EP3290586A1 - Milling machine and method for operating a milling machine - Google Patents

Abstract

Milling machine, in particular road milling machine, stabilizer, recycler or surface miner with a drive device which is designed such that the milling machine performs on the ground translational and / or rotarische movements, and with a working device which is designed such that the soil is processed , Moreover, the invention relates to a method for operating such a milling machine. The milling machine according to the invention has an operating unit 15 for input of drive parameters and operating parameters. The operating unit 15 is characterized by a selection unit 15C for selecting an operating mode from a plurality of operating modes. The control and computing unit 20 has a memory 20A in which, for each operating mode of the plurality of operating modes, at least one predetermined drive parameter assigned to the operating mode and / or at least one predetermined operating parameter assigned to the operating mode are stored. The control and computing unit 20 is configured such that at least one assembly 4, 5; 8, 10, 11, 12, 13, 17, 18, 19 of the driving device depending on the at least one driving parameter stored in the memory 20A for the operation mode selected by the selecting unit 15C is controlled that the respective machine function is executed. The milling machine further provides that at least one function describing the dependence of a working parameter of an assembly on a drive parameter of another assembly is stored for each operating mode, wherein the control and computing unit 20 is configured such that at least one assembly of the Work or drive device controlled such that the respective machine function is performed.

Description

The invention relates to a milling machine, in particular road milling machine, stabilizer, recycler or surface miner, with a drive device which is designed such that the milling machine performs on the ground translational and / or rotational movements, and a working device which is designed such that the soil is being worked on. Moreover, the invention relates to a method for operating such a milling machine.

There are different embodiments of ground milling machines are known, which include in particular the road milling machines, stabilizers, recyclers or surface miners. The known milling machines are characterized by a drive device for executing translational and / or rotational movements of the machine on the ground and a working device for working the soil. The drive device has at least one module that executes a specific machine function as a function of drive parameters, and the working device has at least one module that executes a specific machine function as a function of operating parameters. The individual components of the drive device and working device can in turn comprise a plurality of components.

Hereinafter, a drive device is understood as meaning all components of the road milling machine which are intended or suitable for moving the machine, and a working device is understood as meaning all components of the road milling machine which are intended or suitable for use in the processing of the soil , The drive device and working device can also have common components. A common component of the drive and working device may be an engine, in particular an internal combustion engine.

The drive power of the internal combustion engine can be transmitted via a pump distributor gearbox to hydraulic pumps in order to supply hydraulic motors provided in the drives of the milling machine with hydraulic fluid. The drive device then includes the internal combustion engine, the pump distributor gear, the hydraulic pumps and the drives with the hydraulic motors. The feed rate of the milling machine can be controlled continuously at different speeds of the engine by a corresponding adjustment of the hydraulic pump.

An essential component of the working device is the milling / cutting roller, which is arranged in the known milling machines in a Fräswalzengehäuse. The milling / cutting roller is generally driven by the single drive machine of the milling machine, wherein the drive power of the drive machine is transmitted via a mechanical transmission to the milling / cutting roller. The speed of the milling / cutting roller is thus determined by the speed of the internal combustion engine and the transmission ratio of the transmission. The milling / cutting roller can for example also be driven hydraulically, wherein the speed is controlled by a corresponding adjustment of the hydraulic pumps.

However, the working device may also comprise further assemblies which cooperate for the processing of the soil with the milling / cutting roller. These include, for example, an adjustable in height relative to the ground hold-down, which is arranged in the working direction of the milling machine in front of the milling / cutting roller, or in height relative to the ground adjustable and resting with a predetermined contact force on the ground scraper, in the working direction the milling machine is arranged behind the cutting / milling roller, or an edge protection that is adjustable in height relative to the floor and resting on the floor with a predetermined bearing force, which is arranged in the longitudinal direction of the milling machine.

Milling machines have a central control and processing unit, which is configured such that the assemblies of the drive device are controlled such that a specific machine function is performed, and the assemblies of the Worker be controlled so that a specific machine function is performed. The execution of a specific machine function is dependent on certain operating parameters, which are specified by the machine operator. Hereinafter, the operating parameters which are taken into account in the control of the assemblies of the drive device, referred to as drive parameters and among the parameters that are taken into account in the control of the components of the working device, as working parameters.

To input the drive and working parameters, milling machines have an operating unit that can be designed differently. The operating unit may, for example, have buttons or switches, slides, control sticks or be designed as a touch screen.

The operation of a milling machine is a complex task for the machine operator. The machine operator must specify all drive and working parameters in such a way that the desired milling result is achieved. The machine operator must take into account that the specification of one operating parameter can directly influence another parameter. Because when operating the milling machine, the interaction of all parameters is decisive for the quality of the milling pattern. Therefore, the operation of a milling machine requires a great deal of experience of the machine operator.

The invention has for its object to provide a milling machine with a simplified operation for the machine operator. Moreover, it is an object of the invention to provide a method of operating a milling machine which simplifies the operation of the machine.

The solution of these objects is achieved by the features of the independent claims. The dependent claims relate to advantageous embodiments of the invention.

The milling machine according to the invention has an operating unit for inputting operating parameters for controlling the drive device and the working device. With The operating unit allows the machine operator to enter all parameters relevant to the project. The operator can, for example, adjust the engine power of the drive machine, the feed rate of the milling machine, the milling depth or the speed of the milling drum. In the milling machine according to the invention, however, the setting of all drive and working parameters is not required for the respective milling task.

The operating unit is characterized by a selection unit for selecting an operating mode from a plurality of operating modes. Consequently, the operator only needs to select one operating mode for the project. For example, if the task is fine milling to achieve a fine milling pattern, the operator only needs to select the fine milling operation mode. For fine milling, depending on the particular milling task, several operating modes can also be provided in which the required working time or the wear of the milling tools can be taken into account

The control and computing unit has a memory in which for each operating mode of the plurality of operating modes at least two predetermined operating parameters, which are assigned to the operating mode, are stored. The relevant operating parameters therefore need not be set by the machine operator, but can be read out of the memory.

The control and computing unit is configured in such a way that at least one module is actuated in dependence on the at least two operating parameters which are stored in the memory for the operating mode selected with the selection unit such that the respective machine function is executed. When two assemblies are driven, each assembly may be driven based on an operating parameter of the at least two operating parameters. Consequently, the milling machine is controlled with the operating parameters assigned to the operating mode selected by the operator. The assignment of the parameters therefore does not need to be made by the operator, so that the operator is relieved. Only with the selection of the operating mode thus an optimal milling result is achieved.

In a preferred embodiment, the operating parameters include drive parameters and operating parameters, wherein the drive device has at least one module that executes a specific machine function as a function of drive parameters, and the operating device has at least one module which performs a specific machine function as a function of operating parameters, and in which Memory for each operating mode of the plurality of operating modes at least two predetermined operating parameters that are assigned to the operating mode are stored. In this embodiment, the control and computing unit is configured such that at least one assembly of the working device is controlled in dependence on the at least two working parameters, which are stored in the memory for the operating mode selected with the selection unit such that the respective machine function is performed ,

The feed rate is a drive parameter, which can preferably be specified by the machine operator himself and can also be changed by the machine operator during operation of the construction machine. Therefore, in a preferred embodiment, the feed rate is an input with the control unit for controlling the drive device drive parameter. However, it can also be provided that the machine operator specifies working parameters, for example the milling depth.

The milling machine according to the invention can furthermore provide that, for each operating mode of the plurality of operating modes, at least one function describing the dependency of an operating parameter of an assembly on at least one operating parameter of at least one other assembly is stored. Such a function is understood to mean all information which describes a relationship between the one parameter and the other parameter. This function can also be a characteristic field, for example. In this preferred embodiment, the control and computation unit is further configured such that, based on the dependence of an operating parameter of an assembly on at least one operating parameter at least one other assembly descriptive function, which is stored in the memory selected for the selected operation mode in the memory, at least one assembly of the working device or drive means so controlled that the respective machine function is performed. Consequently, in the control of the milling machine not only a predetermined operating parameter of a module, but also a relationship between predetermined parameters of different modules can be considered.

If the operating parameters include drive and working parameters, the control and computation unit may be configured such that based on the dependence of a working parameter of an assembly on at least one drive parameter of at least one other assembly descriptive function or on the basis of the dependence of a drive parameter Assembly of at least one working parameter of at least one other assembly descriptive function, which is stored for the selected with the selection unit operating mode in the memory, at least one assembly of the working device or drive means is controlled such that the respective machine function is performed.

For the invention is basically irrelevant which machine functions perform the individual modules. For certain machine functions, however, the advantages of the invention are particularly significant.

In one embodiment, an assembly of the drive means comprises motor driven drives on which the construction machine stands, a drive parameter being the feed speed of the milling machine, and an assembly of the working means comprises a motor driven milling / cutting roller, a working parameter being the speed of the milling / cutting. Cutting roller is. In this embodiment, a function describing the dependence of a working parameter of an assembly on a drive parameter of another assembly is a function describing the dependence of the speed of the milling / cutting roll on the feed rate of the milling machine. The control and processing unit is configured in this embodiment, that on the Based on the function of the speed of the milling / cutting roller of the feed rate of the milling machine descriptive function, which is stored for the selected with the selection unit operating mode in the memory, for a given feed speed, the speed of the cutting / cutting roller is set. Alternatively, with manual change of the speed of the milling / cutting roller, the feed speed of the machine can be adjusted.

For example, for the operating mode of the fine milling a certain feed speed of the construction machine, which is a drive parameter, predetermined before the milling work by the operator or even during the milling work, the adjustment of the associated speed of the cutting / cutting roller, which is a working parameter , then automatically depending on the feed speed. Different dependencies can be specified for different milling tasks, so that an optimal setting is made for the selected milling task. An embodiment may provide that the plurality of operation modes selectable with the selection unit have at least one fine milling mode for a finer milling pattern at a smaller milling depth of the milling / cutting drum and a rough milling mode for a coarser milling pattern at a larger milling depth of the milling / cutting drum wherein, for the fine milling operating mode, a function is stored in the memory which, at a given feed rate for the fine milling operating mode, provides a higher rotational speed of the milling / cutting roller than for the rough milling operating mode. However, the machine operator can also be offered a selection of milling operating modes that differ in the quality of the milling pattern.

In another embodiment, an assembly of the working device is a device for supplying water into a milling / cutting roller housing accommodating the milling / cutting roller with a motor-driven pumping device, wherein a working parameter is the delivery rate of the pumping device. In this embodiment, for example, for the Feinfräs operating mode in the memory, a working parameter stored at a predetermined feed rate for the Feinfräs operating mode specifies a lower flow rate of the pumping device than for the rough milling operating mode.

In another embodiment, an assembly of the working device is a motor-driven conveying device for conveying material removed with the milling / cutting roller, wherein a working parameter is the delivery rate of the conveying device. Then, for the fine milling operating mode, a working parameter may be stored in the memory which, at a given feed rate for the fine milling operating mode, provides a lower delivery rate of the conveyor than for the rough milling operating mode.

An assembly of the working device can also be a height adjustable relative to the ground and resting with a predetermined contact force on the ground hold-down, which is arranged in the direction of the milling machine in front of the milling / cutting roller, or adjustable in height relative to the ground and with a predetermined contact force on the floor resting scraper, which is arranged in the working direction of the milling machine behind the cutting / milling roller, or adjustable in height relative to the ground and resting with a predetermined contact force on the ground edge protection, which is arranged in the longitudinal direction of the milling machine , include. In this embodiment, the working parameter is the height adjustment or bearing force of the blank holder or the height adjustment or contact force of the scraper or the height adjustment or bearing force of the edge protection.

The method according to the invention is preferably characterized in that an assembly of the drive device comprises motor-driven drives on which the construction machine stands, wherein a drive parameter is the feed speed of the milling machine, and an assembly of the working device comprises a motor-driven milling / cutting roller, wherein a working parameter the speed of the milling / cutting roller is.

In addition, the method according to the invention is preferably characterized characterized in that the feed rate for controlling the drive means is input to an input unit, wherein a function describing the dependence of a work parameter of an assembly on a drive parameter of another assembly is a function describing the dependence of the speed of the milling / cutting roll on the feed rate of the milling machine, and on the basis of the function describing the dependence of the speed of the milling / cutting roller on the feed rate of the milling machine, which is read from the memory for the selected operating mode, the speed of the cutting / cutting roller is set.

In addition, the method according to the invention is preferably characterized in that a function is read out of the memory for a first operating mode of the plurality of selectable operating modes, which specifies a higher speed of the milling / cutting roller at a predetermined feed rate than for a second operating mode of the plurality of modes of operation.

Moreover, the method according to the invention is preferably characterized in that an assembly of the milling machine comprises a device for supplying water into a milling / cutting roller housing receiving the milling / cutting roller with a motor-driven pumping device, wherein a working parameter is the delivery rate of the pumping device.

In addition, the method according to the invention is preferably characterized in that a function is read out of the memory for a first operating mode of the plurality of selectable operating modes, which specifies a larger delivery rate of the pumping device at a predetermined feed rate than for a second operating mode of the plurality of operating modes.

Moreover, the method according to the invention is preferably characterized in that an assembly of the working device comprises a motor-driven conveying device for conveying material removed by the milling / cutting roller, wherein a working parameter is the delivery rate of the conveying device.

In addition, the method according to the invention is preferably characterized in that a function is read out of the memory for a first operating mode of the plurality of operating modes selectable with the selection unit, which predetermines a larger delivery rate of the conveyor at a predetermined feed rate than for a second operating mode of the plurality modes of operation.

In addition, the method according to the invention is preferably characterized in that an assembly of the working device a in height to the ground adjustable and resting with a predetermined contact force on the ground down holding device, which is arranged in the working direction of the milling machine in front of the milling / cutting roller, or a adjustable in height above the ground and resting with a predetermined contact force on the ground scraper, which is arranged in the working direction of the milling machine behind the cutting / milling, or adjustable in height relative to the ground and resting with a predetermined contact force on the ground Edge protection, which is arranged in the longitudinal direction of the milling machine comprises, wherein a working parameter is the height adjustment or bearing force of the blank or Abstreifers or edge protection.

Hereinafter, an embodiment of the invention will be explained in detail with reference to the drawings.

Fig. 1

eine schematische Darstellung eines Ausführungsbeispiels einer Fräsmaschine in der Seitenansicht,

Fig. 2

ein Blockdiagramm mit den wesentlichen Komponenten der Fräsmaschine und

Fig. 3

ein Ablaufdiagramm zur Darstellung der einzelnen Verfahrensschritte.

Show it:

Fig. 1

a schematic representation of an embodiment of a milling machine in side view,

Fig. 2

a block diagram with the essential components of the milling machine and

Fig. 3

a flowchart showing the individual process steps.

Fig. 1 shows a side view of a road milling machine as an example of a milling machine in a simplified schematic representation. The milling machine can also be a recycler, stabilizer or surface miner. These various embodiments of prior art ground milling machines do not differ in the components essential to the invention.

The milling machine has a chassis 1 supported by a machine frame 2 with a control station 3. The chassis 1 of the milling machine may comprise four drives 4, 5, which are arranged on the rear and front sides on both sides of the machine frame 2. The steerable drives 4, 5, in particular chain drives that allow translational and / or rotational movements of the milling machine, are attached to lifting cylinders 6, 7, which are attached to the machine frame 1, so that the machine frame is height adjustable. The drives 4, 5 can be chain drives. Instead of crawler wheels and wheels can be provided.

The milling machine has an engine 16 arranged on the machine frame, in particular an internal combustion engine. The drive power of the internal combustion engine is transmitted via a pump distributor gearbox to hydraulic pumps in order to supply hydraulic motors provided in the drives 4, 5 of the milling machine with hydraulic fluid. These components of the milling machine, which belong to the prior art, are in Fig. 1 Not shown.

In addition, the milling machine has a milling / cutting roller 8, which is arranged in a Fräswalzengehäuse 9. The milling drum 8 is driven by the single drive machine, wherein the drive power of the drive machine 16 is transmitted via a mechanical gear 32 to the milling / cutting roller 8. Furthermore, a device, not shown, for supplying water into the milling drum housing is provided, which has a pumping device, not shown.

The milling machine also has other assemblies that work together for the processing of the soil with the milling / cutting roller. These only suggestively illustrated assemblies, which also belong to the prior art, are in the Height relative to the ground adjustable and resting with a predetermined contact force on the ground down device 10, which is arranged in the working direction of the milling machine in front of the milling / cutting roller 8, a height adjustable relative to the ground and resting with a predetermined contact force on the ground scraper 11, which is arranged in the working direction A of the milling machine behind the cutting / milling roller 8, and on each longitudinal side of the cutting / cutting roller 8 in height relative to the ground adjustable and resting with a predetermined contact force on the ground edge protection 12, the extends in the longitudinal direction of the milling machine.

The individual assemblies may in turn comprise a plurality of different components, for example actuators, sensors, etc., which, however, are likewise not shown, since they are generally known to the person skilled in the art.

For removal of the material removed by the milling / cutting roller, a conveyor 13 with a conveyor belt 14 is provided.

For the control of the milling machine, the operator with an operating unit 15, which may be provided on the control station 3, enter various operating parameters. The control of the respective components of the individual modules is carried out in the present embodiment with a central control and processing unit. But it can also be provided several individual control and computing units.

The control and processing unit may include, for example, a general purpose processor, a digital signal processor (DSP) for continuous processing of digital signals, a microprocessor, an application specific integrated circuit (ASIC), a logic element integrated circuit (FPGA), or other integrated circuits (IC). or hardware components to perform the individual process steps. A data processing program (software) can be run on the hardware components to carry out the method steps. It is also possible a plurality or combination of the various components.

Fig. 2 shows a simplified block diagram with the essential components of the milling machine. The drive device comprises the drive machine 16 and the drives, not shown, each having a hydraulic motor. The working device comprises in addition to the drive machine 16 as a common component with the drive means the milling / cutting roller 8, the down in the direction of the milling / cutting roller hold-down 10, the scraper 11 behind the milling / cutting roller and the edge protection 12 on both sides of the milling / cutting roller. Another assembly of the working device is the device 18 for height adjustment of the machine frame 1, which has the four lifting columns 6, 7, so that the milling depth can be adjusted. In addition, the working device has the device 19 for supplying water with the pumping device and the conveyor 13 with the conveyor belt 14. The individual modules are connected via control lines 33 to the central control and computing unit 20.

The rotational speed of the prime mover 16 determines the rotational speed n of the milling / cutting roller 8, which is driven by the prime mover via the mechanical gear 32, while the feed rate v is adjusted by appropriately adjusting the hydraulic pumps for the hydraulic motors.

The operating unit 15 has an input unit 15A, which may have, for example, buttons, switches, sliders, a keyboard or a touch screen in order to enter certain parameters manually. The input unit 15A may also include a joystick for controlling the machine, especially the steerable drives. To monitor the machine functions, the operating unit has a display unit 15B, for example a screen.

In addition, the operating unit 15 has a selection unit 15C, which however can also be part of the input unit, for example, can be designed as a touch screen together with the input unit. The selecting unit 15C allows the operator to select an operating mode M _x from a plurality of operating modes M ₁ to M _n . The selection unit can have buttons, switches or buttons assigned to the individual operating modes M ₁ to M _n on a touchscreen. Another Possible embodiment is a rotary switch with the operating modes associated rotational positions.

In the present embodiment, it is possible to select between the operating modes micro-milling I, micro-milling II, fine milling I, fine milling II, standard milling I, standard milling II, standard milling III, rough milling (rough milling), whereby different milling tasks can be selected for the individual milling types. The individual milling tasks are designated by the index "I", "II" or "III". The milling tasks can be different milling patterns, which can differ in the roughness of the surface. It can also be considered different conditions, for example, the type of substrate (concrete or asphalt), or whether the fastest possible or low-wear processing of the soil should be done.

Each operating mode is assigned a data record which is stored in a memory 20A of the control and computing unit 20. Each record contains the drive and work parameters that are considered optimal for the task at hand. The record does not have to contain all the parameters that need to be set to complete the task. Individual operating parameters, in particular those parameters that should be changed by the machine operator during operation of the milling machine, can not be included in the data record. These parameters can be entered manually by the operator using the control unit.

The following is based on the flowchart of Fig. 3 the operation of the milling machine described in detail.

Prior to the start of the milling operations, the operator selects with the selection unit 15C, for example by rotating a rotary switch on the operating unit 15, an operating mode M ₁ to M _n , for example the operating mode "fine milling I" (block 21: "selection of an operating mode"). The present embodiment provides an additional check routine. The used milling / cutting roller is characterized by a marking, for example a bar code, which is read by a reading device, not shown. The record that is the operating mode "Finishing I", contains a list of markings of different milling / cutting rolls that can be used to perform the milling job, such as milling tools for fine milling. The control and computing unit 20 checks whether the marking of the used milling / cutting roller is entered in the list (block 22: "Compatibility with roller?"). If this is the case, it is concluded that the milling machine is equipped with the correct milling drum type for "fine milling I". Thereafter, the drive and operating parameters are read out of the memory 20A, which are assigned to the operating mode "fine milling I" (block 23: "read operating parameters"). At this time the machine is not yet in operation, ie the machine is standing still and the milling / cutting roller is not lowered (block 24: "Machine in operation?).

Since the milling machine has not yet been put into operation by the machine operator, the next step queries whether the milling operation should be started (block 25: "Start milling operation?"). If this is the case, the "fine milling I" data set becomes For the start of the milling operation required drive and working parameters of the further control is based (block 26: "setting the operating parameters for starting the machine".) In the present embodiment, for the so-called preparation of the milling machine as one of the operating parameters, a speed n _A for the milling machine is preset, for example, at 1600 rpm, so that sufficient power is available for the application The milling depth is not specified for the setting as a working parameter, since the milling / cutting roller 8 by the operator by operating the lifting columns 5, 6 is manually lowered to the desired depth (Block 27: "Lower to Fr After lowering the milling / cutting roller 8, ie setting the milling depth, the machine operator sets the drives 4, 5 in motion (block 28: "start"). This sets the milling machine in operation (block 24: "Milling machine in operation?").

During the milling operation, the individual modules of the milling machine are controlled by the control and processing unit 20 such that the modules execute the respective machine functions on the basis of the drive and working parameters of the operating mode "fine milling I" (block 29: setting the operating parameters for In the following, with reference to block 29, the method steps performed in consideration of the selected operating mode will be described in detail.

The control and computing unit 20 sets for the milling operation as an operating parameter, for example, the engine speed n, which may be a different speed than when preparing the cutting / cutting roller. This engine speed n can also be included as a fixed predefined variable in the "fine milling I" data set. The data set "fine milling II" may differ from the data set "fine milling I" in that the working parameter of the engine speed n for "fine milling II" is greater or smaller than the working parameter of the engine speed n for "fine milling I". With the engine speed as an example of a working parameter u. a. influences the milling drum speed, which determines the quality of the milling pattern. If "Fine Milling II" is a mode of operation with a finer milling pattern, i. H. a surface with a lower roughness, is the required Fräswalzendrehzahl and thus the required engine speed n for "fine milling II" greater than for "fine milling I".

However, the milling pattern is also determined by the feed speed v of the milling machine, which can change the machine operator during operation of the machine. A higher feed rate v requires a higher milling drum speed and thus a higher engine speed n. The feed rate v and the engine speed n are therefore related.

In a preferred embodiment, therefore, a fixed value is not specified for the engine speed n, but a value dependent on the feed rate v. The relationship between engine speed n and feed rate v may be described by a function such as the function k = v / n, where k is a constant. For the different operating modes, different functions which may differ from one another, for example in the constant k, are stored in the memory 20A of the control and arithmetic unit 20.

Alternatively, the relationship between feed rate v and engine speed n may also be a non-linear relationship. Particularly preferably, the engine speed is controlled in discrete steps. For example, may be provided min ^-1 for the milling engine speeds of 1200 ^min-1, 1600 ^min-1, 1800 min ^-1 and 2100th In this case, it is particularly preferred to keep the ratio v / n between feed and engine speed within a certain range. For this purpose, the engine speed can be adjusted when exceeding or falling below limit values for the feed rate. For the different operating modes, therefore, different functions can be stored in the memory 20A of the control and arithmetic unit 20, which differ, for example, in the predetermined ranges in which the relationship between feed and engine speed should be different.

For the feed rate v previously set by the machine operator at the input unit 15A, the arithmetic and evaluation unit calculates with the function stored for "fine milling I" the required motor speed n, which can be a different speed for "fine milling I" than, for example, for the operating mode "fine milling II "or" rough milling ". During operation of the milling machine, the control and computing unit 20 continuously monitors which feed rate the machine operator has specified. When the operator has changed the feed rate, the control and computation unit 20 calculates the new engine speed using the function stored for the selected operating mode and then sets the new engine speed (Block 29: Setting the Mill Operating Parameters).

As an alternative, the feed rate v can be calculated and set with the function even after specification of an engine speed n. Consequently, when driving the individual modules, a drive parameter can determine a working parameter or vice versa.

In addition, the operating parameters for controlling the other assemblies of the working device are read out for the milling operation to control actuators or other drive devices of these modules. These parameters include in particular, the height h of the blank holder 10, scraper 11 and edge protection 12 and their bearing force on the ground. The height of the blank holder 10, scraper 11 and edge protector 12 is particularly dependent on the height of the machine frame 1 relative to the surface of the soil, which in turn determines the milling depth. During the milling operation, the control and computing unit 20 sets hold-down device 10, wiper 11 and edge protector 12 to the height specified by the parameters or their contact force.

The control and computing unit 20 also controls the pumping means of the means 19 for supplying water into the Fräswalzengehäuse 9 such that the amount of water is supplied, which dictates the corresponding working parameter for the operating mode "fine milling 1". This amount of water may be smaller than the amount of water that sets the appropriate working parameters for standard milling I, II, III, which in turn may be smaller than the amount of water for rough milling.

The control and computing unit 20 can also control the conveyor 13 present on milling machines on the basis of a further working parameter, since, for example, the "fine milling" operating mode requires the setting of a smaller flow rate than "rough milling".

The above-mentioned operating parameters may not only be fixed predefined quantities, but also variables which are dependent on other operating parameters, as is the case, for example, for the rotational speed of the milling / cutting roller. The actuation of the assemblies described above can therefore also be carried out on the basis of the function describing the dependency of an operating parameter of an assembly on at least one operating parameter of at least one other assembly, which function is stored in the memory for the operating mode selected with the selection unit. In this case, a predetermined value can initially be set for the start of the milling operation as a function of the operating mode and then varied during the milling operation as a function of at least one operating parameter.

The above operating parameters may also depend on several other operating parameters. For example, the engine speed n can be regulated not only as a function of the feed rate v, but also as a function of the power requirement of the loads driven by the drive unit. Consequently, different specifications can be made for the different operating modes.

In one mode, the engine speed can for example be a dependent of the feed function in which a given feed speed a certain minimum motor rotation speed is operatively associated with, for example, 1600 min ^-1 at a feed rate of 15 m / min. However, if the engine speed determined as a function of the feed rate is insufficient to cover the power requirements of the loads, the motor speed is increased independently of the feed rate. If the feed is then increased, this can lead to a further increase in the engine speed, depending on the above-mentioned functional relationship, if the minimum engine speed determined as a function of the feed is above the currently set engine speed.

The setting of the delivery rate of the pumping means of the means 19 for supplying water into the milling drum housing 9, for example, may be read from the memory based on a predetermined function stored in the memory 20C and for the selected operating mode depending on at least one Operating parameters of a module or multiple modules are set. The function can describe the dependence of the delivery rate on the feed rate (drive parameters) and the milling depth (working parameters), whereby the delivery rate should increase with increasing feed rate and should increase with increasing milling depth.

During operation of the milling machine, the previously specified and adjusted operating parameters are continuously monitored, whereby the control and computing unit 20 continuously checks whether the operating parameters previously read from the memory 20A, on the basis of which the control is currently taking place, have been changed (block 31). "Modification If the parameters have been changed, the new parameter sets are polled, if not, the machine control is continued based on the previous parameters.

Claims (15)

Milling machine, in particular road milling machine, stabilizer, recycler or surface miner, with
a drive device, which is designed such that the milling machine performs translatory and / or rotational movements on the floor, and a working device, which is designed such that the floor is machined, wherein the milling machine has at least two assemblies (4, 5, 8, 10, 11, 12, 13, 18, 19), which perform certain machine functions in dependence on operating parameters,
a control and computing unit (20) which is configured such that the at least two modules (4, 5, 8, 10, 11, 12, 13, 18, 19) of the milling machine are controlled such that a specific machine function is performed , and
an operating unit (15) for inputting operating parameters for controlling the drive device and the working device,
characterized in that
the operating unit (15) has a selection unit (15C) for selecting an operating mode from a plurality of operating modes, and
the control and computing unit (20) has a memory (20A),
in which at least two predetermined operating parameters assigned to the operating mode are stored for each operating mode of the plurality of operating modes, and / or
in which at least one function describing the dependency of an operating parameter of an assembly on at least one operating parameter of at least one other assembly is stored for each operating mode of the plurality of operating modes,
wherein the control and computation unit (20) is configured such
in that at least one assembly (4, 5, 8, 10, 11, 12, 13, 18, 19) is stored in the memory (20A) as a function of the at least two operating parameters selected for the operating mode selected by the selection unit (15C) is controlled in such a way that the respective machine function is executed, and / or
on the basis of the function describing the dependency of an operating parameter of an assembly on at least one operating parameter of at least one other assembly, which is stored in the memory (20A) for the operating mode selected by the selection unit (15C), the at least one assembly (8, 10 , 11, 12, 13, 17, 18, 19, 4, 5) in such a way that the respective machine function is carried out. Milling machine according to Claim 1, characterized in that the operating parameters comprise drive parameters and working parameters, wherein the drive device has at least one assembly (4, 5) which performs a specific machine function as a function of drive parameters, and the working device has at least one assembly (8, 10, 11, 12, 13, 18, 19), which performs a specific machine function as a function of operating parameters. Milling machine according to claim 2, characterized in that an assembly of the drive means comprises motor-driven drives (4, 5) on which the construction machine stands up, wherein a drive parameter is the feed speed (v) of the milling machine, and an assembly of Working device comprises a motor-driven milling / cutting roller (8), wherein a working parameter is the speed (n) of the milling / cutting roller. Milling machine according to claim 3, characterized in that the feed rate (v) is an input with the operating unit (15) for controlling the drive device drive parameter. Milling machine according to one of claims 2 to 4, characterized in that the control and computing unit (20) is configured such
in the memory (20A), for each operating mode of the plurality of operating modes selectable by the selecting unit (15C), at least two predetermined operating parameters assigned to the operating mode are stored, and / or
and that for each operating mode of the plurality of operating modes selectable by the selection unit (15C) in the memory (20A) at least one function describing the dependence of a working parameter of an assembly on at least one drive parameter of at least one other assembly and / or at least one dependence of a drive parameter on one Assembly is stored by at least one working parameter of at least one other assembly descriptive function,
wherein the control and computation unit (20) is configured such
in that at least one assembly (8, 10, 11, 12, 13, 17, 18, 19) of the working device is stored in the memory (20A) as a function of the at least two operating parameters which are selected for the operating mode selected by the selection unit (15C) is controlled in such a way that the respective machine function is executed, and / or
that on the basis of the dependence of a working parameter one Assembly of at least one drive parameter of at least one other assembly descriptive function or on the basis of the dependence of a drive parameter of an assembly of at least one working parameter of at least one other assembly descriptive function, which for the selected with the selection unit (15C) operating mode in the memory (20A) is stored, at least one module (8, 10, 11, 12, 13, 18, 19, 4, 5) of the working device or drive device is driven such that the respective machine function is performed. Milling machine according to one of claims 3 to 5, characterized in that a function of a working parameter of an assembly of a drive parameter of another module descriptive function of the dependence of the speed (n) of the cutting / cutting roller (8) of the feed rate (v) function is descriptive of the milling machine, wherein the control and computation unit (20) is configured such that on the basis of the function of the speed of the milling / cutting roller of the feed rate of the milling machine descriptive function, which for the with the selection unit (15C) selected operating mode in the memory (20A) is stored, for a predetermined feed rate (v) the speed (n) of the cutting / cutting roller (8) is set. Milling machine according to one of claims 3 to 6, characterized in that for a first operating mode of the plurality of selectable with the selection unit (15C) operating modes in the memory (20A) is stored a function which at a predetermined feed rate (v) a higher speed (n) the milling / cutting roller (8) specifies as for a second operating mode of the plurality of operating modes. Milling machine according to one of claims 3 to 7, characterized in that an assembly of the milling machine comprises means (19) for supplying water into the milling / cutting roller (8) receiving milling / cutting roller housing (9) with a motor-driven pumping device , where a Working parameter is the delivery rate of the pumping device. Milling machine according to claim 8, characterized in that for a first operating mode of the plurality of selectable with the selection unit (15C) operating modes in the memory (20A) is stored a function that at a predetermined feed rate (v) specifies a larger flow rate of the pumping device than for a second mode of operation of the plurality of modes of operation. Milling machine according to one of claims 3 to 9, characterized in that an assembly of the working device comprises a motor-driven conveyor (13) for conveying with the milling / cutting roller (8) ablated material, wherein a working parameter is the delivery rate of the conveyor. Milling machine according to claim 10, characterized in that for a first operating mode of the plurality of selectable with the selection unit (15C) operating modes in the memory (20A), a function is stored, which at a predetermined feed rate (v) specifies a larger flow rate of the conveyor than for a second mode of operation of the plurality of modes of operation. Milling machine according to one of claims 3 to 11, characterized in that an assembly of the working device a height adjustable relative to the ground and resting with a predetermined contact force on the ground holding-down device (10), in the working direction of the milling machine in front of the milling / cutting roller (8) is arranged, or a height adjustable relative to the ground and with a predetermined contact force on the ground resting scraper (11), which is arranged in the working direction of the milling machine behind the cutting / milling roller, or a height above the Floor adjustable and resting on the floor with a predetermined contact force edge protection (12), in the longitudinal direction of the milling machine is arranged, wherein a working parameter is the height adjustment or bearing force of the blank or stripper or edge protection. Method for operating a milling machine, in particular road milling machine, stabilizer, recycler or surface miner, with a drive device for carrying out translatory and / or rotary movements, and a working device for working the floor, wherein the milling machine has at least two modules, which depend on Operating parameters perform certain machine functions,
with the following process steps: Store in a memory for each operating mode of a plurality of operating modes at least two predetermined operating parameters, which are assigned to the operating mode, and / or Storing in a memory for each operating mode of a plurality of operating modes at least one function describing the dependence of an operating parameter of an assembly on at least one operating parameter of at least one other module, Selecting an operating mode from the plurality of operating modes, Driving at least one module as a function of the at least two operating parameters, which are stored in the memory for the selected operating mode, so that the respective machine function is executed, and / or Driving at least one assembly based on the function describing the dependency of an operating parameter of the assembly on an operating parameter of another assembly that is stored in the memory for the selected operating mode such that the at least one Module performs the respective machine function. A method according to claim 13, characterized in that the operating parameters include drive parameters and working parameters, wherein the drive means comprises at least one module which executes a certain machine function in response to drive parameters, and the working means comprises at least one module, depending on working parameters a specific machine function performs. A method according to claim 14, characterized in that the method comprises the following method steps: Storing in the memory for each operating mode a plurality of selectable operating modes at least two predetermined operating parameters assigned to the operating mode, Driving at least one assembly of the working device in dependence on the at least two working parameters, which are stored for the selected operating mode in the memory, so that the respective machine function is executed, and / or Controlling at least one assembly of the working device or drive device on the basis of the function describing the dependence of a working parameter of an assembly on at least one drive parameter of another assembly, or on the basis of the function describing the dependence of a drive parameter of an assembly on at least one working parameter of another assembly is stored in the memory for the selected operating mode, so that the respective machine function is performed.

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