EP2455544B1 - Soil or pavement milling machine and method for milling soils or traffic surfaces - Google Patents

Description

The invention relates to a soil cultivation machine for milling soil or traffic surfaces according to the preamble of claim 1 or a method for milling soil or traffic areas with a soil cultivation machine according to the preamble of claim 10.

Such construction machines, also called stabilizers or recyclers, are used for material processing, namely, for example, the stabilization of unsuitable soils, the pulverization of asphalt floors, or the recycling of bound or unbound road surfaces. In order to improve or consolidate soils, it is known to incorporate a powdery binder into the soil in order to increase its ability to be installed and its carrying capacity. The known tillage machines have a rotating in a mixing chamber milling drum, which is arranged vertically adjustable under the milling drum enclosing, fixed to the machine frame hood. The tillage machine can be self-propelled. Examples of such machines are in the WO 96/24725 , of the WO 2005/054578 or the EP 2218823 A described.

With regard to the description of the individual components of such a tillage machine, reference is made to these earlier patent applications.

In the mixing space between the hood and the milling device, the necessary processes take place, adapted to the respective application, such as e.g. Removal and crushing of the milled roadway material, addition of binders, mixing and distribution of added materials, etc.

Such machines are often equipped with a closed control station. The control station is preferably arranged forward in the direction of travel, in newer machines even on or in front of the front axle. Due to the position of the control station an observation of the milling device from the driver's station is not possible, especially because the hood completely surrounds the milling device and rests on the ground surface.

In the milling process, the mix is swirled around in the mixing chamber, so that when stopping the milling drum each settles a larger amount of mix before and behind the milling drum. Now, when the milling drum is raised to be out of engagement with the ground, a recess approximately 40% deep of the milling drum diameter remains at the location where the milling drum was located and over the entire length of the milling drum , according to the working width of the tillage machine extends.

For example, if a larger area is processed in the size of a football field with multiple lanes, remain at the turning points of each lane of such Mischgutanhumpungen or depressions that need to be smoothed manually or with a grader. In other words, every time the milling process has to be interrupted, because the tillage machine has to be moved to the next lane or to another processing site, there is the problem that leaving the milling drum moves out of the processed soil surface in an uneven state. To make matters worse, that the driver can not observe the processing station.

The invention is therefore an object of the invention to provide a soil tillage machine for milling of soils, as well as a method for milling of soils in which at the end of the milling process, the processed soil surface can be left in a substantially flat state.

To achieve this object, the features of claims 1 and 10 serve.

The invention advantageously provides that a control for terminating the milling operation controls the milling depth of the milling device with simultaneous coordinated forward or reverse travel along a predetermined trajectory, whereby the milling device can be moved out into the out-of-ground upper position, without any of the Retracting the milling device resulting recess in the processed soil surface remains.

The lifting movement for reducing the cutting depth is controlled synchronized with the driving movement that the mixing material volume located in the direction of travel before the milling device is pushed by the hood in the recess, wherein together with the supplied by the rotational movement of the milling device from the mixing chamber Mischgutvolumen the depression in the is gradually completely filled by the lifting movement of the milling device gradually released space.

In particular, the recess which is released when the milling device is moved out should be filled with the mixture. It is understandable that an absolute flatness is not achievable, but the well is filled with mix so that no significant bumps remain.

Upon completion of the milling operation, the driver issues a signal to the controller, which then controls the milling depth of the milling device while simultaneously advancing or reversing the tillage machine along a predetermined trajectory to complete the milling operation. The trajectory can be stored, for example, in the controller and coordinates the retraction of the milling device while driving the soil tillage machine in such a way that the milling device can be moved into the upper position out of the ground engaging while at the same time when moving out the milling device freed depression is closed in the processed soil surface. It is necessary for this purpose that the height adjustment of the milling device takes place simultaneously with forward or reverse travel, such that the Mischgutanhäufungen located in front and behind the milling in the direction of travel are successively conveyed into the increasingly released by the retraction of the milling depression. The predetermined by the controller trajectory when lifting the milling device can be determined empirically and possibly deposited for different soil conditions in the controller in a memory. Therefore, the controller according to the invention causes the vehicle driver does not have to worry about retracting the milling device, but only tells the controller when the milling is to be stopped, so that the driver can focus solely on driving and steering the tillage machine. The fact that at the points where the tillage machine must be reversed, or change to another lane, no unwanted depressions and elevations of the machined soil surface remain, eliminates a reworking of the processed soil or ground surfaces. The automatic filling of the recess with already processed mix also ensures that in the area of the depression at the end of milling no density differences to the loosened up in the continuous milling machining soil.

The operation of the soil tillage machine is facilitated for the driver, because it can focus on the driving and a possible position change of the machine, without having to coordinate the excavation of the milling device at the same time.

The control along the trajectory means that e.g. the axis of rotation of the milling device or, alternatively, the deepest point of engagement of the milling device when lifting such a trajectory follows.

Preferably, it is provided that the control controls the milling depth of the milling device along a predetermined trajectory depending on the direction of travel of the machine frame trajectory.

With regard to the direction of rotation, a distinction is made between a counterboring milling process and a synchronous milling process, depending on whether the direction of rotation of the milling device and the direction of rotation of the wheels of the soil cultivation machine are opposite or in the same direction of rotation. In this respect, different trajectories depending on the direction of travel of the machine frame and the type of milling device can be stored in the control.

According to a preferred embodiment, it is provided that the controller synchronizes the path of the height adjustment of the milling device with the path in the direction of travel. Such a control has the advantage that it is independent of the driving speed and ensures that the trajectory for the height adjustment of the milling device is maintained at each driving speed.

In a particularly preferred embodiment, it is provided that the control for terminating the milling operation additionally controls the position of at least one hood flap. With the help of the hood flap position, the amount of mixed material can be controlled, which is subtracted to close the released by moving out of the milling device recess.

Particularly preferably, it is provided that the flap position of the trailing flap in the direction of travel hood flap can be controlled to a height that takes into account the increase in volume of the mix due to its loosening during milling. The milling of the soil causes a loosening, which leads to an increase in volume of the mixed material, so that the trailing hood flap, which acts as a scraper, can not be moved to the original height of the soil surface, but preferably with a distance from the ground, the Volume increase of the mix taken into account.

The control can, as already stated, depending on the nature of the ground hold different trajectories for selection by the driver, which also contain material-dependent control values for the position of the hood flaps whose lower edge determines the wiping height above the ground.

The predetermined trajectory of the control to terminate the milling and the successive reduction of the milling depth can be degressive rising.

In one exemplary embodiment, it is provided that the predetermined trajectory of the control for terminating the milling operation essentially has the course of an asymptotic function, in particular an arctan function.

The tillage machine may be provided with a height-adjustable machine frame. It can additionally be provided that the controller additionally raises the machine frame after completion of the termination process of milling, so that the tillage machine receives more ground clearance and can be easily moved to another processing point.

In a particularly preferred embodiment, it is provided that the machinist reverses the direction of travel of the machine frame to complete the milling operation. The controller registers the selected direction of travel and controls the correct, depending on the direction of travel. the rear in the direction of travel or the trailing hood flap. The now in the direction of travel rear hood flap is used as a scraper whose Abstreifhöhe is adjustable by the controller.

The invention also relates to a method for milling soil with a soil cultivation machine having the features of claim 10.

The method according to the invention provides i.a. Also, to close the remaining with moving out of the milling device depression with mixed material on the one hand from the direction in the rear hood flap smeared mix and on the other hand of the moved along along the predetermined by the control trajectory milling device removed and conveyed into the recess mix is used.

In the following an embodiment of the invention will be explained in more detail with reference to the drawings.

Fig. 1

eine schematische Seitenansicht einer erfindungsgemäßen Ausführungsform einer Bodenbearbeitungsmaschine im Gegenlaufbetrieb,

Fig. 2

die Mischgutanhäufungen und die Vertiefung an der Fräseinrichtung bei Beendigung des Fräsbetriebs,

Fig. 3

die Veranschaulichung der von der Steuerung vorgegebenen Bahnkurve anhand der Verlagerung der Fräswalzenachse in Rückwärtsfahrt, und

Fig. 4

die Bahnkurve beim Herausfahren in Vorwärtsfahrt.

Show it:

Fig. 1

a schematic side view of an embodiment according to the invention of a tillage machine in mating operation,

Fig. 2

the Mischgutaufhäufungen and the recess on the milling device at the end of the milling operation,

Fig. 3

the illustration of the predetermined by the control trajectory based on the displacement of the Fräswalzenachse in reverse, and

Fig. 4

the trajectory when moving out in forward drive.

Fig. 1 shows the tillage machine 1 for milling floors and roads with a supported by trolleys 4 machine frame 6 and consisting of a cab 26 control station. The driver's cab 26 is displaceable on the machine frame transversely to the direction of travel. The seat in the control station can be turned 180 ° for reversing.

From Fig. 1 apparent tillage machine 1 is from the WO 96/24725 known. The technical solutions described in the context of this application are also applicable to stabilizers or recyclers, as for example from the WO 2005/054578 or the EP 2218823 A are known. The trolleys 4 have at the front and rear end of the machine frame 6 two common or optionally individually steerable suspension axles 30. Each wheel of the chassis 4 is provided with a lifting column 28, so that the height of the machine frame 6 and possibly its inclination is exactly adjustable to working or transport height. Below the cab 26 is located between the suspension axles 30 a fixed or attached to a chain on the machine frame 6 hood 10, which surrounds the milling device 8, in particular a milling drum, and forms a mixing chamber 12 for the processed mix 16 between the milling device 8 and hood 10 ,

The milling device 8 can be lowered by means of a height adjustment device 20 to a set milling depth or be moved out of the processed soil 2 after completion of the milling.

The hood 10 may be fixedly attached to the machine frame 6 and has at its front and rear in the direction of travel 5 via actuators 36,38 pivotable hood flaps 14,15, which complete the mixing chamber 12 of the hood 10 against the bottom surface 3 of the bottom 2 as needed ,

Alternatively, the hood may be suspended from chains on the machine frame, i. In operation, the hood 10 slides on the chains hanging over the ground. If you drive the milling drum to zero milling depth, then the hood 10 is still on the bottom surface 3. If you drive the milling drum even higher, then it takes the hood 10 and thus lifts the hood 10 from the ground.

The pivotable hood flaps 14, 15 may be additionally provided, for sealing and sealing with respect to the floor surface 3, by a flexible strip 17, e.g. a rubber lip, be provided.

According to the embodiment of Fig. 1 the milling drum 8 is mounted in a pivoting device 11 which is pivotally mounted on the machine frame 6, wherein the Fräswalzenachse 32 and the output axis of the Fräswalzenantriebs can be pivoted in a slot 19 in the side walls of the hood 10 to allow the cutting depth adjustment.

It is understood that the height adjustment of the milling device 8 can also be done in other ways, eg as in the WO 2005/054578 described.

The milling drum drive is preferably a mechanical drive, e.g. is driven by a combustion engine via a belt transmission.

Fig. 2 schematically shows the situation when counter-milling in forward drive 5. By milling in the mating and by falling out of the mixing chamber 12 again mixed material 16 is formed both before and behind the milling drum 8 a accumulation of material 19,21 of mix 16. Since the mix 16 against the Floor 2 is loosened, have the Mischguthäufungen 19,21 before and behind the milling device 8 slightly more volume than the recess 22 in which the milling device 8 operates during milling. How out Fig. 2 can be raised when driving forward 5, the front hood flap 14 and the rear hood in the direction of travel 15 be lowered to strip the recycled mix 16 at a preset height.

Will be in the in Fig. 2 shown position ends the milling and brought the milling device 8 by lifting out of engagement with the bottom 2, essentially remains in the Fig. 2 Since such significant unevenness occurs at each reversal or displacement of the soil tillage machine 1 at the end of a milling path, subsequent grading work is required to a considerable extent to the bottom surface 3 at the ends of a milling path to straighten.

This is even more the case when the soil tillage implement has to be lifted more strongly by means of the lifting columns when it is being moved to another site of use, and thus the mix accumulations 19, 21 remain next to the depression 22.

Theoretically, it would indeed be possible to move the tilling machine 1 back and forth several times when the milling device 8 is raised and to push the mixed material accumulations 19, 21 into the recess 22 with the aid of the pivotable hood flaps 14 and 15. In practice, however, this is not possible because the driver in the cab 26 can not see the recess 22 and thus can not perform the control of the hood flaps 14,15 and a coordination with the forward or reverse 5.7.

The soil working machine 1 has a control 18, which automatically controls the cutting depth of the milling device 8 with simultaneous forward or reverse travel 5,7 to complete the milling. For this purpose, the driver only has to give an appropriate command to the controller 18, so that the controller 18 can control the height adjustment device 20 to finish the milling. The control takes place along a predetermined trajectory 24, which may be stored in the controller 18, so that the Milling device 8 in the out-of-ground upper position 9 in Fig. 3 can be moved out without a resulting from the retraction of the milling device 8 recess 22 remains in the processed soil surface 3. The trajectory 24 is in Fig. 3 as a connecting line of the positions of the axis of rotation 32 of the milling device designed as a milling 8 is shown.

The controller 18 can also control the position of the hood flaps 14,15 in addition to the milling depth.

Fig. 3 shows a degressively rising curve for the trajectory 24th Fig. 3 shows the situation in which the tillage machine 1 in forward drive 5 in the in Fig. 2 has been shown and then issued a command to stop the milling to the controller 18. The milling device 9 then makes the in Fig. 3 apparent movement corresponding to the trajectory 24 in reverse 7, the then trailing hood flap 14 is used as stripping, the Abstreifhöhe is set by the controller 18, so that the rear now in the direction of travel hood flap 14 Mischgutanhäufungen 19 pushes into the recess 22. The front hood flap 15 in the direction of travel is, as already in Fig. 2 shown raised to the dashed position, so that it does not form a new accumulation in reverse 7, but it allows the milling drum milled off this accumulation 21 during the reverse drive 7 and thus spends in the recess 22.

The trajectory 24 may also be in the form of an asymptote, e.g. in the form of an arctan function, however, the shape of the trajectory 24 is not limited thereto.

The controller 18 synchronizes the path of the height adjustment via the height adjustment device 20 with the path in the direction of travel (forward drive 5 or reverse drive 7).

It is understood that the trajectories 24 for filling the recess 22 in the case of synchronous milling or when moving out in forward travel 5 run differently than in Fig. 3 shown. If the milling device 8, the recess 22 in forward motion leaves, then the rear flap in the direction of travel 15 assumes the predetermined by the controller 18 Abstreiffunktion, as in Fig. 4 shown.

The path that is required to fill the recess 22 is about 1 to 3 diameter of the milling drum.

Different trajectories 24 may be stored in the controller 18 for different ground materials and for retracting forward or reverse travel.

The flap position of each trailing hood flap 14,15 can be adjusted by the controller 18 via actuators 36,38 to a level that takes into account the increase in volume of the mix 16 due to its loosening during milling. These control values can also be stored in the controller 18 in a material-specific manner together with the trajectory 24.

Due to the procedure described can be achieved that the recess 22 is filled with mix 16 with the same degree of loosening, as it has arisen during the entire milling of a milling track. In other words, the milling operation can be completed without leaving depressions 22 and mixed material accumulations 19, 21 and without leaving any differences in the degree of loosening in the machined surface. This is essential for the subsequent processing of the soil surface 3 with compaction machines, as well as for the later road surface application machines that apply a road or road surface on the compacted soil surface 3. Namely, if there are significant density differences in the recycled mix 16, these will be e.g. possibly even enhanced by the subsequent compaction machines, so that a subsequently applied road surface has unevenness at the corresponding points.

Claims (15)

1. Ground working machine (1) for milling soils (2) or traffic areas,
   comprising a chassis (4) and a machine frame (6),
   with a milling device (8) rotating transversely to the direction of travel of the machine frame (6),
   with a hood (10) enclosing the milling device (8) mounted at or suspended from the machine frame (6), said hood forming a mixing chamber (12) for the mixed aggregate (16) between the milling device (8) and the hood (10),
   with a height adjustment device (20) for adjusting the milling depth of the milling device (8), and
   with a controller (18),
   where the hood (10) enclosing the milling device (8) is provided, at the frontward and/or rearward end as seen in the direction of travel, with a pivotable hood flap (14,15) which closes the mixing chamber (12) of the hood (10) toward the ground surface (3) of the ground (2),
   characterized in that
   the controller (18) for terminating the milling process controls the milling depth of the milling device (8) along a specified trajectory (24) in conjunction with simultaneous forward and reverse travel (5,7), thus enabling the milling device (8) to be raised into the upper position (9) disengaged from the ground, and
   that the height adjustment of the milling device (8) effected by the controller (18) in conjunction with simultaneous forward and reverse travel is performed in a coordinated manner such that the accumulations of mixed aggregate in front of and behind the milling device (8) as seen in the direction of travel are successively conveyed by being pushed by the hood (10) and by the rotational movement of the milling device (8) into the depression (22) exposed progressively as a result of raising the milling device (8).
2. Ground working machine (1) in accordance with claim 1, characterized in that the controller (18) controls the milling depth of the milling device (8) along a trajectory (24) specified in accordance with the direction of travel of the machine frame (6).
3. Ground working machine (1) in accordance with one of the claims 1 or 2, characterized in that the controller (18) synchronizes the path of the height adjustment of the milling device (8) with the path in the direction of travel.
4. Ground working machine (1) in accordance with one of the claims 1 to 3, characterized in that the controller (18) for terminating the milling process additionally controls the position of at least one hood flap (14,15).
5. Ground working machine (1) in accordance with one of the claims 1 to 4, characterized in that the flap position of the trailing hood flap (14,15) is controllable to a height which takes into consideration the increase in volume of the mixed aggregate (16) due to loosening of the same during the milling process.
6. Ground working machine (1) in accordance with one of the claims 1 to 5, characterized in that the specified trajectory (24) of the controller (18) for terminating the milling process follows a degressively increasing curve.
7. Ground working machine (1) in accordance with one of the claims 1 to 6, characterized in that the specified trajectory (24) of the controller (18) for terminating the milling process essentially exhibits the curve of an asymptotic function, in particular, of an arctan function.
8. Ground working machine (1) in accordance with one of the claims 1 to 7, characterized in that, for terminating the milling process, the direction of travel of the machine frame (6) is reversible and the controller (18) uses the now rearward hood flap (14,15) as seen in the direction of travel as a scraper and controls the scraping height of the same.
9. Ground working machine (1) in accordance with one of the claims 1 to 8, characterized in that the machine frame (6) is height-adjustable.
10. Method for milling soils (2) or traffic areas using a ground working machine (1) with a controller (18),

    - by adjusting the milling depth,

    - by milling the ground (2) using a height-adjustable milling device (8),

    - by mixing the mixed aggregate (16), during the milling process, in a mixing chamber (12) enclosed by a hood (10) arranged at the ground working machine (1),

    characterized in that
    for termination of the milling process, the milling depth is controlled by a controller (18) along a specified trajectory (24) in conjunction with simultaneous forward and reverse travel (5,7), thus enabling the milling device (8) to be raised into the position (9) disengaged from the ground, wherein the height adjustment of the milling device (8) in conjunction with simultaneous forward and reverse travel is performed in a coordinated manner and the accumulations of mixed aggregate in front of and behind the milling device (8) as seen in the direction of travel are successively conveyed by being pushed by the hood (10) and by the rotational movement of the milling device (8) into the depression (22) exposed progressively as a result of raising the milling device (8), without a depression (22) resulting from raising the milling device (8) remaining in the worked ground surface (3).
11. Method in accordance with claim 10, characterized in that the milling depth is controlled along a trajectory (24) specified in accordance with the direction of travel of the machine frame (6).
12. Method in accordance with one of the claims 10 or 11, characterized in that the path of the height adjustment of the milling device (8) is synchronized with the path in the direction of travel.
13. Method in accordance with one of the claims 10 to 12, characterized in that the flap position of the trailing hood flap (14,15) is adjusted by the controller (18) to a height which takes into consideration the increase in volume of the mixed aggregate (16) due to loosening of the same during the milling process.
14. Method in accordance with one of the claims 10 to 13, characterized in that, to terminate the milling process, the direction of travel of the machine frame (6) is reversed and the now rearward hood flap (14,15) as seen in the direction of travel is used as a scraper, the scraping height of which is adjusted by the controller (18).
15. Method in accordance with one of the claims 10 to 14, characterized in that the accumulation of mixed aggregate (19) levelled off by the rearward hood flap (14,15) as seen in the direction of travel on the one hand, and the accumulation of mixed aggregate (21) removed and conveyed into the depression (22) by the milling device (8) moved along the trajectory (24) on the other hand, is used to fill up a depression (22) remaining in the ground (2) when raising the milling device (8).

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