieben, die für das Verständnis der Erfindung relevant sind. Auf die Beschreibung einer Straßenfräsmaschine, deren Aufbau und Funktionsweise dem Fachmann ebenfalls bekannt ist, wird verzichtet, da für die Erfindung nur die Fräseinrichtung und die Lenkeinrichtung der Strassenfräsmaschine relevant ist, die sich aber von der Fräs- und Lenkeinrichtung eines Surface Miners im Hinblick auf die für die Erfindung relevanten Komponenten grundsätzlich nicht unterscheidet. Fig. 1 shows in side view a machine for the exploitation of deposits in opencast mining, which is referred to below as a surface miner. Since the structure and mode of operation of a surface miner are known to the person skilled in the art, only those components of the surface miner which are relevant for the understanding of the invention will be described below. On the description of a road milling machine, whose construction and operation is also known in the art, is omitted because only the milling device and the steering device of the road milling machine is relevant to the invention, but of the milling and steering device of a surface miner with respect to Basically not different for the invention relevant components.

Der Surface Miner zum Fräsen bzw. Schneiden von Gestein weist ein Chassis 1 auf, das als biegesteife Schweißkonstruktion ausgebildet ist. Zum Fräsen des Gesteins ist eine Fräseinrichtung 2 vorgesehen, die unterhalb des Chassis angeordnet ist. Die Einstellung der Schnitttiefe erfolgt durch Anheben oder Absenken des Chassis 1, das auf zwei vorderen und zwei hinteren Kettenlaufwerken 3A und 3B verfahren werden kann, die an der Vorder- und Rückseite des Chassis angeordnet sind.The surface miner for milling or cutting of rock has a chassis 1, which is designed as a rigid welded construction. For milling the rock a milling device 2 is provided, which is arranged below the chassis. The depth of cut adjustment is made by raising or lowering the chassis 1, which can be moved on two front and two rear chain drives 3A and 3B, which are arranged on the front and back of the chassis.

Die Einrichtung zur Höhenverstellung des Chassis 1 verfügt über den einzelnen Kettenlaufwerken 3A, 3B zugeordnete Parallelogrammführungen, von denen die an der Vorderseite des Chassis angeordneten Parallelogrammführungen mit der Bezugsziffer 4A und die an der Rückseite des Chassis angeordneten Parallelogrammführungen mit der Bezugsziffer 4B bezeichnet sind. Die vier Kettenlaufwerke 3A, 3B sind pendelnd an den Parallelogrammführungen aufgehängt, wobei die Kettenlaufwerke in Bezug auf das Chassis in einer vertikalen Ebene verfahren werden können.The height adjustment device of the chassis 1 has parallelogram guides associated with each of the crawler tracks 3A, 3B of which the parallelogram guides disposed at the front of the chassis are designated by the reference numeral 4A and the parallelogram guides disposed at the rear of the chassis are designated by the reference numeral 4B. The four track drives 3A, 3B are oscillating on the parallelogram guides suspended, wherein the crawler tracks can be moved in relation to the chassis in a vertical plane.

Zum Lenken des Surface Miners werden die vorderen Kettenlaufwerke 3A um eine vertikale Achse gedreht. Hierfür ist für jedes vordere Kettenlaufwerk 3A eine Kolben-/Zylinder-Anordnung 5 vorgesehen, deren Kolben 5A gelenkig mit der Fahrwerksaufhängung verbunden ist, und deren Zylinder 5B gelenkig mit dem Chassis verbunden ist. Durch Betätigung der Kolben-/Zylinder-Anordnungen 5 werden die vorderen Kettenlaufwerke um die vertikale Achse gedreht. Die Kolben-/Zylinderanordnungen 5 bilden zusammen mit den nicht dargestellten Hydraulikpumpen sowie noch weiteren nicht dargestellten Bauteilen die Lenkeinrichtung 6 der Maschine. Es ist auch möglich, zum Lenken des Surface Miners neben den vorderen auch die hinteren Kettenlaufwerke 3B zu verstellen.To steer the surface miner, the front crawlers 3A are rotated about a vertical axis. For this purpose, a piston / cylinder arrangement 5 is provided for each front chain drive 3A, the piston 5A is pivotally connected to the chassis suspension, and the cylinder 5B is pivotally connected to the chassis. By operating the piston / cylinder assemblies 5, the front crawlers are rotated about the vertical axis. The piston / cylinder assemblies 5 together with the hydraulic pumps, not shown, as well as other components, not shown, the steering device 6 of the machine. It is also possible to move the surface miner in addition to the front and the rear crawler 3B to adjust.

Das von der Fräseinrichtung 2 abgefräste Material wird von einer Ladeeinrichtung 7 aufgenommen, die ein Aufnahmeband 7A in Fahrtrichtung hinter der Fräseinrichtung 3 und ein höhenverstellbares sowie schwenkbares Verladeband 7B aufweist.
Fig. 2 zeigt die Seitenansicht der Fräseinrichtung 2 in vergrößerter Darstellung, die unterhalb des Chassis 1 zwischen den vorderen und hinteren Kettenlaufwerken 3A, 3B angeordnet ist. Die Fräseinrichtung 2 umfasst ein Fräswalzengehäuse 8, das eine in Fahrtrichtung linke und rechte Seitenwand 9 sowie eine in der Seitenansicht nicht sichtbare Vorderwand und Rückwand aufweist. Vor der linken und rechten Seitenwand 9 des Fräswalzengehäuses 8 ist jeweils ein Kantenschutz 10 angeordnet. Bei dem Kantenschutz 10 handelt es sich um eine höhenverstellbare Platte, die von dem Boden angehoben oder auf den Boden abgesenkt werden kann. Die Einrichtung 11 zur Höhenverstellung des linken und rechten Kantenschutzes 10 weist dem linken und rechten Kantenschutz zugeordnete Kolben-/Zylinder-Anordnungen 11A und 11B auf. Durch Betätigung der Kolben-/ZylinderAnordnungen 11A, 11B kann der linke oder rechte Kantenschutz 10 in der Höhe verstellt werden.The material milled from the milling device 2 is received by a loading device 7 which has a receiving belt 7A in the direction of travel behind the milling device 3 and a height-adjustable and pivotable loading belt 7B.
Fig. 2 shows the side view of the milling device 2 in an enlarged view, which is arranged below the chassis 1 between the front and rear crawler tracks 3A, 3B. The milling device 2 comprises a milling drum housing 8, which has a left and right side wall 9 in the direction of travel and a front wall and rear wall, which are not visible in the side view. Before the left and right side wall 9 of the Fräswalzengehäuses 8 each edge protection 10 is arranged. The edge protector 10 is a height-adjustable plate that can be raised from the ground or lowered to the ground. The device 11 for height adjustment of the left and right edge protection 10 has the left and right edge protection associated piston / cylinder assemblies 11A and 11B. By actuating the piston / cylinder assemblies 11A, 11B, the left or right edge protector 10 can be adjusted in height.

Zwischen den beiden Seitenplatten 9 des Fräswalzengehäuses ist die Fräswalze 12 drehbar gelagert, wobei deren Drehachse quer zur Fahrtrichtung verläuft. Die Fräswalze 12 weist um den Umfang verteilt angeordnete Fräswerkzeuge 12A auf, mit denen das Gestein zerkleinert wird. Die Figuren 3A und 3B zeigen einen Ausschnitt der Fräswalze 12 mit den Fräswerkzeugen 12A in der Draufsicht. Die Fräswalze einer Straßenfräsmaschine weist ebenfalls Fräswerkzeuge zum Zerkleinern der Fahrbahn auf. Insofern unterscheiden sich die Fräseinrichtungen beider Maschinen nicht voneinander.Between the two side plates 9 of the Fräswalzengehäuses the milling drum 12 is rotatably mounted, wherein the axis of rotation extends transversely to the direction of travel. The milling drum 12 has distributed around the circumference arranged milling tools 12 A, with which the rock is crushed. The FIGS. 3A and 3B show a section of the milling drum 12 with the milling tools 12A in plan view. The milling drum of a road milling machine points also milling tools for crushing the roadway. In this respect, the milling devices of both machines do not differ from each other.

Während des Fräsvorgangs bewegt sich die Vorrichtung zur Ausbeutung von Lagerstätten mit einer verhältnismäßig geringen Vorschubgeschwindigkeit in Fahrtrichtung. Die untere Kante 10A des linken und rechten Kantenschutzes 10 liegt dabei zu beiden Seiten der Fräskante auf dem Boden auf.During the milling process, the device for exploiting deposits moves at a relatively low feed rate in the direction of travel. The lower edge 10A of the left and right edge protector 10 lies on both sides of the milling edge on the ground.

Fig. 4A zeigt das Fräswalzengehäuse 8 der Fräseinrichtung 2 mit der Fräswalze 12 in einer Ansicht in Fahrtrichtung von hinten. Die linke und rechte Fräskante des Frässtreifens 13 ist mit den Bezugszeichen 13A bzw. 13B bezeichnet. Als Fräskanten werden hier die vertikalen Flächen zu beiden Seiten der Fräswalze, d.h. die den Stirnseiten der Fräswalze zugewandten Flächen angesehen. Die Breite des Frässtreifens 13 entspricht dem Abstand zwischen den beiden Fräskanten 13A und 13B. Dies ist die Arbeitsbreite der Maschine. Wenn eine Fläche bearbeitet werden soll, die breiter als die Arbeitsbreite der Maschine ist, werden mehrere Frässtreifen gefräst, die parallel zu einander verlaufen. Fig. 4A shows the milling drum housing 8 of the milling device 2 with the milling drum 12 in a view in the direction of travel from behind. The left and right milling edges of the milling strip 13 are designated by reference numerals 13A and 13B, respectively. When Fräskanten here are the vertical surfaces on both sides of the milling drum, ie viewed the end faces of the milling drum surfaces. The width of the milling strip 13 corresponds to the distance between the two milling edges 13A and 13B. This is the working width of the machine. If you want to machine an area wider than the working width of the machine, you will need to cut several milling strips that run parallel to each other.

In den Figuren 4B und 4C ist dargestellt, wie der zweite Frässtreifen gefräst wird. Fig. 4B zeigt eine Ansicht in Fahrtrichtung vor der Fräswalze, während Fig. 4C eine Ansicht in Fahrtrichtung hinter der Fräswalze zeigt. Im Idealfall sollte der linke Frässtreifen genau da enden, wo der rechte Frässtreifen beginnt. Dies setzt eine exakte Steuerung der Maschine voraus.In the Figures 4B and 4C it is shown how the second milling strip is milled. Fig. 4B shows a view in the direction of travel in front of the milling drum, while Fig. 4C a view in the direction of travel behind the milling drum shows. Ideally, the left side bumper should end exactly where the right side bartender starts. This requires exact control of the machine.

Die erfindungsgemäße Maschine verfügt über eine Einrichtung 14 zur Erkennung des Verlaufs der Fräskante des Frässtreifens. Die Einrichtung 14 zur Erkennung des Verlaufs der Fräskante verfügt über Mittel 14A, 14B, mit denen der Abstand zwischen einem Bezugspunkt I der Maschine, der vorzugsweise am vorderen unteren Ende des Kantenschutzes 10 liegt und der Fräskante 13A, 13B bestimmt wird. Derartige Mittel 14A, 14B sind zu beiden Seiten der Fräswalze 12 vorgesehen. Sie weisen jeweils ein mechanisches Tastelement 15 in Form eines Paddels auf, das in der horizontalen Ebene schwenkbar ist. Das Tastelement 15 ist an dem unteren Ende einer vertikalen Welle 16 befestigt, die in Fahrtrichtung vor dem Kantenschutz 10 drehbar gelagert ist. Neben der Welle 16 umfasst die Einrichtung 17 zum Bewegen des Tastelements 15 eine Kolben-/Zylinder-Anordnung 18, deren Zylinder 18A an dem Kantenschutz 10 und deren Kolben 18B an einem Hebel 19 drehbar befestigt ist, der von dem oberen Ende der Welle 16 absteht. Durch Ein- und Ausfahren des Kolbens 18B der Kolben-/Zylinderanordnung 18 wird das Tastelement 15 an die Fräskante 13 herangeführt. Das Tastelement ist mittels der Kolben-/Zylinder-Anordnung gegen die Fräskante federnd vorgespannt, so dass das Tastelement dem Verlauf der Fräskante beim Vorschub der Maschine folgt. Dabei gleitet das Tastelement beim Vorschub der Maschine auf der Fräskante. Da der Drehpunkt des Tastelements in Fahrtrichtung vor dessen Anlagepunkt an der Fräskante liegt, wird das Tastelement entlang der Fräskante gezogen, so dass es an Unebenheiten der Fräskante nicht verkanten kann.The machine according to the invention has a device 14 for detecting the course of the milling edge of the milling strip. Milling edge detection means 14 has means 14A, 14B for determining the distance between a reference point I of the machine, preferably located at the front lower end of edge protector 10, and milling edge 13A, 13B. Such means 14A, 14B are provided on both sides of the milling drum 12. They each have a mechanical feeler element 15 in the form of a paddle, which is pivotable in the horizontal plane. The feeler element 15 is attached to the lower end of a vertical shaft 16 which is rotatably mounted in the direction of travel before the edge protector 10. In addition to the shaft 16, the means 17 for moving the feeler element 15 comprises a piston / cylinder arrangement 18, whose cylinder 18A on the edge protector 10 and the piston 18B on a lever 19 rotatable is fixed, which protrudes from the upper end of the shaft 16. By retracting and extending the piston 18 B of the piston / cylinder assembly 18, the probe element 15 is brought to the milling edge 13. The probe element is resiliently biased by means of the piston / cylinder arrangement against the milling edge, so that the probe element follows the course of the milling edge during the advancement of the machine. In the process, the feeler slides on the milling edge when the machine is moved. Since the pivot point of the feeler element lies in the direction of travel before its contact point on the milling edge, the feeler element is pulled along the milling edge, so that it can not tilt at unevennesses of the milling edge.

Auf der Welle 16 sitzt ein Winkelgeber 20, mit dem die Winkelstellung der Welle gemessen wird. Der Winkelstellung der Welle entspricht der Abstand zwischen der Fräskante 13 und dem Bezugspunkt I. Anstelle einer Messung der Winkelstellung mit einem Winkelgeber kann der Weg aber auch über die Stellung des Kolbens 18B in der Kolben-/Zylinderanordnung 18 gemessen werden.On the shaft 16 sits an angle sensor 20, with which the angular position of the shaft is measured. The angular position of the shaft corresponds to the distance between the milling edge 13 and the reference point I. Instead of measuring the angular position with an angle sensor, the path can also be measured via the position of the piston 18 B in the piston / cylinder assembly 18.

Die Einrichtung 14 zur Erkennung des Verlaufs der Fräskante weist eine in Fig. 1 nur andeutungsweise dargestellte Einrichtung 21 zur Überwachung des Abstandes auf, die mit der Einrichtung 6 zum Lenken der vorderen Kettenlaufwerke 3A und 3B zusammenwirkt. Die Einrichtung 21 zur Überwachung des Abstandes vergleicht den gemessenen Abstand zwischen dem Bezugspunkt I und der Fräskante 13A bzw. 13B mit einem gewünschten Wert für den Abstand zwischen Bezugspunkt und Fräskante. In Abhängigkeit von der Differenz zwischen dem gemessenen Abstand und dem vorgegebenen Abstand steuert die Einrichtung 6 zum Lenken der Kettenlaufwerke die Kolben/Zylinderanordnungen 5 zum Drehen der Kettenlaufwerke derart an, dass der gemessene Abstand während des Fräsvorgangs dem vorgegebenen Abstand entspricht. Wenn dies der Fall ist, bewegt sich die Maschine entlang der Fräskante des vorhergehenden Frässtreifens, so dass der vorausgehende und nachfolgende Frässtreifen exakt nebeneinander liegen.The device 14 for detecting the course of the milling edge has an in Fig. 1 only hinted means 21 for monitoring the distance, which cooperates with the means 6 for steering the front crawler tracks 3A and 3B. The means 21 for monitoring the distance compares the measured distance between the reference point I and the milling edge 13A or 13B with a desired value for the distance between the reference point and the milling edge. Depending on the difference between the measured distance and the predetermined distance, the means 6 for steering the crawler drives the piston / cylinder assemblies 5 for rotating the crawlers so that the measured distance during the milling operation corresponds to the predetermined distance. If this is the case, the machine moves along the milling edge of the previous milling strip, so that the preceding and subsequent milling strips are exactly next to each other.

Wenn der ermittelte Wert für den Abstand außerhalb vorgegebener Grenzen liegt und/oder ein Wert für den Abstand nicht ermittelt wird, steuert die Einrichtung 14 zur Erkennung des Verlaufs der Fräskante nicht die Einrichtung 6 zum Lenken der Kettenlaufwerke an. Dies kann beispielsweise der Fall sein, wenn sich die Fräskante außerhalb des Messbereichs befindet. Im diesem Fall wird ein Alarm gegeben, der signalisiert, dass die Steuerung der Maschine nunmehr von Hand erfolgt. Dadurch wird ausgeschlossen, dass eine automatische Steuerung der Maschine zur Vorgabe einer falschen Fräsrichtung führt. Die Einrichtung 14 zur Erkennung des Verlaufs der Fräskante ist derart ausgebildet, dass die automatische Steuerung der Lenkeinrichtung dann sofort unterbrochen wird, wenn der Fahrer einen Eingriff in die Maschinensteuerung vornimmt, d.h. die Bedienelemente zum Lenken der Maschine betätigt.If the determined value for the distance is outside predetermined limits and / or a value for the distance is not determined, the device 14 for detecting the course of the milling edge does not actuate the device 6 for steering the track drives. This can be the case, for example, if the milling edge is outside the measuring range. In this case, an alarm is given, which signals that the control of the machine is now done by hand. This excludes that one automatic control of the machine for specifying a wrong milling direction leads. The device 14 for detecting the course of the milling edge is designed such that the automatic control of the steering device is then interrupted immediately when the driver makes an intervention in the machine control, ie the controls operated to steer the machine.

Um in unterschiedlichen Richtungen arbeiten zu können, kann der Abstand zwischen dem Bezugspunkt und der Fräskante auf beiden Seiten des Fräswalzengehäuses gemessen werden. Hierzu sind auf beiden Seiten des Fräswalzengehäuses entsprechende Tastelemente und Einrichtungen zum Bewegen der Tastelemente vorgesehen. Beim Fräsen wird aber nur eines der beiden Tastelemente benötigt. Die erfindungsgemäße Maschine sieht eine automatische Auswahl eines der beiden Tastelemente vor.In order to work in different directions, the distance between the reference point and the milling edge can be measured on both sides of the milling drum housing. For this purpose, corresponding sensing elements and means for moving the sensing elements are provided on both sides of the Fräswalzengehäuses. When milling but only one of the two sensing elements is needed. The machine according to the invention provides an automatic selection of one of the two feeler elements.

Die Figuren 4B und 4C zeigen, dass der linke Kantenschutz 10 mit der unteren Kante 10A auf dem zuvor gefrästen Streifen 13 aufliegt, während der reche Kantenschutz 10 mit der Unterkante 10A auf der noch zu bearbeitenden Fläche aufliegt. Folglich befinden sich der linke Kantenschutz in der unteren und der rechte Kantenschutz in der oberen Position. Die erfindungsgemäße Maschine verfügt über in Fig. 1 nur andeutungsweise dargestellte Mittel 22 zur Erfassung der Position des linken und rechten Kantenschutzes, bei denen es sich vorzugsweise um Seilzugsensoren 22 handelt, deren Seile jeweils an dem linken bzw. rechten Kantenschutz befestigt sind. Die Seilzugsensoren 22 wirken derart mit den Mitteln 14A und 14B zur Erfassung des Abstandes zusammen, dass diejenigen Mittel 14A oder 14B aktiviert werden, die dem Kantenschutz zugeordnet sind, der sich in der unteren Position befindet, und gleichzeitig diejenigen Mittel deaktiviert werden, die dem Kantenschutz zugeordnet sind, der sich in der oberen Position befindet. Bei dem vorliegenden Ausführungsbeispiel liegt das Tastelement 15A, das vor dem linken Kantenschutz 10 angeordnet ist, an der Fräskante 13A an, so dass der Abstand zwischen dem Bezugspunkt und der Fräskante gemessen werden kann, während das vor dem rechten Kantenschutz angeordnete Tastenelement 15B nicht aktiv ist.The Figures 4B and 4C show that the left edge protector 10 rests with the lower edge 10A on the previously milled strip 13, while the right edge protector 10 rests with the lower edge 10A on the surface still to be machined. As a result, the left edge protector is in the upper position and the right edge protector is in the upper position. The machine according to the invention has in Fig. 1 only suggestively illustrated means 22 for detecting the position of the left and right edge protection, which are preferably cable pull sensors 22, the ropes are respectively attached to the left and right edge protection. The cable pull sensors 22 cooperate with the distance sensing means 14A and 14B to activate those means 14A or 14B associated with the edge guard which is in the lower position and at the same time deactivating those means which are the edge guard are assigned, which is located in the upper position. In the present embodiment, the stylus 15A disposed in front of the left edge protector 10 abuts the mill edge 13A, so that the distance between the reference point and the mill edge can be measured while the key element 15B located in front of the right edge protector is not active ,

Bei dem beschriebenen Ausführungsbeispiel wird davon ausgegangen, dass die Fräskante als eine vertikale ebene Fläche angesehen werden kann. Daher ist ausreichend, wenn auf der Fräskante nur ein Bezugspunkt festgelegt wird. Es ist aber möglich, mehrere Bezugspunkte festzulegen, wobei die ermittelten Abstandswerte statistisch ausgewertet werden können, beispielsweise der Mittelwert aus den ermittelten Werten gebildet werden kann.In the described embodiment it is assumed that the milling edge can be regarded as a vertical flat surface. Therefore, it is sufficient if only one reference point is defined on the milling edge. However, it is possible to specify several reference points, wherein the determined distance values are evaluated statistically For example, the mean value can be formed from the determined values.

Fig. 5 zeigt in vereinfachter schematischer Darstellung den Bereich des vorderen unteren Endes einer der beiden Kantenschützer 10 einer Ausführungsforrn, bei der die Mittel zur Erfassung des Abstandes über zwei berührungslos arbeitende Abstandsmesseinrichtungen mit berührungslosen Ultraschall-Sensoren 15' verfügen, die am vorderen unteren Ende des jeweiligen Kantenschutzes 10 im Abstand zueinander angeordnet sind. Die Mittel zur Erfassung des Abstandes weisen bei dieser Ausführungsform Mittel auf, die aus den mit den beiden Sensoren 15' gemessenen Werten für den Abstand den Mittelwert oder auch eine andere charakteristische Größe berechnen. Fig. 5 shows in a simplified schematic representation of the region of the front lower end of the two edge protectors 10 an Ausführungsforrn, wherein the means for detecting the distance via two non-contact distance measuring devices with non-contact ultrasonic sensors 15 'have, at the front lower end of the respective edge protector 10th are spaced apart. In this embodiment, the means for detecting the distance have means which calculate the mean value or also another characteristic variable from the values for the distance measured with the two sensors 15 '.

Claims (14)

  1. Road-milling machine or machine for working deposits, having a chassis (1),
    having running gear arranged on the chassis which has track-laying units (3A, 3B) which are at the front and rear in the direction of travel,
    having a milling arrangement (2) which is arranged between the front and rear track-laying units, the milling arrangement having a rotating milling drum (12) which is of a preset working width, a milled strip of a milled width corresponding to the working width of the milling drum thus being milled at the time of milling,
    having a steering arrangement (6) for steering at least one of the track-laying units,
    having an arrangement (14) for detecting the path followed by a preset line, which arrangement (14) co-operates with the steering arrangement (6) in such a way that the track-laying units (3A, 3B) are steered in such a way that the machine follows the path followed by the preset line,
    characterised in that
    the arrangement for detecting the path followed by a preset line takes the form of an arrangement (14) for detecting the path followed by a milled edge of a milled strip, and has means (14A, 14B) for measuring the distance between at least one reference point (I) on the machine and the milled edge, and the arrangement (14) for detecting the path followed by the milled edge co-operates with the arrangement (6) for steering the track-laying units in such a way that the machine follows the path followed by the milled edge,
    there are provided at the two ends of the milling drum (12) a left-hand edge guard (10) which extends in the longitudinal direction and a right-hand edge guard (10) which extends in the longitudinal direction, an arrangement (11A, 11B) being provided for adjusting the left-hand and right-hand edge guards vertically, and
    that the means (14A, 14B) for measuring the distance has first means (14A) for measuring the distance between a first reference point which is arranged in the region of the left-hand edge guard and a milled edge, and second means (14B) for measuring the distance between a second reference point which is arranged in the region of the right-hand edge guard and a milled edge, the arrangement (14) for detecting the path followed by the milled edge having means for activating the first or second means, and
    the first and second means (14A, 14B) for measuring the distance between the first reference point and the second reference point, respectively, and the milled edge is configured as a mechanical or electrical or electronic sensing arrangement having a sensing member for sensing the surface of a vertical, plane milled edge, the sensing arrangement measuring the distance between the first reference point and the second reference point, respectively, and at least a reference point on the milled edge.
  2. Road-milling machine or machine for working deposits according to claim 1, characterised in that the arrangement (14) for detecting the path followed by the milled edge has an arrangement (21) for monitoring distance which compares the distance which is measured by the means (14A, 14B) for measuring distance between at least one reference point (I) on the machine and the milled edge with a desired value for distance, the arrangement (21) for monitoring distance co-operating with the arrangement (6) for steering the track-laying units in such a way that the track-laying units are so steered that the value measured for distance corresponds to the desired distance.
  3. Road-milling machine or machine for working deposits according to claim 2, characterised in that the arrangement (21) for monitoring distance is so designed that said arrangement (21) co-operates with the arrangement (6) for steering the track-laying units only when the distance between the at least one reference point and the milled edge is within preset limits.
  4. Road-milling machine or machine for working deposits according to one of claims 1 to 3, characterised in that the means (14A, 14B) for measuring the distance between a reference point (I) on the machine and the milled edge is a mechanical sensing arrangement having a mechanical sensing member (15).
  5. Road-milling machine or machine for working deposits according to claim 4, characterised in that an arrangement (17) is provided by which the sensing member (15) can be moved in the horizontal plane.
  6. Road-milling machine or machine for working deposits according to claim 5, characterised in that the arrangement (17) for moving the sensing member (15) in the horizontal plane has a shaft (16) which can be rotated on a vertical axis, the means (14A, 14B) for measuring distance having means (20) by which the angular position of the shaft can be determined.
  7. Road-milling machine or machine for working deposits according to claim 5 or 6, characterised in that the arrangement (17) for moving the sensing member (15) in the horizontal plane has means (18) by which the sensing member can be resiliently preloaded against the milled edge.
  8. Road-milling machine or machine for working deposits according to one of claims 1 to 3, characterised in that the means (14A, 14B) for measuring the distance between a reference point (I) on the machine and the milled edge is a sensing arrangement which operates without making physical contact and which has a non-contacting sensing member (15').
  9. Road-milling machine or machine for working deposits according to claim 8, characterised in that the non-contacting sensing member is an ultrasonic sensor (15').
  10. Road-milling machine or machine for working deposits according to one of claims 1 to 9, characterised in that the reference point (I) on the machine is a point which is arranged in the region of the bottom end of the left-hand and/or right-hand edge guard (10).
  11. Road-milling machine or machine for working deposits according to one of claims 1 to 10, characterised in that the reference point (I) on the machine is a point which is arranged in the region of that end of the left-hand or right-hand edge guard (10) which is at the front in the direction of travel.
  12. Road-milling machine or machine for working deposits according to one of claims 1 to 11, characterised in that means (22) are provided for measuring the positions of the left-hand and right-hand edge guards (10), the means (22) for measuring the positions of the edge guards co-operating with the means (14A, 14B) for measuring distance in such a way that the first means (14A) can be activated and the second means (14B) de-activated when the left-hand edge guard is in the lower position and the right-hand edge guard is in the upper position, and the second means (14B) can be activated and the first means (14A) de-activated when the right-hand edge guard is in the lower position and the left-hand edge guard is in the upper position.
  13. Road-milling machine or machine for working deposits according to one of claims 1 to 12, characterised in that the milling drum (12) is arranged in a milling drum enclosure (8) which has a left-hand side-wall (9) extending in the longitudinal direction and a right-hand side-wall (9) extending in the longitudinal direction, the left-hand edge guard (10) being arranged on the left-hand side-wall and the right-hand edge guard (10) being arranged on the right-hand side-wall.
  14. Road-milling machine or machine for working deposits according to one of claims 1 to 13, characterised in that the means (14A, 14B) for measuring distance are so designed that a characteristic variable of distance, and in particular a mean, is calculated from the values for the distances between at least two reference points (I) and the milled edge.
EP08012356.5A 2007-09-14 2008-07-09 Road milling machine or machine for exploiting deposits Active EP2037042B1 (en)

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CN201443038U (en) 2010-04-28
US8047741B2 (en) 2011-11-01
DE102007044090A1 (en) 2009-04-09
EP2037042A1 (en) 2009-03-18
CN101392496A (en) 2009-03-25
US20090074510A1 (en) 2009-03-19
AU2008212051B2 (en) 2011-05-19
AU2008212051A1 (en) 2009-04-02
CN101392496B (en) 2012-01-11

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