EP2886719B1 - Road milling machine - Google Patents

Road milling machine Download PDF

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Publication number
EP2886719B1
EP2886719B1 EP14193195.6A EP14193195A EP2886719B1 EP 2886719 B1 EP2886719 B1 EP 2886719B1 EP 14193195 A EP14193195 A EP 14193195A EP 2886719 B1 EP2886719 B1 EP 2886719B1
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EP
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Prior art keywords
milling machine
road milling
machine according
unit
signal
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EP14193195.6A
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German (de)
French (fr)
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EP2886719A1 (en
Inventor
Bernd Holl
Kay Heemann
Günter Dr. Hähn
Axel Mahlberg
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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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28D—WORKING STONE OR STONE-LIKE MATERIALS
    • B28D7/00—Accessories specially adapted for use with machines or devices of the preceding groups

Definitions

  • the invention relates to a road milling machine for processing floors or for removing traffic areas with a milling drum which is equipped with a large number of chisels.
  • Such road milling machines are for example off DE 100 07 253 A1 known. They have a milling drum that is equipped with a large number of chisels, in particular round shank chisels. While the machine is in use, the milling drum rotates and the chisels come into contact with the floor covering to be processed. The chisels are subject to continuous wear and tear and must be replaced after a certain operating time. However, the service life of the chisels is strongly dependent on the milling conditions. It often happens that the Machine operator replaces chisels either too early or too late. If they are changed too early, unnecessary tool costs arise. If the change is too late, the milling drum can be damaged.
  • Another problem with the milling process is early chisel failure. Due to external influences or tool errors, one or more chisels can break. There is then no more material removal at the point where the chisel was positioned. In addition, this also increases the load on neighboring tools. These then experience increased stress.
  • the object of the invention is achieved in that a detection device optically detects the milling image generated by the milling drum, at least in regions.
  • the optical detection device for example a camera
  • the quality of the milled image can be checked. Faults due to wear of the chisel or chisel breakage can be seen on the milling pattern.
  • the detection device has at least one odometer which determines the milling depth.
  • a machine component that is directly or indirectly involved in the work process or another machine component is assigned a signal recording unit the signal recording unit detects an operating state of the machine component, and that the signal recording unit is connected to a signal output device via a signal processing arrangement.
  • One (or, if applicable, several) machine parts can be monitored by means of the signal recording unit.
  • the operating state assumed by the machine part is used as a parameter or map.
  • the determined characteristic value can be compared with a reference variable or a reference variable field.
  • a machine operator can take the necessary corrective measures. For example, he can then change the tool.
  • the reference variable or the reference variable field can be a constant stored in the evaluation unit or one of many constants selected from a database of the evaluation unit on the basis of boundary conditions.
  • the reference variable / the reference variable field can advantageously also be variable over time.
  • the reference variable / the reference variable field can be determined empirically in the machine condition with unworn tools.
  • the reference variable / the reference variable field is defined recursively, that is, can be derived from the characteristic variable / the map of the operating state of the past.
  • the operating status of the monitored machine component can be recorded either continuously or at specified measuring intervals.
  • the measurement result evaluation is preferably carried out in such a way that the signal recorded by the signal recording unit is fed to an evaluation circuit, so that the evaluation circuit compares the recorded signal with a default value and forms a difference signal from the recorded signal and the default value. In this way, the largely automated error message can then be carried out.
  • the default value can be determined empirically by means of a detection circuit, and that the default value can be read into the evaluation circuit by means of the detection circuit. A machine operator can determine the default value in the milling process, for example when the chisels are not worn.
  • a conceivable variant of the invention is such that it has a machine chassis that is carried by a running gear, one or more drive motors being assigned to the running gear, and that the signal recording unit detects the power consumption of the drive motor.
  • the signal recording unit detects the power consumption of the drive motor.
  • the drive motors are designed as electric motors and the signal recording unit detects the supplied current or that the drive motors are designed as hydraulic motors and the signal recording unit detects the hydraulic pressure in the fluid circuit assigned to the drive motor.
  • Another variant of the invention can be characterized in that the machine chassis is at least partially supported by means of at least one adjusting device, that the height of the machine chassis is at least partially adjustable in height by means of the adjusting device, for which purpose a pressurized fluid is assigned to the adjusting device, and that the signal recording unit records the pressure in the fluid detected.
  • the forces occurring during the milling process are recorded indirectly. If chisels are not worn and easy to cut, the cutting forces are low. As the wear progresses, so do the cutting forces.
  • the vertical component of the cutting forces is directed against the force of gravity and thus relieves the load on the adjustment device, which otherwise would have to carry the entire machine weight.
  • the pressure in the fluid assigned to the adjustment device decreases proportionally to the vertical component of the cutting forces.
  • this value can also be determined by a force measurement, for example by means of a strain gauge, on at least one of the adjustment devices or on another component.
  • the signal recording unit detects the machine feed. This can then be compared with the current performance parameters of the road milling machine, in particular with the drive power required for the milling drum.
  • a combined calculation of the following values can also be carried out: vertical force direction (determined for example from the adjusting device), horizontal force direction (determined for example from the drive data).
  • vertical force direction determined for example from the adjusting device
  • horizontal force direction determined for example from the drive data.
  • the signal recording unit detects the vibration of the machine component.
  • This arrangement is based on the knowledge that different wear conditions also have an influence on the vibration behavior of individual machine components.
  • This configuration of a machine is based on the knowledge that a uniform vibration can be determined as a result of the uniform rotational movement of the milling drum. In the unworn state, this oscillation has fixed parameters (amplitude, period). As a result of a tool breakage, for example, the vibration experiences a sudden change towards an irregular vibration compared to the vibration before the breakage.
  • the parameters gradually change in their amplitude or in their amount.
  • the irregularity or regularity of the signal is of minor importance in this case or does not exist.
  • the vibration is detected by means of a displacement transducer, a speed sensor or an acceleration sensor.
  • signal recording unit detects the drive torque at one or more points of a drive arrangement driving the milling drum or that the signal recording unit determines the engine characteristics.
  • a preferred embodiment of the invention provides that the signal pickup unit has a pulse generator assigned to the milling drum.
  • the position of the milling drum can be determined by means of the pulse generator. If the signal detected by the signal pickup unit is processed with the information from the pulse generator, detailed conclusions can be drawn about the position of a damaged area, for example a broken chisel.
  • the side view of a road milling machine shows the basic structure and the components of the machine.
  • the machine is based on a machine frame 10, which is supported by two front running gears 11 and two rear running gears 12.
  • the chassis 11 and 12 can be set in motion by electric motors or hydraulic motors. These drives work synchronously. It is therefore sufficient to assign sensors S6 and S7 to only one chassis, e.g. 11, for recording the current or pressure and speed.
  • a milling box 13 is attached to the machine frame 10 between the front and rear chassis 11 and 12.
  • This milling box 13 accommodates at least one milling drum with bit holders and chisels.
  • the milling drum is driven by a drive unit 16, which has a diesel engine, a sensor S8 detecting the transmitted torque and a sensor S10 detecting other operating data such as engine speed, exhaust gas temperature, boost pressure and the like.
  • a camera K is attached to the machine frame 10 between the milling box 13 and the rear chassis 12, with which the milling image is recorded and recorded.
  • the image is transmitted to a screen device, BS in the driver's cab 14 of the machine and displayed.
  • the driver sitting on the driver's seat 15 can be on the im
  • the screen device BS arranged in the area of the dashboard 18 can see the milling image and check its condition and draw conclusions about its quality.
  • a permanent control can take place if the camera K and the screen device BS are switched on during the entire operating time of the machine.
  • the control can, however, also be modified in such a way that the devices are switched on and a display only takes place on the basis of an initiated query.
  • Sensors S2 and S4 which detect the milling drum position, the milling pressure or the milling torque, are accommodated on the milling box 13.
  • a sensor S5 attached to the machine frame 10 above the milling box 13 detects the vibrations of the milling box 13 in the direction of travel, transverse to the direction of travel of the machine and perpendicular to the roadway.
  • the machine frame 10 can be adjusted with respect to the chassis 11 and 12 via a height adjustment device in order to change the depth of engagement of the milling drum in the roadway.
  • the depth of engagement is recorded with the sensor S1.
  • the pressure of the height adjustment can be detected via sensors S9.
  • the milled material removed is carried away from the milling box 13 via a conveyor device, this conveyor device having an endless conveyor belt 17 which is hinged at one end to the machine frame 10 and, as the sensors S11 and S12 show, can be adjusted in height and pivoted to the side, to ensure a takeover by a vehicle parked below without having to fear damage to the vehicle and / or the endless conveyor belt 17.
  • the measured values recorded by the sensors S1 to S12 are also transmitted to the driver's cab 14 and displayed in the area of the dashboard 18.
  • you can all sensors are assigned individual display elements that can be activated permanently or on request.
  • only one central display device can be assigned to all sensors, on which the queried measured value is displayed, the display also containing the specified, permissible range for the measured value.
  • the measured values can be recorded continuously and compared with the specified measured value ranges. If the measured value is below or above the specified measured value range, a warning signal can be triggered automatically and the error situation can be displayed on the central display device.

Description

Die Erfindung betrifft eine Straßenfräsmaschine zum Bearbeiten von Böden oder zum Abtragen von Verkehrsflächen mit einer Fräswalze, die mit einer Vielzahl von Meißeln bestückt ist.The invention relates to a road milling machine for processing floors or for removing traffic areas with a milling drum which is equipped with a large number of chisels.

Solche Straßenfräsmaschinen sind zum Beispiel aus DE 100 07 253 A1 bekannt. Sie weisen eine Fräswalze auf, die mit einer Vielzahl von Meißeln, insbesondere Rundschaftmeißeln, bestückt ist. Während des Maschineneinsatzes rotiert die Fräswalze und die Meißel gelangen in Eingriff mit dem zu bearbeitenden Bodenbelag. Die Meißel sind einem fortwährenden Verschleiß unterzogen und müssen nach einer bestimmten Betriebszeit ausgewechselt werden. Dabei ist jedoch die Standzeit der Meißel stark von den Fräsbedingungen abhängig. Häufig kommt es vor, dass der Maschinenführer die Meißel entweder zu früh oder zu spät austauscht. Werden sie zu früh gewechselt, so entstehen unnötige Werkzeugkosten. Bei zu spätem Wechsel können Beschädigungen an der Fräswalze auftreten.Such road milling machines are for example off DE 100 07 253 A1 known. They have a milling drum that is equipped with a large number of chisels, in particular round shank chisels. While the machine is in use, the milling drum rotates and the chisels come into contact with the floor covering to be processed. The chisels are subject to continuous wear and tear and must be replaced after a certain operating time. However, the service life of the chisels is strongly dependent on the milling conditions. It often happens that the Machine operator replaces chisels either too early or too late. If they are changed too early, unnecessary tool costs arise. If the change is too late, the milling drum can be damaged.

Ein weiteres Problem beim Fräsprozess ist der frühzeitige Meißelausfall. Aufgrund von äußeren Einwirkungen oder wegen Werkzeugfehlern kann es vorkommen, dass ein oder mehrere Meißel brechen. An der Stelle, an der der Meißel positioniert war, findet dann kein Werkstoffabtrag mehr statt. Zusätzlich steigt dadurch auch die Belastung der Nachbarwerkzeuge an. Diese erfahren dann eine erhöhte Beanspruchung.Another problem with the milling process is early chisel failure. Due to external influences or tool errors, one or more chisels can break. There is then no more material removal at the point where the chisel was positioned. In addition, this also increases the load on neighboring tools. These then experience increased stress.

Es ist Aufgabe der Erfindung, eine Straßenbaumaschine der eingangs erwähnten Art zu schaffen, mit der ein optimierter Arbeitsbetrieb durchgeführt werden kann.It is the object of the invention to create a road construction machine of the type mentioned at the beginning with which an optimized working operation can be carried out.

Die Aufgabe der Erfindung wird dadurch gelöst, dass eine Erkennungseinrichtung optisch das von der Fräswalze erzeugte Fräsbild zumindest bereichsweise erfasst.The object of the invention is achieved in that a detection device optically detects the milling image generated by the milling drum, at least in regions.

Mit der optischen Erkennungseinrichtung, beispielsweise einer Kamera, kann die Qualität des Fräsbildes kontrolliert werden. Fehler durch Abnützung der Meißel oder durch Meißelbruch sind am Fräsbild erkennbar. Erfindungsgemäß kann es auch vorgesehen sein, dass die Erkennungseinrichtung wenigstens einen Wegmesser aufweist, der die Frästiefe ermittelt.With the optical detection device, for example a camera, the quality of the milled image can be checked. Faults due to wear of the chisel or chisel breakage can be seen on the milling pattern. According to the invention it can also be provided that the detection device has at least one odometer which determines the milling depth.

Es kann zusätzlich vorgesehen sein, dass einem am Arbeitsprozess direkt oder indirekt beteiligten Maschinen-Bauteil oder einem sonstigen Maschinenbauteil eine Signalaufnahmeeinheit zugeordnet ist, dass die Signalaufnahmeeinheit einen Betriebszustand des Maschinenbauteils erfasst, und dass die Signalaufnahmeeinheit über eine Signalverarbeitungsanordnung an eine Signal-Ausgabeeinrichtung angeschlossen ist.It can also be provided that a machine component that is directly or indirectly involved in the work process or another machine component is assigned a signal recording unit the signal recording unit detects an operating state of the machine component, and that the signal recording unit is connected to a signal output device via a signal processing arrangement.

Mittels der Signalaufnahmeeinheit kann ein (oder ggf. auch mehrere) Maschinenteil überwacht werden. Dabei wird der von dem Maschinenteil eingenommene Betriebszustand als Kenngröße bzw. Kennfeld verwendet. Der ermittelte Kennwert lässt sich mit einer Bezugsgröße oder einem Bezugsgrößenfeld vergleichen. Sobald eine unzulässige Abweichung vorliegt, kann ein Maschinenführer die erforderlichen Korrekturmaßnahmen durchführen. Beispielsweise kann er dann den Werkzeugwechsel vornehmen. Die Bezugsgröße, beziehungsweise das Bezugsgrößenfeld, kann eine in der Auswerteinheit gespeicherte Konstante beziehungsweise eine aus vielen aus einer Datenbank der Auswerteinheit anhand von Randbedingungen ausgewählte Konstante sein.One (or, if applicable, several) machine parts can be monitored by means of the signal recording unit. The operating state assumed by the machine part is used as a parameter or map. The determined characteristic value can be compared with a reference variable or a reference variable field. As soon as there is an impermissible deviation, a machine operator can take the necessary corrective measures. For example, he can then change the tool. The reference variable or the reference variable field can be a constant stored in the evaluation unit or one of many constants selected from a database of the evaluation unit on the basis of boundary conditions.

Vorteilhafter Weise kann die Bezugsgröße/das Bezugsgrößenfeld auch zeitlich variabel sein. Zur Bildung von Referenzwerten kann die Bezugsgröße/das Bezugsgrößenfeld empirisch im Maschinenzustand mit unverschlissenen Werkzeugen ermittelt sein.The reference variable / the reference variable field can advantageously also be variable over time. To form reference values, the reference variable / the reference variable field can be determined empirically in the machine condition with unworn tools.

Denkbar ist auch, dass die Bezugsgröße/das Bezugsgrößenfeld rekursiv definiert ist, das heißt, aus der Kenngröße/dem Kennfeld des Betriebszustandes der Vergangenheit abgeleitet sein kann.It is also conceivable that the reference variable / the reference variable field is defined recursively, that is, can be derived from the characteristic variable / the map of the operating state of the past.

Der Betriebszustand des überwachten Maschinenbauteils kann entweder kontinuierlich oder in vorgegebenen Messintervallen erfasst werden.The operating status of the monitored machine component can be recorded either continuously or at specified measuring intervals.

Bevorzugterweise erfolgt die Messergebnisauswertung derart, dass das von der Signalaufnahmeeinheit aufgenommene Signal einer Auswertschaltung zugeleitet ist, dass die Auswertschaltung das aufgenommene Signal mit einem Vorgabewert vergleicht und ein Differenzsignal aus dem aufgenommenen Signal und dem Vorgabewert bildet. Auf diese Weise lässt sich dann die weitgehend automatisierte Fehlermeldung durchführen. Idealerweise kann es zusätzlich vorgesehen sein, dass der Vorgabewert mittels einer Erfassungsschaltung empirisch ermittelbar ist, und dass der Vorgabewert mittels der Erfassungsschaltung in die Auswertschaltung einlesbar ist. Dabei kann ein Maschinenführer beispielsweise im Zustand mit unverschlissenen Meißeln den Vorgabewert im Fräsprozess ermitteln.The measurement result evaluation is preferably carried out in such a way that the signal recorded by the signal recording unit is fed to an evaluation circuit, so that the evaluation circuit compares the recorded signal with a default value and forms a difference signal from the recorded signal and the default value. In this way, the largely automated error message can then be carried out. Ideally, it can additionally be provided that the default value can be determined empirically by means of a detection circuit, and that the default value can be read into the evaluation circuit by means of the detection circuit. A machine operator can determine the default value in the milling process, for example when the chisels are not worn.

Eine denkbare Erfindungsvariante ist dergestalt, dass sie ein Maschinenchassis aufweist, das von einem Fahrwerk getragen ist, wobei dem Fahrwerk ein oder mehrere Antriebsmotoren zugeordnet sind, und dass die Signalaufnahmeeinheit die Leistungsaufnahme des Antriebsmotores erfasst. Hierbei macht man sich die Erkenntnis zunutze, dass veränderte Verschleißbedingungen an der Fräswalze auch zu einer Änderung der Leistungsparameter der Antriebsmotoren führt.A conceivable variant of the invention is such that it has a machine chassis that is carried by a running gear, one or more drive motors being assigned to the running gear, and that the signal recording unit detects the power consumption of the drive motor. Here one makes use of the knowledge that changed wear conditions on the milling drum also lead to a change in the performance parameters of the drive motors.

Beispielsweise kann aufgrund eines erhöhten Verschleißes der Meißel eine höhere Antriebsarbeit erforderlich werden. Bei dieser Erfindungsausgestaltung kann es beispielsweise vorgesehen sein, dass die Antriebsmotoren als Elektromotoren ausgebildet sind und die Signalaufnahmeeinheit den zugeführten Strom erfasst oder dass die Antriebsmotoren als hydraulische Motoren ausgebildet sind und die Signalaufnahmeeinheit den hydraulischen Druck in den dem Antriebsmotor zugeordneten Fluidkreislauf erfasst.For example, greater drive work may be required due to increased wear on the chisel. In this embodiment of the invention it can be provided, for example, that the drive motors are designed as electric motors and the signal recording unit detects the supplied current or that the drive motors are designed as hydraulic motors and the signal recording unit detects the hydraulic pressure in the fluid circuit assigned to the drive motor.

Eine weitere Erfindungsvariante kann dadurch gekennzeichnet sein, dass das Maschinenchassis zumindest bereichsweise mittels wenigstens einer Verstelleinrichtung abgestützt ist, dass mittels der Verstelleinrichtung das Maschinenchassis zumindest bereichsweise höhenverstellbar ist, wozu der Verstelleinrichtung ein unter Druck stehendes Fluid zugeordnet ist, und dass die Signalaufnahmeeinheit den Druck im Fluid erfasst.Another variant of the invention can be characterized in that the machine chassis is at least partially supported by means of at least one adjusting device, that the height of the machine chassis is at least partially adjustable in height by means of the adjusting device, for which purpose a pressurized fluid is assigned to the adjusting device, and that the signal recording unit records the pressure in the fluid detected.

Bei dieser Anordnung werden indirekt die beim Fräsprozess auftretenden Kräfte erfasst. Bei nicht verschlissenen, schneidfreudigen Meißeln sind die Schneidkräfte gering. Mit dem Fortschritt des Verschleißes erhöhen sich auch die Schneidkräfte. Der vertikale Anteil der Schneidkräfte ist der Schwerkraft entgegen gerichtet und entlastet somit die Auflast der Verstelleinrichtung, die ansonsten das gesamte Maschinengewicht tragen müsste. Der Druck in dem der Verstelleinrichtung zugeordneten Fluid nimmt proportional zum vertikalen Anteil der Schneidkräfte ab. Alternativ kann dieser Wert auch durch eine Kraftmessung, zum Beispiel mittels eines Dehnmessstreifens, an mindestens einer der Verstelleinrichtungen oder einem sonstigen Bauteil erfolgen.With this arrangement, the forces occurring during the milling process are recorded indirectly. If chisels are not worn and easy to cut, the cutting forces are low. As the wear progresses, so do the cutting forces. The vertical component of the cutting forces is directed against the force of gravity and thus relieves the load on the adjustment device, which otherwise would have to carry the entire machine weight. The pressure in the fluid assigned to the adjustment device decreases proportionally to the vertical component of the cutting forces. Alternatively, this value can also be determined by a force measurement, for example by means of a strain gauge, on at least one of the adjustment devices or on another component.

Es ist auch denkbar, dass die Signalaufnahmeeinheit den Maschinenvorschub erfasst. Dieser kann dann mit den aktuellen Leistungsparametern der Straßenfräsmaschine, insbesondere mit der für die Fräswalze erforderlichen Antriebsleistungen verglichen werden.It is also conceivable that the signal recording unit detects the machine feed. This can then be compared with the current performance parameters of the road milling machine, in particular with the drive power required for the milling drum.

Wenn beispielsweise bei konstanter Antriebsleistung der Maschinen-Vorschub absinkt, kann ein Rückschluss auf einen erhöhten Verschleißzustand gezogen werden.If, for example, the machine feed rate drops with constant drive power, a conclusion can be drawn about an increased state of wear.

Es lässt sich auch eine kombinierte Verrechnung der folgenden Werte vollziehen: vertikale Kraftrichtung (ermittelt beispielsweise aus der Verstelleinrichtung), horizontale Kraftrichtung (ermittelt beispielsweise aus den Antriebsdaten). Durch Linearkombination kann dann ein Vektor gebildet werden. Dessen Längen- beziehungsweise Richtungsänderung lässt sich als Beurteilungskriterium heranziehen.A combined calculation of the following values can also be carried out: vertical force direction (determined for example from the adjusting device), horizontal force direction (determined for example from the drive data). By linear combination a vector can then be formed. Its change in length or direction can be used as an assessment criterion.

Gemäß einer bevorzugten Erfindungsvariante kann es vorgesehen sein, dass die Signalaufnahmeeinheit die Schwingung des Maschinenbauteils erfasst. Bei dieser Anordnung wird auf der Erkenntnis aufgebaut, dass unterschiedliche Verschleißzustände auch Einfluss auf das Schwingungsverhalten von einzelnen Maschinenbauteilen haben. Bei dieser Ausgestaltung einer Maschine baut man auf der Erkenntnis auf, dass infolge der gleichförmigen Rotationsbewegung der Fräswalze eine gleichförmige Schwingung ermittelt werden kann. Im unverschlissenen Zustand hat diese Schwingung feste Kenngrößen (Amplitude, Periode). Infolge beispielsweise eines Werkzeugbruches erfährt die Schwingung eine plötzliche Veränderung hin zu einer unregelmäßigen Schwingung vergleichen mit der Schwingung vor dem Bruch.According to a preferred variant of the invention, it can be provided that the signal recording unit detects the vibration of the machine component. This arrangement is based on the knowledge that different wear conditions also have an influence on the vibration behavior of individual machine components. This configuration of a machine is based on the knowledge that a uniform vibration can be determined as a result of the uniform rotational movement of the milling drum. In the unworn state, this oscillation has fixed parameters (amplitude, period). As a result of a tool breakage, for example, the vibration experiences a sudden change towards an irregular vibration compared to the vibration before the breakage.

Bei gleichmäßig fortschreitendem Verschleiß ändern sich die Kenngrößen allmählich in ihrer Amplitude beziehungsweise in ihrem Betrag. Die Unregelmäßigkeit oder Regelmäßigkeit des Signals ist in diesem Fall von untergeordneter Bedeutung oder ist nicht vorhanden.With uniformly progressing wear, the parameters gradually change in their amplitude or in their amount. The irregularity or regularity of the signal is of minor importance in this case or does not exist.

Vorzugsweise kann es dabei vorgesehen sein, dass die Schwingung mittels eines Wegaufnehmers, eines Geschwindigkeits- oder eines Beschleunigungssensors erfasst ist.It can preferably be provided that the vibration is detected by means of a displacement transducer, a speed sensor or an acceleration sensor.

Weitere Erfindungsalternativen können auch dadurch gekennzeichnet sein, dass die Signalaufnahmeeinheit an einer oder mehreren Stellen einer die Fräswalze antreibenden Antriebsanordnung das Antriebsmoment erfasst oder dass die Signalaufnahmeeinheit die Motorkenndaten ermittelt.Further alternatives of the invention can also be characterized in that the signal recording unit detects the drive torque at one or more points of a drive arrangement driving the milling drum or that the signal recording unit determines the engine characteristics.

Eine bevorzugte Erfindungsausgestaltung sieht vor, dass die Signalaufnahmeeinheit einen, der Fräswalze zugeordneten Impulsgeber aufweist. Mittels des Impulsgebers kann eine Positionserfassung der Fräswalze durchgeführt werden. Wenn nun das von der Signalaufnahmeeinheit erfasste Signal mit der Information des Impulsgebers verarbeitet wird, dann kann detailliert Rückschluss auf die Position einer Schadstelle, beispielsweise eines gebrochenen Meißels, gezogen werden.A preferred embodiment of the invention provides that the signal pickup unit has a pulse generator assigned to the milling drum. The position of the milling drum can be determined by means of the pulse generator. If the signal detected by the signal pickup unit is processed with the information from the pulse generator, detailed conclusions can be drawn about the position of a damaged area, for example a broken chisel.

Die Erfindung wird anhand eines in den Zeichnungen dargestellten Ausführungsbeispieles näher erläutert. Es zeigen:

Figur 1
Die Seitenansicht einer Baumaschine, nämlich einer Straßenfräsmaschine,
Figur 2
eine schematische Darstellung einer Fräswalze in Frontansicht,
Figur 2a und 2b
in schematischer Darstellung das mit der Fräswalze gem. Fig. 2 gefräste Oberflächenprofil,
Figur 3
die Fräswalze gem. Fig. 2 jedoch mit einer Defekt-Stelle,
Figur 3a und 3b
in schematischer Darstellung das mit der Fräswalze gem. Fig. 3 gefräste Oberflächenprofil,
Figur 4
die Fräswalze gem. Fig. 2 in Seitenansicht,
Figur 4a
ein an einer, mit der Fräswalze gem. Fig. 4 bestückten Straßenfräsmaschine aufgenommenes Schwingungsbild,
Figur 5
die Fräswalze gem. Figur 3 in Seitenansicht und
Figur 5a
ein an einer, mit der Fräswalze gem. Figur 5 bestückten Straßenfräsmaschine aufgenommenes Schwingungsbild.
The invention is explained in more detail with reference to an embodiment shown in the drawings. Show it:
Figure 1
The side view of a construction machine, namely a road milling machine,
Figure 2
a schematic representation of a milling drum in front view,
Figures 2a and 2b
in a schematic representation that according to the milling drum. Fig. 2 milled surface profile,
Figure 3
the milling drum acc. Fig. 2 but with a defect,
Figures 3a and 3b
in a schematic representation that according to the milling drum. Fig. 3 milled surface profile,
Figure 4
the milling drum acc. Fig. 2 in side view,
Figure 4a
one on one, with the milling drum acc. Fig. 4 equipped road milling machine recorded vibration pattern,
Figure 5
the milling drum acc. Figure 3 in side view and
Figure 5a
one on one, with the milling drum acc. Figure 5 equipped road milling machine.

Die Seitenansicht einer Straßenfräsmaschine zeigt den prinzipiellen Aufbau und die Komponenten der Maschine. Basis der Maschine ist ein Maschinengestell 10, das von zwei vorderen Fahrwerken 11 und zwei hinteren Fahrwerken 12 getragen wird. Dabei können die Fahrwerke 11 und 12 durch Elektromotore oder Hydraulikmotore in Fahrbewegung versetzt werden. Diese Antriebe arbeiten synchron. Daher genügt es, nur einem Fahrwerk, z.B. 11, Sensoren S6 und S7 zur Erfassung des Stromes bzw. des Druckes und der Geschwindigkeit zuzuordnen.The side view of a road milling machine shows the basic structure and the components of the machine. The machine is based on a machine frame 10, which is supported by two front running gears 11 and two rear running gears 12. The chassis 11 and 12 can be set in motion by electric motors or hydraulic motors. These drives work synchronously. It is therefore sufficient to assign sensors S6 and S7 to only one chassis, e.g. 11, for recording the current or pressure and speed.

Zwischen dem vorderen und dem hinteren Fahrwerk 11 und 12 ist ein Fräskasten 13 am Maschinengestell 10 angebracht. Dieser Fräskasten 13 nimmt mindestens eine Fräswalze mit Meißelhaltern und Meißeln auf. Die Fräswalze wird von einem Antriebsaggregat 16 angetrieben, das einen Dieselmotor aufweist, wobei ein Sensor S8 das übertragene Moment und ein Sensor S10 andere Betriebsdaten, wie Motordrehzahl, Abgastemperatur, Ladedruck und dergleichen erfasst.A milling box 13 is attached to the machine frame 10 between the front and rear chassis 11 and 12. This milling box 13 accommodates at least one milling drum with bit holders and chisels. The milling drum is driven by a drive unit 16, which has a diesel engine, a sensor S8 detecting the transmitted torque and a sensor S10 detecting other operating data such as engine speed, exhaust gas temperature, boost pressure and the like.

Zwischen dem Fräskasten 13 und dem hinteren Fahrwerk 12 ist am Maschinengestell 10 eine Kamera K angebracht, mit der das Fräsbild erfasst und aufgenommen wird. Das Bild wird auf ein Bildschirmgerät, BS im Fahrerhaus 14 der Maschine übertragen und angezeigt. Der auf dem Fahrersitz 15 sitzende Fahrer kann auf dem im Bereich des Armaturenbrettes 18 angeordneten Bildschirmgerät BS das Fräsbild einsehen und dessen Zustand kontrollieren und Rückschlüsse auf deren Qualität schließen. Dabei kann eine dauernde Kontrolle ablaufen, wenn die Kamera K und das Bildschirmgerät BS während der gesamten Betriebszeit der Maschine eingeschaltet sind. Die Kontrolle kann jedoch auch so abgewandelt sein, dass eine Einschaltung der Geräte und eine Anzeige nur aufgrund einer eingeleiteten Abfrage erfolgt.A camera K is attached to the machine frame 10 between the milling box 13 and the rear chassis 12, with which the milling image is recorded and recorded. The image is transmitted to a screen device, BS in the driver's cab 14 of the machine and displayed. The driver sitting on the driver's seat 15 can be on the im The screen device BS arranged in the area of the dashboard 18 can see the milling image and check its condition and draw conclusions about its quality. A permanent control can take place if the camera K and the screen device BS are switched on during the entire operating time of the machine. The control can, however, also be modified in such a way that the devices are switched on and a display only takes place on the basis of an initiated query.

Am Fräskasten 13 sind Sensoren S2 und S4 untergebracht, die die Fräswalzenposition, den Fräsdruck oder das Fräsmoment erfassen. Ein am Maschinengestell 10 über dem Fräskasten 13 angebrachter Sensor S5 erfasst die Schwingungen des Fräskastens 13 in Fahrtrichtung, quer zur Fahrtrichtung der Maschine und senkrecht zur Fahrbahn.Sensors S2 and S4, which detect the milling drum position, the milling pressure or the milling torque, are accommodated on the milling box 13. A sensor S5 attached to the machine frame 10 above the milling box 13 detects the vibrations of the milling box 13 in the direction of travel, transverse to the direction of travel of the machine and perpendicular to the roadway.

Das Maschinengestell 10 ist über Höhenverstelleinrichtung gegenüber den Fahrwerken 11 und 12 verstellbar, um die Eingriffstiefe der Fräswalze in die Fahrbahn zu verändern. Die Eingriffstiefe wird mit dem Sensor S1 erfasst. Der Druck der Höheneinstellung ist über Sensoren S9 erfassbar.The machine frame 10 can be adjusted with respect to the chassis 11 and 12 via a height adjustment device in order to change the depth of engagement of the milling drum in the roadway. The depth of engagement is recorded with the sensor S1. The pressure of the height adjustment can be detected via sensors S9.

Das abgetragene Fräsgut wird über eine Fördereinrichtung vom Fräskasten 13 abgeführt, wobei diese Fördereinrichtung ein Endlos-Förderband 17 aufweist, das mit einem Ende am Maschinengestell 10 angelenkt ist und wie die Sensoren S11 und S12 zeigen, in der Höhe verstellt und seitlich verschwenkt werden kann, um eine Übernahme durch ein darunter abgestelltes Fahrzeug sicherzustellen, ohne eine Beschädigung des Fahrzeuges und/oder des Endlos-Förderbandes 17 befürchten zu müssen.The milled material removed is carried away from the milling box 13 via a conveyor device, this conveyor device having an endless conveyor belt 17 which is hinged at one end to the machine frame 10 and, as the sensors S11 and S12 show, can be adjusted in height and pivoted to the side, to ensure a takeover by a vehicle parked below without having to fear damage to the vehicle and / or the endless conveyor belt 17.

Die von den Sensoren S1 bis S12 erfassten Messwerte werden auch zum Fahrerhaus 14 übertragen und im Bereich des Armaturenbrettes 18 angezeigt. Dabei können allen Sensoren individuelle Anzeigeelemente zugeordnet werden, die dauernd oder auf Abfrage hin aktivierbar sind. Es kann jedoch auch allen Sensoren nur ein zentrales Anzeigegerät zugeordnet werden, auf dem der abgefragte Messwert angezeigt wird, wobei die Anzeige zudem den vorgegebenen, zulässigen Bereich für den Messwert enthält.The measured values recorded by the sensors S1 to S12 are also transmitted to the driver's cab 14 and displayed in the area of the dashboard 18. Here you can all sensors are assigned individual display elements that can be activated permanently or on request. However, only one central display device can be assigned to all sensors, on which the queried measured value is displayed, the display also containing the specified, permissible range for the measured value.

Unabhängig von der Anzeige können die Messwerte dauernd erfasst und mit den vorgegebenen Messwert-Bereichen verglichen werden. Liegt der Messwert unterhalb oder oberhalb des vorgegebenen Messwertbereiches, dann kann automatisch ein Warnsignal ausgelöst und die Fehlersituation am zentralen Anzeigegerät angezeigt werden.Independent of the display, the measured values can be recorded continuously and compared with the specified measured value ranges. If the measured value is below or above the specified measured value range, a warning signal can be triggered automatically and the error situation can be displayed on the central display device.

Große Abnutzung der Meißel und sonstige Unregelmäßigkeiten im Betrieb wirken sich in großen Veränderungen der überwachten Betriebsdaten aus und werden überwacht, angezeigt und vom Fahrer der Straßenfräsmaschine wahrgenommen, der daraufhin Maßnahmen zur Fehlersuche und Fehlerbeseitigung einleiten kann. Dies erleichtert das Arbeiten mit der Straßenfräsmaschine erheblich und stellt sicher, dass Komponenten der Maschine nicht überlastet, beschädigt oder gar zerstört werden.Great wear of the chisel and other irregularities in operation result in major changes in the monitored operating data and are monitored, displayed and perceived by the driver of the road milling machine, who can then initiate troubleshooting and troubleshooting measures. This makes working with the road milling machine much easier and ensures that components of the machine are not overloaded, damaged or even destroyed.

In den Figuren 2 bis 3b ist zur Verdeutlichung der optischen Fräsbildüberwachung einer Fräswalze 30 zunächst im unverschlissenen Zustand (Figur 2) gezeigt. Wie diese Darstellung erkennen lässt, sind sämtliche Meißelhalter 31 mit Rundschaftmeißeln 32 bestückt. Mit einer derartigen Fräswalze 30 ergibt sich das in den Figuren 2a und 2b gezeigte Fräsbild A.In the Figures 2 to 3b is initially in the unworn state to illustrate the optical milling pattern monitoring of a milling drum 30 ( Figure 2 ) shown. As can be seen from this illustration, all chisel holders 31 are equipped with round shank chisels 32. With such a milling drum 30 this results in the Figures 2a and 2b shown milling pattern A.

Tritt an der Fräswalze 30 ein Meißelverlust, beispielsweise infolge eines Werkzeugbruches auf, so ergibt sich das in den Figuren 3a und 3b gezeigte Fräsbild B. Insbesondere in der vergrößerten Darstellung gemäß Figur 3b lässt sich deutlich erkennen, dass an der Stelle, welche infolge des Meißelverlustes nicht bearbeitet wurde, eine Materialerhöhung P im Straßenbelag verbleibt. Diese kann optisch mit einer Kamera K erfasst werden.If a chisel loss occurs on the milling drum 30, for example as a result of a broken tool, this results in the Figures 3a and 3b shown milling image B. In particular in the enlarged representation according to Figure 3b can be clearly seen that at the point that was not machined as a result of the chisel loss, an increase in material P remains in the road surface. This can be recorded optically with a camera K.

In den Figuren 4 und 5 sind wieder die in den Figuren 2 und 3 bereits dargestellten Fräswalzen 30, diesmal in Seitenansicht gezeigt. Die Figuren 4a und 5a veranschaulichen das Schwingungsbild, das von einem entsprechenden Sensor aufgenommen wurde.In the Figures 4 and 5 are back in the Figures 2 and 3 already shown milling drums 30, this time shown in side view. The Figures 4a and 5a illustrate the vibration image recorded by a corresponding sensor.

Claims (18)

  1. Road milling machine comprising a milling drum (30) equipped with a plurality of chisels (32)
    characterised in that
    the road milling machine has a detection device for quality control of the milled image produced by the milling drum, the detection device being configured to optically detect the milled image at least in regions, so that defects due to wear of the chisels or due to chisel breakage can be detected on the milled image.
  2. Road milling machine according to claim 1,
    characterised in that
    the detection device has one or more cameras (K).
  3. Road milling machine according to claim 1 or 2,
    characterised in that
    the detection device comprises at least one hodometer being configured to determine the milling depth.
  4. Road milling machine according to any one of claims 1 to 3,
    characterised
    in that at least one signal pick-up unit is associated with at least one machine component or other machine component directly or indirectly involved in the working process,
    in that the signal pick-up unit is configured to detect an operating state of the machine component, and
    in that the signal pick-up unit is connected to a signal output device via a signal processing arrangement.
  5. Road milling machine according to claim 4,
    characterised
    in that the signal pick-up unit is configured to detect the operating state of the machine component continuously or at predetermined measurement intervals.
  6. Road milling machine according to one of claims 4 or 5,
    characterised
    in that the signal picked up by the signal pick-up unit can be fed to an evaluation circuit,
    in that the evaluation circuit is configured to compare the picked-up signal with a preset value and to form a difference signal from the picked-up signal and the preset value.
  7. Road milling machine according to claim 6,
    characterised
    in that the preset value can be determined empirically by means of a detection circuit, and
    in that the preset value can be read into the evaluation circuit by means of the detection circuit.
  8. Road milling machine according to one of the claims 1 to 7,
    characterised
    in that it has a machine frame (10) which is supported by a chassis (11, 12), the chassis (11, 12) being assigned one or more drive motors.
  9. Road milling machine according to claim 8, if dependent on claim 4
    characterised
    in that the signal pick-up unit is configured to detect the power parameters, in particular the power consumption of the drive motor.
  10. Road milling machine according to claim 8 or 9,
    characterised
    in that the drive motors are designed as electric motors and the signal pick-up unit is configured to detect the supplied current, or in that the drive motors are designed as hydraulic motors and the signal pick-up unit is configured to detect the hydraulic pressure in the fluid circuit associated with the drive motor.
  11. A road milling machine according to any one of claims 8 to 10, if dependent on claim 4,
    characterised
    in that the machine frame (10) is supported at least in regions by means of at least one adjusting device (20),
    in that the machine frame (10) can be adjusted in height at least in regions by means of the adjusting device (20), for which purpose a fluid under pressure is assigned to the adjusting device (20), and in that preferably the signal pick-up unit is configured to detect pressure in the fluid.
  12. Road milling machine according to claim 11,
    characterised in
    that the height adjustment of the adjusting device (20) can be determined by means of a force gauge, for example a strain gauge.
  13. Road milling machine according to one of claims 4 to 12,
    characterised in
    that the signal pick-up unit is configured to detect the machine feed.
  14. Road milling machine according to any one of claims 4 to 13,
    characterised in that
    the signal pick-up unit is configured to detect the vibration of the machine part.
  15. Road milling machine according to claim 14,
    characterised in
    that the vibration is detectable by means of a displacement sensor, a velocity sensor or an acceleration sensor.
  16. Road milling machine according to any one of claims 4 to 15,
    characterised in
    that the signal pick-up unit for position determination has a pulse generator associated with the milling drum.
  17. Road milling machine according to one of claims 4 to 16,
    characterised in
    that the signal pick-up unit is configured to determine one or more engine characteristics.
  18. Road milling machine according to any one of claims 4 to 17,
    characterised in that
    the milling drum is driven via a drive arrangement, and that the signal pick-up unit is configured to detect the drive torque at one or more locations of the drive arrangement.
EP14193195.6A 2002-01-30 2002-10-18 Road milling machine Expired - Lifetime EP2886719B1 (en)

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DE10203732A DE10203732A1 (en) 2002-01-30 2002-01-30 Construction machinery
EP02781269.2A EP1472413B1 (en) 2002-01-30 2002-10-18 Construction machine with optimized operation
PCT/EP2002/011675 WO2003064770A1 (en) 2002-01-30 2002-10-18 Road milling machine with optimized operation

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EP1472413B1 (en) 2015-01-14
US20050207841A1 (en) 2005-09-22
EP1472413A1 (en) 2004-11-03
EP2886719A1 (en) 2015-06-24
WO2003064770A1 (en) 2003-08-07
US7422391B2 (en) 2008-09-09
US20090035064A1 (en) 2009-02-05
DE10203732A1 (en) 2003-08-21
US7905682B2 (en) 2011-03-15

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