EP3587668A1 - Self-propelled construction machine and method for processing floor linings - Google Patents

Self-propelled construction machine and method for processing floor linings Download PDF

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Publication number
EP3587668A1
EP3587668A1 EP19166117.2A EP19166117A EP3587668A1 EP 3587668 A1 EP3587668 A1 EP 3587668A1 EP 19166117 A EP19166117 A EP 19166117A EP 3587668 A1 EP3587668 A1 EP 3587668A1
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EP
European Patent Office
Prior art keywords
speed
detected
drive system
fluctuations
construction machine
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP19166117.2A
Other languages
German (de)
French (fr)
Other versions
EP3587668B1 (en
Inventor
Stefan Wagner
Markus BACH
Christian Berning
Axel Mahlberg
Markus Schäfer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wirtgen GmbH
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Wirtgen GmbH
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Publication date
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Publication of EP3587668A1 publication Critical patent/EP3587668A1/en
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/48—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for laying-down the materials and consolidating them, or finishing the surface, e.g. slip forms therefor, forming kerbs or gutters in a continuous operation in situ
    • 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
    • E01C21/00—Apparatus or processes for surface soil stabilisation for road building or like purposes, e.g. mixing local aggregate with binder
    • 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
    • E01C23/065—Recycling in place or on the road, i.e. hot or cold reprocessing of paving in situ or on the traffic surface, with or without adding virgin material or lifting of salvaged material; Repairs or resurfacing involving at least partial reprocessing of the existing paving
    • 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
    • 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
    • E01C23/12—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 taking-up, tearing-up, or full-depth breaking-up paving, e.g. sett extractor
    • E01C23/122—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 taking-up, tearing-up, or full-depth breaking-up paving, e.g. sett extractor with power-driven tools, e.g. oscillated hammer apparatus
    • E01C23/127—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 taking-up, tearing-up, or full-depth breaking-up paving, e.g. sett extractor with power-driven tools, e.g. oscillated hammer apparatus rotary, e.g. rotary hammers
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C31/00—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam
    • E21C31/02—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam for cutting or breaking-down devices
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C47/00—Machines for obtaining or the removal of materials in open-pit mines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28D—WORKING STONE OR STONE-LIKE MATERIALS
    • B28D1/00—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor
    • B28D1/18—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor by milling, e.g. channelling by means of milling tools
    • 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
    • B28D7/005—Devices for the automatic drive or the program control of the machines
    • 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
    • E01C23/12—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 taking-up, tearing-up, or full-depth breaking-up paving, e.g. sett extractor

Definitions

  • the invention relates to a self-propelled construction machine according to the preamble of claim 1 and a method for processing floor coverings according to the preamble of claim 13.
  • Self-propelled construction machines are known, in particular road milling machines, recyclers, stabilizers or surface miners with a machine frame, driving devices, at least one hydraulic drive system for driving the driving devices and at least one working device, in particular a milling drum for processing the floor covering.
  • existing floor coverings can be removed from roads.
  • Existing floor coverings can be restored with recyclers.
  • the stabilizers are used to prepare the substructure for road construction.
  • Coal and stone can be mined with surface miners.
  • the invention has for its object to provide a construction machine and a method for processing floor coverings, in which or in which a rocking of the construction machine is avoided, or an optimized operation of the construction machine is made possible.
  • the invention advantageously provides that a detection device is provided which detects fluctuations in the longitudinal speed of the construction machine when the construction machine is moving, with a control unit controlling the hydraulic drive system in such a way that the hydraulic drive system drives the by means of the hydraulic drive system depending on the detected fluctuations Driving devices predetermined drive speed is continuously adjusted so that the detected fluctuations are reduced or compensated.
  • the present invention has the advantage that the fluctuations in the construction machine are avoided or reduced, so that rocking is effectively prevented.
  • the average longitudinal speed of the construction machine can advantageously remain the same. It is therefore no longer necessary to reduce the set speed of the construction machine and the construction machine can be operated at the desired set speed.
  • At least two driving devices are preferably driven. However, only two driving devices can also be driven and, in addition, further non-driven driving devices can be provided.
  • the longitudinal speed is the actual speed of the construction machine.
  • the set speed is the speed which the operator of the construction machine can set on the control unit.
  • the specified drive speed in the hydraulic drive system is to be distinguished from this. This is the drive speed specified by the control unit.
  • the longitudinal speed of the construction machine is a superposition of the specified drive speed and influencing factors of the machine or the environment. In this way, the predetermined drive speed can be superimposed by fluctuations, which are caused, for example, by a restless running of the working device.
  • the specified drive speed is the speed that would occur with given operating parameters of the hydraulic drive system and without any influencing factors.
  • the fluctuations in the longitudinal speed of the construction machine can be detectable as vibration by means of the detection device.
  • the detectable vibration preferably has essentially a fixed frequency. Particularly disturbing fluctuations are caused by vibrations that hit the resonance frequency of the machine and thus cause the machine to rock.
  • the resonance frequency of the machine depends on various operating parameters such as the current weight (again depending on the amount of fuel and water in the tank) and other factors. This frequency is therefore variable and can therefore not generally be determined for a machine.
  • the fluctuations in the longitudinal speed affect the chassis on the one hand by noticeable “rocking movements", but on the other hand the fluctuation also affects the hydraulic drive system.
  • the movements of the machine are transferred back into the hydraulic circuit via the drives and the hydraulic motors and can also be detected there as fluctuations in the pressure or in the volume flow.
  • the control unit can control the hydraulic drive system in such a way that the predetermined drive speed is changed periodically in order to generate a counter-oscillation which reduces or compensates for the detected fluctuations.
  • the set speed need not be changed by the operator of the construction machine in order to prevent the undesired swaying of the construction machine.
  • the control unit can control the hydraulic drive system such that the frequency of the counter-vibration is matched to the frequency of the detected vibration and is out of phase with the latter.
  • the phase offset can also be continuously adjusted.
  • the control unit can control the hydraulic drive system in such a way that the frequency of the counter-vibration is in phase opposition to the frequency of the detected vibration.
  • the control unit can control the hydraulic drive system in such a way that the amplitude of the counter-vibration is matched to the amplitude of the detected vibration.
  • the undesired detected vibration can be reduced or compensated for particularly effectively.
  • the hydraulic drive system can comprise at least one hydraulic pump and at least one hydraulic motor. Furthermore, the hydraulic drive system can also include lines and other elements, such as pressure accumulators.
  • the at least one hydraulic pump can be an axial piston pump.
  • the hydraulic motor can also be an axial piston motor.
  • the control unit can control the volume flow and / or the pressure in the hydraulic drive system for periodically changing the predetermined drive speed.
  • the volume flow and / or the pressure in the hydraulic drive system can be controllable by means of the hydraulic pump for adapting the predetermined drive speed.
  • the swallowing volume of the hydraulic motor can also be adaptable to periodically change the specified drive speed.
  • the control unit can control the hydraulic drive system such that the drive speed specified by means of the hydraulic drive system for driving the driving device is only continuously adjusted when the detected vibration exceeds a predefined amplitude.
  • the detection device can detect fluctuations in the longitudinal speed as fluctuations in the longitudinal speed around the set speed.
  • the detection device can detect the fluctuations on the driving devices or on the machine frame and / or as a fluctuation in the volume flow and / or as a fluctuation in the pressure of the hydraulic drive.
  • the construction machine swings up, the construction machine can also tip back and forth. Vertical fluctuations can thus also be measured, which allow conclusions to be drawn about the longitudinal speed fluctuations.
  • the detection device can comprise a pick-up sensor and / or an acceleration sensor and / or a measuring device for measuring the pressure fluctuations in the hydraulic drive system.
  • An accelerometer measures the changes in speed, whereby the fluctuations in the longitudinal speed can be determined. Furthermore, for example, changes in the volume flow of the hydraulic fluid in the hydraulic system can be measured with a corresponding sensor.
  • a method for processing floor coverings can also be provided, with a construction machine that drives itself with the aid of driving devices, in particular road milling machines, recyclers, stabilizers or surface miners, in which the driving devices are driven by a hydraulic drive system, with one working device covering the floor covering processed.
  • driving devices in particular road milling machines, recyclers, stabilizers or surface miners
  • the driving devices are driven by a hydraulic drive system, with one working device covering the floor covering processed.
  • the fluctuations in the longitudinal speed of the construction machine can be detected as vibrations with an essentially fixed frequency.
  • the predetermined drive speed can be changed periodically in order to generate a counter-oscillation that reduces or compensates for the detected fluctuations.
  • the frequency of the counter-vibration can be adapted to the frequency of the detected vibration and be out of phase with this.
  • the frequency of the counter-vibration can be adjusted in such a way that it is in phase opposition to the frequency of the detected vibration.
  • the predetermined drive speed does not change on average during the adaptation, but only swings around the desired set travel speed.
  • FIG. 1 shows a construction machine 1.
  • the construction machine can be a milling machine, in particular a road milling machine, a recycler or stabilizer or a surfaceminer.
  • construction machine has the shape of a road milling machine.
  • the construction machine 1 can also be any other construction machine with at least one hydraulic drive system and one working device.
  • the construction machine 1 shown has driving devices 2 which carry a machine frame 4.
  • the driving devices 2 can be chain drives or wheels.
  • a working device, preferably a milling drum 6 for processing the floor covering 3, is mounted on the machine frame 4.
  • the milling drum 6 can have milling cutters (not shown) on the lateral surface of the milling drum 6 for processing the floor covering 3.
  • a milling drum housing 5 is arranged around the milling drum 6.
  • the construction machine also preferably has a conveying device 46 for removing the milled material.
  • the driving devices 2 can be connected to the machine frame 4 via lifting columns 48.
  • the machine frame 4 can be adjustable in height by means of the lifting columns 48. This also allows the milling drum 6 to be adjusted in height. Alternatively or additionally, the milling drum 6 can in turn be mounted so as to be movable relative to the machine frame 4, in particular height-adjustable.
  • Fig. 2 shows a drive train of the construction machine 1.
  • a first drive train I is used to transmit the drive power to the driving devices 2, while a second drive train II is used to transmit the drive power to the milling drum 6.
  • a drive unit 10 is shown. This can preferably have an internal combustion engine.
  • the internal combustion engine can be a Be a diesel engine.
  • the drive unit can be provided via an elastomer coupling 20 with a pump distributor gear 16 for driving the first drive rod I for driving a hydraulic drive system 50 for driving the driving devices 2.
  • a clutch 14 is provided between the drive unit 10 and the milling drum 6.
  • the clutch 14 is a device for switching the torque.
  • a traction mechanism gear 12 for the mechanical drive of the milling drum 6 is arranged between the clutch 14 and the milling drum 6.
  • the traction mechanism gear 12 has a drive element 11 which is coupled in a rotationally fixed manner to the output shaft 22 of the drive unit 10.
  • the traction mechanism gear 12 has an output element 13 which is coupled to the drive shaft 15 of the milling drum 6 in a rotationally fixed manner.
  • a gear, in particular a planetary gear 24, can also be arranged between the drive shaft 15 and the milling drum 6.
  • the traction mechanism transmission 12 is preferably a belt drive, the drive and driven elements consisting of belt pulleys 11 and 13, via which one or more drive belts 30 rotate.
  • the traction mechanism transmission 12 can also consist of a chain drive, in which case the drive and output elements consist of pinions.
  • the working device can also be driven hydraulically or electrically.
  • the pump transfer case 16 has at least one hydraulic pump 32.
  • the at least one hydraulic pump 32 can in turn be connected via hydraulic lines 36 to at least one or, as in the exemplary embodiment shown, a plurality of hydraulic motors 34.
  • the hydraulic motors 34 each drive one in Fig. 2 only schematically shown driving device 2.
  • the feed speed of the construction machine can in principle be controlled independently of the speed of the drive motor.
  • a control unit 38 can control the hydraulic drive system 50 in such a way that the drive speed predetermined by means of the hydraulic drive system 50 for driving the driving devices 2 is continuously adapted so that the detected fluctuations are reduced or compensated for.
  • the dashed line 40 shows that the control unit 38 controls the hydraulic drive system 50 via the pump 32.
  • the measured values of the detection device 44 can be transmitted to the control unit 38. This is also shown with a broken line 45.
  • the term control is to be understood in such a way that the detection device 44 records a measurement value at least once and the control unit 38 controls the hydraulic drive system 50 as a function of the detected fluctuations. However, it should also be included that the detection device records measurement values several times and the control device 38 controls the hydraulic drive system 50 as a function of the detected fluctuations. A return in the sense of a regulation should therefore also be included in the present term control.
  • the detection device 44 can detect the fluctuations in the longitudinal speed as a fluctuation in the longitudinal speed around the set speed.
  • the detection device 44 can detect the fluctuations on the driving devices 2 or on the machine frame and / or as a fluctuation in the volume flow and / or as a fluctuation in the pressure of the hydraulic drive system.
  • the detection device 44 detects the fluctuations in the volume flow and / or the fluctuations in the pressure in the hydraulic drive system 50.
  • the detection device 44 can measure the fluctuations at any point in the drive system 50, for example on the hydraulic pump 32 or on the hydraulic lines 36 This is also shown with dashed lines 41.
  • the control unit 38 can be part of the machine control of the construction machine 1. However, the control unit 38 can also be designed separately.
  • Fig. 3 shows the longitudinal velocity v is over time.
  • the illustrated detected longitudinal velocity v has fluctuations that should v to a set speed varies.
  • V to the set speed is the speed at which the driver can adjust to an operating unit.
  • the detected longitudinal speed is denoted by v is .
  • the fluctuations detected are, as shown, an oscillation with a fixed frequency f.
  • Such a rocking of the construction machine often occurs when vibrations occur on the construction machine that hit a resonance frequency of the construction machine.
  • the fluctuations could only be counteracted by reducing the set speed v soll in order to reduce the vibrations which cause the machine to rock.
  • this has the disadvantage that the construction machine as a whole is moved more slowly than would be possible in principle due to the machine power available.
  • the fluctuation is detected by means of a detection device 44.
  • the control device 38 controls the hydraulic drive system in such a way that the drive speed v drive predetermined by means of the hydraulic drive system for driving the driving device 2 is continuously adapted so that the detected fluctuations are reduced or compensated for.
  • the detected speed v is shown (solid line). This varies by a set of the driver velocity v should.
  • the control unit now controls the hydraulic drive system such that the predetermined drive speed v drive (dotted line) is changed in such a way that the fluctuations are reduced or compensated for. This is also in Fig. 4 to recognize.
  • the predefined drive speed v drive is a counter-oscillation to the detected fluctuation. This reduces the detected fluctuations over time.
  • the predetermined drive speed v drive is also adjusted, so the detected variation of the construction machine that so greatly reduced in the end, the longitudinal speed of the construction machine that almost to the predetermined speed v is to equalize.
  • control unit 38 controls the hydraulic drive system in such a way that the predetermined drive speed v drive is changed periodically in order to generate a counter-oscillation which reduces or compensates for the detected fluctuations.
  • the frequency of the counter-vibration is adapted to the frequency of the detected vibration and out of phase with this.
  • the frequency of the counter-oscillation is particularly preferably in phase opposition to the frequency of the detected oscillation.
  • the amplitude of the counter-vibration is also preferably adapted to the amplitude of the detected vibration.
  • the amplitude of the detected vibrations corresponding to this example, the maximum deviation of the detected longitudinal velocity v of the set speed v soll, the amplitude of the counter vibration for example, the maximum deviation of the predetermined drive speed drive v v of the set speed is.
  • the control unit 38 can adjust the drive speed in the hydraulic drive system 50 by adjusting the volume flow and / or the pressure of the hydraulic drive system by means of the hydraulic pump 32. Alternatively, the control unit 38 can also adjust the drive speed in the hydraulic drive system 50 by adapting the volume flow and / or the pressure of the hydraulic drive system at a location other than the hydraulic pump 32. This can be done, for example, by an additional hydraulic actuator, not shown.
  • the swallowing volume of the hydraulic motors 34 can also be adapted to periodically change the specified drive speed.
  • control unit 38 only adapts the predefined drive speed v drive continuously when the detected fluctuation v ist exceeds a predefined amplitude.
  • the construction machine can be moved at any speed v des and, in contrast to the prior art, the construction machine can also be moved at a higher or the optimal speed because the specified speed v should not be reduced operate.
  • a detection device 60 designed as an acceleration sensor and a detection device 62 designed as a pick-up sensor are shown. With these, fluctuations in the longitudinal speed of the construction machine can alternatively or additionally be reliably detected. However, these can also be omitted.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Structural Engineering (AREA)
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Abstract

Bei einer selbstfahrende Baumaschine (1), insbesondere Straßenfräsmaschine, Recycler, -Stabilisierer oder Surface Miner, mit einem Maschinenrahmen (4), zumindest zwei Fahreinrichtungen (2), zumindest einem hydraulischen Antriebssystem (50) zum Antreiben mindestens zweier Fahreinrichtungen (2), zumindest einer Arbeitseinrichtung, insbesondere einer Fräswalze (6), zum Bearbeiten des Bodenbelags (3), ist vorgesehen, dass eine Detektionseinrichtung (44, 60, 62) vorgesehen ist, die bei Fortbewegung der Baumaschine (1) Schwankungen in der Längsgeschwindigkeit (v<sub>ist</sub>) der Baumaschine (1) detektiert, wobei in Abhängigkeit der detektierten Schwankungen eine Steuerungseinheit (38) das hydraulische Antriebssystem (50) derart steuert, dass die mittels des hydraulischen Antriebssystems (50) zum Antreiben der Fahreinrichtungen (2) vorgegebene Antriebsgeschwindigkeit (v<sub>Antrieb</sub>) kontinuierlich angepasst wird, so dass die detektierten Schwankungen reduziert oder kompensiert werden.In the case of a self-propelled construction machine (1), in particular road milling machine, recycler, stabilizer or surface miner, with a machine frame (4), at least two driving devices (2), at least one hydraulic drive system (50) for driving at least two driving devices (2), at least A working device, in particular a milling drum (6) for working the floor covering (3), is provided that a detection device (44, 60, 62) is provided which, when the construction machine (1) is moving, fluctuations in the longitudinal speed (v <sub > is </sub>) of the construction machine (1) detected, a control unit (38) controlling the hydraulic drive system (50) in dependence on the detected fluctuations in such a way that the hydraulic drive system (50) for driving the driving devices (2) predetermined drive speed (v <sub> drive </sub>) is continuously adjusted so that the detected fluctuations are reduced or compensated rden.

Description

Die Erfindung betrifft eine selbstfahrende Baumaschine nach dem Oberbergriff des Anspruchs 1 sowie ein Verfahren zum Bearbeiten von Bodenbelägen nach dem Oberbegriff des Anspruchs 13.The invention relates to a self-propelled construction machine according to the preamble of claim 1 and a method for processing floor coverings according to the preamble of claim 13.

Es sind selbstfahrende Baumaschinen bekannt, insbesondere Straßenfräsmaschinen, Recycler, Stabilisierer oder Surface Miner mit einem Maschinenrahmen, Fahreinrichtungen, zumindest einem hydraulischen Antriebssystem zum Antreiben der Fahreinrichtungen und zumindest einer Arbeitseinrichtung, insbesondere einer Fräswalze zum Bearbeiten des Bodenbelags.Self-propelled construction machines are known, in particular road milling machines, recyclers, stabilizers or surface miners with a machine frame, driving devices, at least one hydraulic drive system for driving the driving devices and at least one working device, in particular a milling drum for processing the floor covering.

Mit den Straßenfräsmaschinen können beispielsweise bestehende Bodenbeläge von Straßen abgetragen werden. Mit Recyclern können bestehende Bodenbeläge wiederhergestellt werden. Die Stabilisierer dienen der Vorbereitung des Unterbaus für den Straßenbau. Mit Surface Minern können Kohle und Gestein abgebaut werden.With road milling machines, for example, existing floor coverings can be removed from roads. Existing floor coverings can be restored with recyclers. The stabilizers are used to prepare the substructure for road construction. Coal and stone can be mined with surface miners.

Es hat sich jedoch gezeigt, dass es beim Betreiben der Baumaschinen beispielsweise durch einen unruhigen Lauf der Arbeitseinrichtung zu Vibrationen kommen kann. Dies kann, insbesondere wenn die Vibrationen im Bereich der Resonanzfrequenz der Maschine liegen zu einer Schwingungsanregung der gesamten Baumaschine bis hin zum Aufschaukeln der Maschine führen. Ein solches Aufschaukeln der Maschine wird nach dem bisherigen Stand der Technik dadurch unterbunden, dass der Maschinenführer die Geschwindigkeit der Baumaschine ändert und langsamer fährt. Dies hat jedoch den Nachteil, dass die Maschine nicht mit der gewünschten Geschwindigkeit betrieben bzw. fortbewegt werden kann und die Baumaschine dementsprechend nicht optimal ausgelastet wird.However, it has been shown that vibrations can occur when operating the construction machinery, for example due to a restless running of the work equipment. This can lead, particularly when the vibrations are in the range of the resonance frequency of the machine, to vibrate the entire construction machine up to the rocking of the machine. Such a rocking of the machine is prevented according to the prior art in that the machine operator controls the speed of the construction machine changes and slows down. However, this has the disadvantage that the machine cannot be operated or moved at the desired speed and the construction machine is accordingly not optimally utilized.

Der Erfindung liegt die Aufgabe zugrunde, eine Baumaschine und ein Verfahren zum Bearbeiten von Bodenbelägen zu schaffen, bei der bzw. bei dem ein Aufschaukeln der Baumaschine vermieden wird, bzw. ein optimierter Betrieb der Baumaschine ermöglicht wird.The invention has for its object to provide a construction machine and a method for processing floor coverings, in which or in which a rocking of the construction machine is avoided, or an optimized operation of the construction machine is made possible.

Zur Lösung dieser Aufgabe dienen die Merkmale der Ansprüche 1 und 13.The features of claims 1 and 13 serve to achieve this object.

Die Erfindung sieht in vorteilhafter Weise vor, dass eine Detektionseinrichtung vorgesehen ist, die bei Fortbewegung der Baumaschine Schwankungen in der Längsgeschwindigkeit der Baumaschine detektiert, wobei in Abhängigkeit der detektieren Schwankungen eine Steuerungseinheit das hydraulische Antriebssystem derart ansteuert, dass die mittels des hydraulischen Antriebssystems zum Antreiben der Fahreinrichtungen vorgegebene Antriebsgeschwindigkeit kontinuierlich angepasst wird, so dass die detektierten Schwankungen reduziert oder kompensiert werden.The invention advantageously provides that a detection device is provided which detects fluctuations in the longitudinal speed of the construction machine when the construction machine is moving, with a control unit controlling the hydraulic drive system in such a way that the hydraulic drive system drives the by means of the hydraulic drive system depending on the detected fluctuations Driving devices predetermined drive speed is continuously adjusted so that the detected fluctuations are reduced or compensated.

Die vorliegende Erfindung hat den Vorteil, dass die Schwankungen der Baumaschine vermieden bzw. reduziert werden, so dass ein Aufschaukeln wirkungsvoll unterbunden wird. Dabei kann in vorteilhafter Weise die durchschnittliche Längsgeschwindigkeit der Baumaschine gleichbleiben. Es ist somit nicht mehr nötig die eingestellte Geschwindigkeit der Baumaschine zu reduzieren und die Baumaschine kann in der gewünschten eingestellten Geschwindigkeit betrieben werden.The present invention has the advantage that the fluctuations in the construction machine are avoided or reduced, so that rocking is effectively prevented. The average longitudinal speed of the construction machine can advantageously remain the same. It is therefore no longer necessary to reduce the set speed of the construction machine and the construction machine can be operated at the desired set speed.

Bei der vorliegenden Erfindung werden vorzugsweise mindestens zwei Fahreinrichtungen angetrieben. Es können jedoch auch lediglich zwei Fahreinrichtungen angetrieben sein und zusätzlich können weitere nicht angetriebene Fahreinrichtungen vorgesehen sein.In the present invention, at least two driving devices are preferably driven. However, only two driving devices can also be driven and, in addition, further non-driven driving devices can be provided.

In der vorliegenden Erfindung ist zu unterscheiden zwischen der Längsgeschwindigkeit der Baumaschine, der eingestellten Geschwindigkeit und der vorgegebenen Antriebsgeschwindigkeit. Die Längsgeschwindigkeit ist die tatsächliche Geschwindigkeit der Baumaschine. Die eingestellte Geschwindigkeit ist die Geschwindigkeit, die der Bediener der Baumaschine an der Bedieneinheit einstellen kann. Davon zu unterscheiden ist die vorgegebene Antriebsgeschwindigkeit in dem hydraulischen Antriebssystem. Dies ist die von der Steuereinheit vorgegebene Antriebsgeschwindigkeit. Die Längsgeschwindigkeit der Baumaschine ist eine Überlagerung der vorgegebenen Antriebsgeschwindigkeit und Einflussfaktoren der Maschine oder der Umgebung. So kann die vorgegebene Antriebsgeschwindigkeit durch Schwankungen, die beispielsweise durch einen unruhigen Lauf der Arbeitseinrichtung hervorgerufen werden, überlagert werden. Die vorgegebene Antriebsgeschwindigkeit ist die Geschwindigkeit, die sich bei gegebenen Betriebsparametern des hydraulischen Antriebssystems und ohne jegliche Einflussfaktoren einstellen würde.In the present invention, a distinction must be made between the longitudinal speed of the construction machine, the set speed and the predetermined drive speed. The longitudinal speed is the actual speed of the construction machine. The set speed is the speed which the operator of the construction machine can set on the control unit. The specified drive speed in the hydraulic drive system is to be distinguished from this. This is the drive speed specified by the control unit. The longitudinal speed of the construction machine is a superposition of the specified drive speed and influencing factors of the machine or the environment. In this way, the predetermined drive speed can be superimposed by fluctuations, which are caused, for example, by a restless running of the working device. The specified drive speed is the speed that would occur with given operating parameters of the hydraulic drive system and without any influencing factors.

Die Schwankungen in der Längsgeschwindigkeit der Baumaschine können mittels der Detektionseinrichtung als Schwingung detektierbar sein. Die detektierbare Schwingung weist vorzugsweise im Wesentlichen eine feste Frequenz auf. Besonders störende Schwankungen werden durch Vibrationen hervorgerufen, die die Resonanzfrequenz der Maschine treffen und es somit zu einem Aufschaukeln der Maschine kommt.The fluctuations in the longitudinal speed of the construction machine can be detectable as vibration by means of the detection device. The detectable vibration preferably has essentially a fixed frequency. Particularly disturbing fluctuations are caused by vibrations that hit the resonance frequency of the machine and thus cause the machine to rock.

Die Resonanzfrequenz der Maschine hängt dabei von unterschiedlichen Betriebsgrößen wie beispielsweise dem aktuellen Gewicht (wiederum abhängig u. a. von in Tanks vorhandener Kraftstoff- und Wassermenge) und anderen Faktoren ab. Diese Frequenz ist daher variabel und kann daher nicht grundsätzlich für eine Maschine ermittelt werden.The resonance frequency of the machine depends on various operating parameters such as the current weight (again depending on the amount of fuel and water in the tank) and other factors. This frequency is therefore variable and can therefore not generally be determined for a machine.

Die Schwankungen in der Längsgeschwindigkeit wirken sich zum einen auf das Chassis aus, indem es zu spürbaren "Schaukelbewegungen" kommt, andererseits wirkt sich die Schwankung jedoch auch auf das hydraulische Antriebssystem aus. Die Bewegungen der Maschine werden über die Laufwerke und die hydraulischen Motoren zurück in den Hydraulikkreislauf übertragen und können auch dort als Schwankungen im Druck bzw. im Volumenstrom detektiert werden.The fluctuations in the longitudinal speed affect the chassis on the one hand by noticeable "rocking movements", but on the other hand the fluctuation also affects the hydraulic drive system. The movements of the machine are transferred back into the hydraulic circuit via the drives and the hydraulic motors and can also be detected there as fluctuations in the pressure or in the volume flow.

Die Steuerungseinheit kann das hydraulische Antriebssystem derart steuern, dass die vorgegebene Antriebsgeschwindigkeit periodisch geändert wird, um eine Gegenschwingung zu erzeugen, die die detektieren Schwankungen reduziert oder kompensiert.The control unit can control the hydraulic drive system in such a way that the predetermined drive speed is changed periodically in order to generate a counter-oscillation which reduces or compensates for the detected fluctuations.

Auf diese Weise, muss die eingestellte Geschwindigkeit durch den Bediener der Baumaschine nicht geändert werden, um das ungewünschte Schwanken der Baumaschine zu unterbinden.In this way, the set speed need not be changed by the operator of the construction machine in order to prevent the undesired swaying of the construction machine.

Die Steuerungseinheit kann das hydraulische Antriebssystem derart steuern, dass die Frequenz der Gegenschwingung an die Frequenz der detektierten Schwingung angepasst ist und phasenversetzt zu dieser ist. Der Phasenversatz kann auch kontinuierlich angepasst werden.The control unit can control the hydraulic drive system such that the frequency of the counter-vibration is matched to the frequency of the detected vibration and is out of phase with the latter. The phase offset can also be continuously adjusted.

Die Steuerungseinheit kann das hydraulische Antriebssystem derart steuern, dass die Frequenz der Gegenschwingung gegenphasig zu der Frequenz der detektierten Schwingung ist.The control unit can control the hydraulic drive system in such a way that the frequency of the counter-vibration is in phase opposition to the frequency of the detected vibration.

Die Steuerungseinheit kann das hydraulische Antriebssystem derart steuern, dass die Amplitude der Gegenschwingung an die Amplitude der detektierten Schwingung angepasst ist.The control unit can control the hydraulic drive system in such a way that the amplitude of the counter-vibration is matched to the amplitude of the detected vibration.

Durch die Anpassung an die Frequenz und an die Amplitude der detektierten Schwingung, kann die ungewünschte detektierte Schwingung besonders effektiv reduziert bzw. kompensiert werden.By adapting to the frequency and the amplitude of the detected vibration, the undesired detected vibration can be reduced or compensated for particularly effectively.

Das hydraulische Antriebssystem kann zumindest eine hydraulische Pumpe und zumindest einen hydraulischen Motor umfassen. Ferner kann das hydraulische Antriebssystem auch Leitungen und weitere Elemente, wie beispielsweise Druckspeicher umfassen.The hydraulic drive system can comprise at least one hydraulic pump and at least one hydraulic motor. Furthermore, the hydraulic drive system can also include lines and other elements, such as pressure accumulators.

Die zumindest eine hydraulische Pumpe kann eine Axialkolbenpumpe sein. Auch der hydraulische Motor kann ein Axialkolbenmotor sein.The at least one hydraulic pump can be an axial piston pump. The hydraulic motor can also be an axial piston motor.

Die Steuerungseinheit kann den Volumenstrom und/oder der Druck im hydraulischen Antriebssystem zur periodischen Änderung der vorgegebenen Antriebsgeschwindigkeit steuern.The control unit can control the volume flow and / or the pressure in the hydraulic drive system for periodically changing the predetermined drive speed.

Der Volumenstrom und/oder der Druck im hydraulischen Antriebssystem kann mittels der hydraulischen Pumpe zum Anpassen der vorgegebenen Antriebsgeschwindigkeit steuerbar sein.The volume flow and / or the pressure in the hydraulic drive system can be controllable by means of the hydraulic pump for adapting the predetermined drive speed.

Auch kann zur periodischen Änderung der vorgegebenen Antriebsgeschwindigkeit das Schluckvolumen des hydraulischen Motors anpassbar sein.The swallowing volume of the hydraulic motor can also be adaptable to periodically change the specified drive speed.

Die Steuerungseinheit kann das hydraulische Antriebssystem derart steuern, dass die mittels des hydraulischen Antriebssystems zum Antreiben der Fahreinrichtung vorgegebene Antriebsgeschwindigkeit erst dann kontinuierlich angepasst wird, wenn die detektierte Schwingung eine vordefinierte Amplitude überschreitet.The control unit can control the hydraulic drive system such that the drive speed specified by means of the hydraulic drive system for driving the driving device is only continuously adjusted when the detected vibration exceeds a predefined amplitude.

Auf diese Weise werden erst die für den Maschinenführer besonders unangenehmen Schwankungen kompensiert bzw. reduziert, bei denen ein Aufschaukeln der Maschine stattfindet.In this way, the fluctuations which are particularly unpleasant for the machine operator and in which the machine starts to rock are compensated for or reduced.

Die Detektionseinrichtung kann Schwankungen der Längsgeschwindigkeit als Schwankungen der Längsgeschwindigkeit um die eingestellte Geschwindigkeit detektieren. Die Detektionseinrichtung kann die Schwankungen an den Fahreinrichtungen oder an dem Maschinenrahmen und/oder als Schwankung des Volumenstroms und/oder als Schwankung des Drucks des hydraulischen Antriebs detektieren. Bei einem Aufschaukeln der Baumaschine kann es auch zu einem hin und her kippen der Baumaschine kommen. Es können somit auch Vertikalschwankungen gemessen werden, die einen Rückschluss auf die Längsgeschwindigkeitsschwankungen zulassen.The detection device can detect fluctuations in the longitudinal speed as fluctuations in the longitudinal speed around the set speed. The detection device can detect the fluctuations on the driving devices or on the machine frame and / or as a fluctuation in the volume flow and / or as a fluctuation in the pressure of the hydraulic drive. When the construction machine swings up, the construction machine can also tip back and forth. Vertical fluctuations can thus also be measured, which allow conclusions to be drawn about the longitudinal speed fluctuations.

Die Detektionseinrichtung kann ein Pick-Up-Sensor und/oder ein Beschleunigungsaufnehmer und/oder eine Messeinrichtung zum Messen der Druckschwankungen im hydraulischen Antriebssystem umfassen. Ein Beschleunigungsaufnehmer misst die Geschwindigkeitsänderungen, wodurch die Schwankungen der Längsgeschwindigkeit bestimmt werden können. Weiterhin können beispielsweise Änderungen des Volumenstroms der Hydraulikflüssigkeit im Hydrauliksystem mit einem entsprechenden Sensor gemessen werden.The detection device can comprise a pick-up sensor and / or an acceleration sensor and / or a measuring device for measuring the pressure fluctuations in the hydraulic drive system. An accelerometer measures the changes in speed, whereby the fluctuations in the longitudinal speed can be determined. Furthermore, for example, changes in the volume flow of the hydraulic fluid in the hydraulic system can be measured with a corresponding sensor.

Auch kann gemäß der vorliegenden Erfindung ein Verfahren zum Bearbeiten von Bodenbelägen vorgesehen sein, mit einer mit Hilfe von Fahreinrichtungen selbstfahrenden Baumaschine, insbesondere Straßenfräsmaschine, Recycler, Stabilisierer oder Surface Miner, bei der die Fahreinrichtungen von einem hydraulischen Antriebssystem angetrieben werden, wobei eine Arbeitseinrichtung den Bodenbelag bearbeitet. Dabei kann insbesondere vorgesehen sein, dass bei einer Fortbewegung der Baumaschine Schwankungen in der Längsgeschwindigkeit der Baumaschine detektiert werden und in Abhängigkeit der detektierten Schwankung die von dem hydraulischen Antriebssystem an die Fahreinrichtungen vorgegebene Antriebsgeschwindigkeit kontinuierlich angepasst wird, so dass die detektierten Schwankungen der Baumaschine reduziert oder kompensiert werden.According to the present invention, a method for processing floor coverings can also be provided, with a construction machine that drives itself with the aid of driving devices, in particular road milling machines, recyclers, stabilizers or surface miners, in which the driving devices are driven by a hydraulic drive system, with one working device covering the floor covering processed. In particular, it can be provided that when the construction machine is moving, fluctuations in the longitudinal speed of the construction machine are detected and, depending on the detected fluctuation, the drive speed predetermined by the hydraulic drive system to the driving devices is continuously adapted so that the detected fluctuations of the construction machine are reduced or compensated for become.

Die Schwankungen in der Längsgeschwindigkeit der Baumaschine können als Schwingungen mit einer im Wesentlichen festen Frequenz detektiert werden.The fluctuations in the longitudinal speed of the construction machine can be detected as vibrations with an essentially fixed frequency.

Die vorgegebene Antriebsgeschwindigkeit kann periodisch geändert werden, um eine Gegenschwingung zu erzeugen, die die detektierten Schwankungen reduziert oder kompensiert.The predetermined drive speed can be changed periodically in order to generate a counter-oscillation that reduces or compensates for the detected fluctuations.

Die Frequenz der Gegenschwingung kann an die Frequenz der detektierten Schwingung angepasst werden und phasenversetzt zu dieser sein.The frequency of the counter-vibration can be adapted to the frequency of the detected vibration and be out of phase with this.

Die Frequenz der Gegenschwingung kann derart angepasst werden, dass sie gegenphasig zu der Frequenz der detektierten Schwingung ist.The frequency of the counter-vibration can be adjusted in such a way that it is in phase opposition to the frequency of the detected vibration.

Gemäß der vorliegenden Erfindung ist es entscheidend, dass die vorgegebene Antriebsgeschwindigkeit sich bei der Anpassung im Durchschnitt nicht ändert, sondern lediglich um die gewünschte eingestellte Fahrgeschwindigkeit schwingt.According to the present invention, it is decisive that the predetermined drive speed does not change on average during the adaptation, but only swings around the desired set travel speed.

Im Folgenden werden unter Bezugnahme auf die Zeichnungen Ausführungsbeispiele der Erfindung näher erläutert.Exemplary embodiments of the invention are explained in more detail below with reference to the drawings.

Es zeigen schematisch:

Fig. 1
eine selbstfahrende Baumaschine in Seitenansicht,
Fig. 2
Antriebsstränge der Baumaschine,
Fig. 3
den Verlauf der detektierten Längsgeschwindigkeit,
Fig. 4
den Verlauf der detektierten Längsgeschwindigkeit und den Verlauf der mittels des hydraulischen Antriebssystems vorgegebenen Antriebsgeschwindigkeit,
They show schematically:
Fig. 1
a self-propelled construction machine in side view,
Fig. 2
Drivetrains of the construction machine,
Fig. 3
the course of the detected longitudinal speed,
Fig. 4
the course of the detected longitudinal speed and the course of the drive speed predetermined by means of the hydraulic drive system,

Figur 1 zeigt eine Baumaschine 1. Die Baumaschine kann eine Fräsmaschine, insbesondere eine Straßenfräsmaschine, ein Recycler oder Stabilisierer oder ein Surfaceminer sein. Die in Figur 1 dargestellte Baumaschine hat die Form einer Straßenfräsmaschine. Die Baumaschine 1 kann jedoch auch jegliche andere Baumaschine mit zumindest einem hydraulischen Antriebssystem und einer Arbeitseinrichtung sein. Die dargestellte Baumaschine 1 weist Fahreinrichtungen 2 auf, die einen Maschinenrahmen 4 tragen. Die Fahreinrichtungen 2 können Kettenlaufwerke oder Räder sein. An dem Maschinenrahmen 4 ist eine Arbeitseinrichtung, vorzugsweise eine Fräswalze 6 zum Bearbeiten des Bodenbelags 3 gelagert. Die Fräswalze 6 kann zum Bearbeiten des Bodenbelags 3 nicht dargestellte Fräsmeißel an der Mantelfläche der Fräswalze 6 aufweisen. Um die Fräswalze 6 herum ist ein Fräswalzengehäuse 5 angeordnet. Die Baumaschine weist ferner vorzugsweise eine Fördereinrichtung 46 zum Abtransport des Fräsgutes auf. Figure 1 shows a construction machine 1. The construction machine can be a milling machine, in particular a road milling machine, a recycler or stabilizer or a surfaceminer. In the Figure 1 shown construction machine has the shape of a road milling machine. However, the construction machine 1 can also be any other construction machine with at least one hydraulic drive system and one working device. The construction machine 1 shown has driving devices 2 which carry a machine frame 4. The driving devices 2 can be chain drives or wheels. A working device, preferably a milling drum 6 for processing the floor covering 3, is mounted on the machine frame 4. The milling drum 6 can have milling cutters (not shown) on the lateral surface of the milling drum 6 for processing the floor covering 3. A milling drum housing 5 is arranged around the milling drum 6. The construction machine also preferably has a conveying device 46 for removing the milled material.

Die Fahreinrichtungen 2 können über Hubsäulen 48 mit dem Maschinenrahmen 4 verbunden sein. Mittels der Hubsäulen 48 kann der Maschinenrahmen 4 höhenverstellbar sein. Dadurch kann auch die Fräswalze 6 höhenverstellt werden. Alternativ oder zusätzlich kann die Fräswalze 6 wiederum relativ zu dem Maschinenrahmen 4 beweglich, insbesondere höhenverstellbar gelagert sein.The driving devices 2 can be connected to the machine frame 4 via lifting columns 48. The machine frame 4 can be adjustable in height by means of the lifting columns 48. This also allows the milling drum 6 to be adjusted in height. Alternatively or additionally, the milling drum 6 can in turn be mounted so as to be movable relative to the machine frame 4, in particular height-adjustable.

Fig. 2 zeigt einen Antriebsstrang der Baumaschine 1. Zur Übertragung der Antriebsleistung auf die Fahreinrichtungen 2 dient ein erster Antriebsstrang I, während zur Übertragung der Antriebsleistung auf die Fräswalze 6 ein zweiter Antriebsstrang II dient. Fig. 2 shows a drive train of the construction machine 1. A first drive train I is used to transmit the drive power to the driving devices 2, while a second drive train II is used to transmit the drive power to the milling drum 6.

In Fig. 2 ist eine Antriebseinheit 10 dargestellt. Diese kann vorzugsweise einen Verbrennungsmotor aufweisen. Der Verbrennungsmotor kann insbesondere ein Dieselmotor sein. Die Antriebseinheit kann über eine Elastomerkupplung 20 mit einem Pumpenverteilergetriebe 16 zum Antreiben des ersten Antriebsstangs I zum Antreiben eines hydraulischen Antriebssystems 50 zum Antreiben der Fahreinrichtungen 2 vorgesehen sein.In Fig. 2 A drive unit 10 is shown. This can preferably have an internal combustion engine. The internal combustion engine can be a Be a diesel engine. The drive unit can be provided via an elastomer coupling 20 with a pump distributor gear 16 for driving the first drive rod I for driving a hydraulic drive system 50 for driving the driving devices 2.

Im zweiten Antriebsstrang II zum Antreiben der Fräswalze 6 ist zwischen der Antriebseinheit 10 und der Fräswalze 6 eine Schaltkupplung 14 vorgesehen. Die Schaltkupplung 14 ist eine Einrichtung zum Schalten des Drehmoments.In the second drive train II for driving the milling drum 6, a clutch 14 is provided between the drive unit 10 and the milling drum 6. The clutch 14 is a device for switching the torque.

Zwischen der Schaltkupplung 14 und der Fräswalze 6 ist ein Zugmittelgetriebe 12 für den mechanischen Antrieb der Fräswalze 6 angeordnet. Das Zugmittelgetriebe 12 weist ein Antriebselement 11 auf, das mit der Abtriebswelle 22 der Antriebseinheit 10 drehfest gekoppelt ist. Ferner weist das Zugmittelgetriebe 12 ein Abtriebselement 13 auf, das mit der Antriebswelle 15 der Fräswalze 6 drehfest gekoppelt ist. Zwischen der Antriebswelle 15 und der Fräswalze 6 kann noch ein Getriebe, insbesondere ein Planetengetriebe 24 angeordnet sein.A traction mechanism gear 12 for the mechanical drive of the milling drum 6 is arranged between the clutch 14 and the milling drum 6. The traction mechanism gear 12 has a drive element 11 which is coupled in a rotationally fixed manner to the output shaft 22 of the drive unit 10. Furthermore, the traction mechanism gear 12 has an output element 13 which is coupled to the drive shaft 15 of the milling drum 6 in a rotationally fixed manner. A gear, in particular a planetary gear 24, can also be arranged between the drive shaft 15 and the milling drum 6.

Das Zugmittelgetriebe 12 ist vorzugsweise ein Riemenantrieb, wobei die Antriebs- und Abtriebselemente aus Riemenscheiben 11 und 13 bestehen, über die ein oder mehrere Antriebsriemen 30 umlaufen. Alternativ kann das Zugmittelgetriebe 12 auch aus einem Kettenantrieb bestehen, wobei dann die Antriebs- und Abtriebselemente aus Ritzeln bestehen. Grundsätzlich kann auch die Arbeitseinrichtung hydraulisch oder elektrisch angetrieben sein.The traction mechanism transmission 12 is preferably a belt drive, the drive and driven elements consisting of belt pulleys 11 and 13, via which one or more drive belts 30 rotate. Alternatively, the traction mechanism transmission 12 can also consist of a chain drive, in which case the drive and output elements consist of pinions. In principle, the working device can also be driven hydraulically or electrically.

Beim ersten Antriebsstang I zum Antreiben des hydraulischen Antriebssystems weist das Pumpenverteilergetriebe 16 zumindest eine hydraulische Pumpe 32 auf. Die zumindest eine hydraulische Pumpe 32 kann wiederum über Hydraulikleitungen 36 mit zumindest einem, oder wie im dargestellten Ausführungsbeispiel mehreren hydraulischen Motoren 34 verbunden sein. Die hydraulischen Motoren 34 treiben jeweils eine, in Fig. 2 lediglich schematisch dargestellte Fahreinrichtung 2 an.In the first drive rod I for driving the hydraulic drive system, the pump transfer case 16 has at least one hydraulic pump 32. The at least one hydraulic pump 32 can in turn be connected via hydraulic lines 36 to at least one or, as in the exemplary embodiment shown, a plurality of hydraulic motors 34. The hydraulic motors 34 each drive one in Fig. 2 only schematically shown driving device 2.

Aufgrund des hydraulischen Antriebssystems kann die Vorschubgeschwindigkeit der Baumaschine prinzipiell unabhängig von der Drehzahl des Antriebsmotors gesteuert werden.Due to the hydraulic drive system, the feed speed of the construction machine can in principle be controlled independently of the speed of the drive motor.

Bei dem Betrieb einer Baumaschine kann es zu Schwankungen in der Längsgeschwindigkeit der Baumaschine kommen. Diese Schwankungen können mit Hilfe einer Detektionseinrichtung 44 detektiert werden. In Abhängigkeit der detektierten Schwankungen kann eine Steuerungseinheit 38 das hydraulische Antriebssystem 50 derart steuern, dass die mittels des hydraulischen Antriebssystems 50 zum Antreiben der Fahreinrichtungen 2 vorgegebene Antriebsgeschwindigkeit kontinuierlich angepasst wird, so dass die detektierten Schwankungen reduziert oder kompensiert werden. Dass die Steuerungseinheit 38 das hydraulische Antriebssystem 50 über die Pumpe 32 steuert, ist mit der gestrichelten Linie 40 dargestellt. Die Messwerte der Detektionseinrichtung 44 können an die Steuerungseinheit 38 übermittelt werden. Dies ist ebenfalls mit einer gestrichelten Linie 45 dargestellt. Der Begriff steuern ist so zu verstehen, dass die die Detektionseinrichtung 44 mindestens einmalig einen Messwert aufnimmt und die Steuerungseinheit 38 das hydraulische Antriebssystem 50 in Abhängigkeit der detektierten Schwankungen steuert. Es soll aber auch umfasst sein, dass die Detektionseinrichtung mehrfach Messwerte aufnimmt und die Steuerungseinrichtung 38 das hydraulische Antriebssystem 50 in Abhängigkeit der detektierten Schwankungen steuert. Eine Rückführung im Sinne einer Regelung soll somit auch bei dem vorliegenden Begriff steuern umfasst sein.When operating a construction machine, there may be fluctuations in the longitudinal speed of the construction machine. These fluctuations can be detected with the aid of a detection device 44. Depending on the detected fluctuations, a control unit 38 can control the hydraulic drive system 50 in such a way that the drive speed predetermined by means of the hydraulic drive system 50 for driving the driving devices 2 is continuously adapted so that the detected fluctuations are reduced or compensated for. The dashed line 40 shows that the control unit 38 controls the hydraulic drive system 50 via the pump 32. The measured values of the detection device 44 can be transmitted to the control unit 38. This is also shown with a broken line 45. The term control is to be understood in such a way that the detection device 44 records a measurement value at least once and the control unit 38 controls the hydraulic drive system 50 as a function of the detected fluctuations. However, it should also be included that the detection device records measurement values several times and the control device 38 controls the hydraulic drive system 50 as a function of the detected fluctuations. A return in the sense of a regulation should therefore also be included in the present term control.

Die Detektionseinrichtung 44 kann die Schwankungen der Längsgeschwindigkeit als Schwankung der Längsgeschwindigkeit um die eingestellte Geschwindigkeit detektieren. Die Detektionseinrichtung 44 kann die Schwankungen an den Fahreinrichtungen 2 oder an den Maschinenrahmen und/oder als Schwankung des Volumenstroms und/oder als Schwankung des Druckes des hydraulischen Antriebssystems detektieren.The detection device 44 can detect the fluctuations in the longitudinal speed as a fluctuation in the longitudinal speed around the set speed. The detection device 44 can detect the fluctuations on the driving devices 2 or on the machine frame and / or as a fluctuation in the volume flow and / or as a fluctuation in the pressure of the hydraulic drive system.

Im dargestellten Ausführungsbeispiel detektiert die Detektionseinrichtung 44 die Schwankungen des Volumenstroms und/oder die Schwankungen des Drucks in dem hydraulischen Antriebssystem 50. Die Detektionseinrichtung 44 kann die Schwankungen an jeglicher Stelle des Antriebsystems 50 messen, so z.B. an der hydraulische Pumpe 32 oder an den Hydraulikleitungen 36. Dies ist ebenfalls mit gestrichelten Linien 41 dargestellt. Die Steuerungseinheit 38 kann Teil der Maschinensteuerung der Baumaschine 1 sein. Die Steuerungseinheit 38 kann jedoch auch separat ausgeführt sein.In the exemplary embodiment shown, the detection device 44 detects the fluctuations in the volume flow and / or the fluctuations in the pressure in the hydraulic drive system 50. The detection device 44 can measure the fluctuations at any point in the drive system 50, for example on the hydraulic pump 32 or on the hydraulic lines 36 This is also shown with dashed lines 41. The control unit 38 can be part of the machine control of the construction machine 1. However, the control unit 38 can also be designed separately.

Fig. 3 zeigt die Längsgeschwindigkeit vist über die Zeit. Die dargestellte detektierte Längsgeschwindigkeit vist weist Schwankungen auf, die um eine eingestellte Geschwindigkeit vsoll schwankt. Die eingestellte Geschwindigkeit vsoll ist die Geschwindigkeit, die der Fahrer an einer Bedieneinheit einstellen kann. Die detektierte Längsgeschwindigkeit ist mit vist bezeichnet. Die detektierten Schwankungen sind, wie dargestellt, eine Schwingung mit fester Frequenz f. Zu einem solchen Aufschaukeln der Baumaschine kommt es häufig, wenn Vibrationen an der Baumaschine auftreten, die eine Resonanzfrequenz der Baumaschine treffen. Bei dem bisherigen Stand der Technik konnte den Schwankungen nur entgegengewirkt werden, indem die eingestellte Geschwindigkeit vsoll reduziert wurde, um die Vibrationen zu reduzieren, die das Aufschaukeln der Maschine bewirken. Dies hat jedoch den Nachteil, dass die Baumaschine insgesamt langsamer bewegt wird als grundsätzlich aufgrund der zur Verfügung stehenden Maschinenleistung möglich wäre. Fig. 3 shows the longitudinal velocity v is over time. The illustrated detected longitudinal velocity v has fluctuations that should v to a set speed varies. V to the set speed is the speed at which the driver can adjust to an operating unit. The detected longitudinal speed is denoted by v is . The fluctuations detected are, as shown, an oscillation with a fixed frequency f. Such a rocking of the construction machine often occurs when vibrations occur on the construction machine that hit a resonance frequency of the construction machine. In the previous state of the art, the fluctuations could only be counteracted by reducing the set speed v soll in order to reduce the vibrations which cause the machine to rock. However, this has the disadvantage that the construction machine as a whole is moved more slowly than would be possible in principle due to the machine power available.

Bei der vorliegenden Erfindung wird jedoch die Schwankung mittels einer Detektionseinrichtung 44 detektiert. Die Steuerungseinrichtung 38 steuert das hydraulische Antriebssystem derart, dass die mittels des hydraulischen Antriebssystems zum Antreiben der Fahreinrichtung 2 vorgegebene Antriebsgeschwindigkeit vAntrieb kontinuierlich angepasst wird, so dass die detektierten Schwankungen reduziert oder kompensiert werden. Dies ist in Fig. 4 dargestellt. Es ist die detektierte Geschwindigkeit vist (durchgezogene Linie) dargestellt. Diese schwankt um eine von dem Fahrzeugführer eingestellte Geschwindigkeit vsoll. Die Steuerungseinheit steuert das hydraulische Antriebssystem nun derart, dass die vorgegebene Antriebsgeschwindigkeit vAntrieb (gepunktete Linie) derart verändert wird, dass die Schwankungen reduziert bzw. kompensiert werden. Dies ist auch in Fig. 4 zu erkennen. Die vorgegebene Antriebsgeschwindigkeit vAntrieb ist eine Gegenschwingung zu der detektierten Schwankung. Dadurch reduzieren sich die detektierten Schwankungen im Verlauf der Zeit. Die vorgegebene Antriebsgeschwindigkeit vAntrieb wird ebenfalls angepasst, so dass sich am Ende die detektierte Schwankung der Baumaschine so stark reduziert, dass sich die Längsgeschwindigkeit der Baumaschine nahezu an die vorgegebene Geschwindigkeit vsoll angleicht.In the present invention, however, the fluctuation is detected by means of a detection device 44. The control device 38 controls the hydraulic drive system in such a way that the drive speed v drive predetermined by means of the hydraulic drive system for driving the driving device 2 is continuously adapted so that the detected fluctuations are reduced or compensated for. This is in Fig. 4 shown. The detected speed v is shown (solid line). This varies by a set of the driver velocity v should. The control unit now controls the hydraulic drive system such that the predetermined drive speed v drive (dotted line) is changed in such a way that the fluctuations are reduced or compensated for. This is also in Fig. 4 to recognize. The predefined drive speed v drive is a counter-oscillation to the detected fluctuation. This reduces the detected fluctuations over time. The predetermined drive speed v drive is also adjusted, so the detected variation of the construction machine that so greatly reduced in the end, the longitudinal speed of the construction machine that almost to the predetermined speed v is to equalize.

Es ist in Fig 4 zu erkennen, dass die Steuerungseinheit 38 das hydraulische Antriebssystem derart steuert, dass die vorgegebene Antriebsgeschwindigkeit vAntrieb periodisch geändert wird, um eine Gegenschwingung zu erzeugen, die die detektierten Schwankungen reduziert oder kompensiert. Dabei ist die Frequenz der Gegenschwingung an die Frequenz der detektierten Schwingung angepasst und phasenversetzt zu dieser. Besonders bevorzugt ist die Frequenz der Gegenschwingung gegenphasig zu der Frequenz der detektierten Schwingung. Auch ist vorzugsweise die Amplitude der Gegenschwingung an die Amplitude der detektierten Schwingung angepasst. Die Amplitude der detektierten Schwingungen entspricht hierbei beispielsweise der maximalen Abweichung der detektierten Längsgeschwindigkeit vist von der eingestellten Geschwindigkeit vsoll, die Amplitude der Gegenschwingung beispielsweise der maximalen Abweichung der vorgegebenen Antriebsgeschwindigkeit vantrieb von der eingestellten Geschwindigkeit vsoll.It is in Fig. 4 to recognize that the control unit 38 controls the hydraulic drive system in such a way that the predetermined drive speed v drive is changed periodically in order to generate a counter-oscillation which reduces or compensates for the detected fluctuations. The frequency of the counter-vibration is adapted to the frequency of the detected vibration and out of phase with this. The frequency of the counter-oscillation is particularly preferably in phase opposition to the frequency of the detected oscillation. The amplitude of the counter-vibration is also preferably adapted to the amplitude of the detected vibration. The amplitude of the detected vibrations corresponding to this example, the maximum deviation of the detected longitudinal velocity v of the set speed v soll, the amplitude of the counter vibration for example, the maximum deviation of the predetermined drive speed drive v v of the set speed is.

Die Steuerungseinheit 38 kann die Antriebsgeschwindigkeit im hydraulischen Antriebssystem 50 durch Anpassung des Volumenstroms und/oder des Drucks des hydraulischen Antriebssystems mittels der hydraulischen Pumpe 32 anpassen. Alternativ kann die Steuerungseinheit 38 die Antriebsgeschwindigkeit im hydraulischen Antriebssystem 50 durch Anpassung des Volumenstroms und/oder des Drucks des hydraulischen Antriebssystems auch an anderer Stelle als der hydraulischen Pumpe 32 anpassen. Dies kann beispielsweise durch einen zusätzlichen, nicht dargestellten, hydraulischen Aktuator erfolgen.The control unit 38 can adjust the drive speed in the hydraulic drive system 50 by adjusting the volume flow and / or the pressure of the hydraulic drive system by means of the hydraulic pump 32. Alternatively, the control unit 38 can also adjust the drive speed in the hydraulic drive system 50 by adapting the volume flow and / or the pressure of the hydraulic drive system at a location other than the hydraulic pump 32. This can be done, for example, by an additional hydraulic actuator, not shown.

Auch kann alternativ das Schluckvolumen der hydraulischen Motoren 34 zur periodischen Änderung der vorgegebenen Antriebsgeschwindigkeit angepasst werden.Alternatively, the swallowing volume of the hydraulic motors 34 can also be adapted to periodically change the specified drive speed.

Es kann vorgesehen sein, dass die Steuerungseinheit 38 erst dann die vorgegebene Antriebsgeschwindigkeit vAntrieb kontinuierlich anpasst, wenn die detektierte Schwankung vist eine vordefinierte Amplitude überschreitet.It can be provided that the control unit 38 only adapts the predefined drive speed v drive continuously when the detected fluctuation v ist exceeds a predefined amplitude.

Auf diese Weise kann die Baumaschine mit jeder beliebigen Geschwindigkeit vsoll bewegt werden und im Gegensatz zu dem bisherigen Stand der Technik kann somit auch, dadurch, dass die vorgegebene Geschwindigkeit vsoll nicht reduziert werden muss, die Baumaschine mit einer höheren bzw. der optimalen Geschwindigkeit betrieben werden.In this way, the construction machine can be moved at any speed v des and, in contrast to the prior art, the construction machine can also be moved at a higher or the optimal speed because the specified speed v should not be reduced operate.

Bei der Baumaschine in Fig. 1 sind noch zusätzlich oder alternative Detektionseinrichtungen dargestellt. Es ist eine als Beschleunigungsaufnehmer ausgeführte Detektionseinrichtung 60 und eine als Pick-Up-Sensor ausgeführte Detektionseinrichtung 62 dargestellt. Mit diesen können alternativ oder zusätzlich Schwankungen in der Längsgeschwindigkeit der Baumaschine zuverlässig detektiert werden. Diese können jedoch auch weggelassen werden.At the construction machine in Fig. 1 additional or alternative detection devices are shown. A detection device 60 designed as an acceleration sensor and a detection device 62 designed as a pick-up sensor are shown. With these, fluctuations in the longitudinal speed of the construction machine can alternatively or additionally be reliably detected. However, these can also be omitted.

Claims (16)

Selbstfahrende Baumaschine (1), insbesondere Straßenfräsmaschine, Recycler, Stabilisierer oder Surface Miner, mit - einem Maschinenrahmen (4), - zumindest zwei Fahreinrichtungen (2), - zumindest einem hydraulischen Antriebssystem (50) zum Antreiben mindestens zweier Fahreinrichtungen (2), - zumindest einer Arbeitseinrichtung, insbesondere einer Fräswalze (6), zum Bearbeiten des Bodenbelags (3), dadurch gekennzeichnet,
dass eine Detektionseinrichtung (44, 60, 62) vorgesehen ist, die bei Fortbewegung der Baumaschine (1) Schwankungen in der Längsgeschwindigkeit (vist) der Baumaschine (1) detektiert, wobei in Abhängigkeit der detektierten Schwankungen eine Steuerungseinheit (38) das hydraulische Antriebssystem (50) derart steuert, dass die mittels des hydraulischen Antriebssystems (50) zum Antreiben der Fahreinrichtungen (2) vorgegebene Antriebsgeschwindigkeit (vAntrieb) kontinuierlich angepasst wird, so dass die detektierten Schwankungen reduziert oder kompensiert werden.Self-propelled construction machine (1), in particular road milling machine, recycler, stabilizer or surface miner, with - a machine frame (4), - at least two driving devices (2), - at least one hydraulic drive system (50) for driving at least two driving devices (2), - at least one working device, in particular a milling drum (6), for processing the floor covering (3), characterized,
that a detection device (44, 60, 62) is provided which detects fluctuations in the longitudinal speed (v ist ) of the construction machine (1) when the construction machine (1) is moving, a control unit (38) determining the hydraulic drive system as a function of the detected fluctuations (50) controls such that the drive speed (v drive ) predetermined by means of the hydraulic drive system (50) for driving the driving devices (2) is continuously adjusted so that the detected fluctuations are reduced or compensated. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass die Schwankungen in der Längsgeschwindigkeit (vist) der Baumaschine (1) mittels der Dektektionseinrichtung (44, 60, 62) als Schwingung detektierbar ist, wobei diese Schwingung vorzugsweise eine im Wesentlichen feste Frequenz aufweist.Device according to Claim 1, characterized in that the fluctuations in the longitudinal speed (v ist ) of the construction machine (1) can be detected as an oscillation by means of the detection device (44, 60, 62), this oscillation preferably having an essentially fixed frequency. Vorrichtung nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass die Steuerungseinheit das hydraulische Antriebssystem (50) derart steuert, dass die vorgegebene Antriebsgeschwindigkeit (vAntrieb) periodisch geändert wird, um eine Gegenschwingung zu erzeugen, die die detektierten Schwankungen reduziert oder kompensiert.Device according to claim 1 or 2, characterized in that the control unit controls the hydraulic drive system (50) in such a way that the predetermined drive speed (v drive ) is changed periodically in order to generate a counter-oscillation which reduces or compensates for the detected fluctuations. Vorrichtung nach Anspruch 3, dadurch gekennzeichnet, dass die Steuerungseinheit (38) das hydraulische Antriebssystem (50) derart steuert, dass die Frequenz der Gegenschwingung an die Frequenz der detektierten Schwingung angepasst ist und phasenversetzt, bevorzugt gegenphasig zu dieser ist.Device according to claim 3, characterized in that the control unit (38) controls the hydraulic drive system (50) in such a way that the frequency of the counter-vibration is matched to the frequency of the detected vibration and is out of phase, preferably in phase opposition to it. Vorrichtung nach Anspruch 3 oder 4, dadurch gekennzeichnet, dass die Steuerungseinheit (38) das hydraulische Antriebssystem (50) derart steuert, dass die Amplitude der Gegenschwingung an die Amplitude der detektierten Schwingung angepasst ist.Device according to claim 3 or 4, characterized in that the control unit (38) controls the hydraulic drive system (50) in such a way that the amplitude of the counter-vibration is adapted to the amplitude of the detected vibration. Vorrichtung nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass das hydraulischen Antriebssystem (50) zumindest eine hydraulische Pumpe (32) und zumindest einen hydraulischen Motor (34) umfasst.Device according to one of claims 1 to 5, characterized in that the hydraulic drive system (50) comprises at least one hydraulic pump (32) and at least one hydraulic motor (34). Vorrichtung nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, dass die Steuerungseinheit (38) den Volumenstrom und/oder den Druck im hydraulischen Antriebssystem (50) zur periodischen Änderung der vorgegebenen Antriebsgeschwindigkeit (vAntrieb) steuert.Device according to one of claims 1 to 6, characterized in that the control unit (38) controls the volume flow and / or the pressure in the hydraulic drive system (50) for periodically changing the predetermined drive speed (v drive ). Vorrichtung nach Anspruch 7, dadurch gekennzeichnet, dass der Volumenstrom und/oder der Druck im hydraulischen Antriebssystem (50) mittels der hydraulischen Pumpe (32) zum Anpassen der vorgegebenen Antriebsgeschwindigkeit (vAntrieb) steuerbar ist.Apparatus according to claim 7, characterized in that the volume flow and / or the pressure in the hydraulic drive system (50) can be controlled by means of the hydraulic pump (32) for adapting the predetermined drive speed (v drive ). Vorrichtung nach einem der Ansprüche 1 bis 8, dadurch gekennzeichnet, dass zur periodischen Änderung der vorgegebenen Antriebsgeschwindigkeit (vAntrieb) das Schluckvolumen des zumindest einen Hydraulikmotors einstellbar ist.Device according to one of claims 1 to 8, characterized in that the swallowing volume of the at least one hydraulic motor is adjustable for periodically changing the predetermined drive speed (v drive ). Vorrichtung nach einem der Ansprüche 2 bis 9, dadurch gekennzeichnet, dass die Steuerungseinheit (38) das hydraulische Antriebssystem (50) derart steuert, dass die mittels des hydraulischen Antriebssystems (50) zum Antreiben der Fahreinrichtungen (2) vorgegebene Antriebsgeschwindigkeit (vAntrieb) erst dann kontinuierlich angepasst wird, wenn die detektierte Schwingung eine vordefinierte Amplitude überschreitet.Device according to one of claims 2 to 9, characterized in that the control unit (38) controls the hydraulic drive system (50) in such a way that the drive speed (v drive ) predetermined by means of the hydraulic drive system (50) for driving the driving devices (2) is then continuously adjusted when the detected vibration exceeds a predefined amplitude. Vorrichtung nach einem der Ansprüche 1 bis 10, dadurch gekennzeichnet, dass die Detektionseinrichtung (44) Schwankungen der Längsgeschwindigkeit (vist) als Schwankung der Längsgeschwindigkeit (vist) um die eingestellte Geschwindigkeit (vsoll) an den Fahreinrichtungen (2) oder an dem Maschinenrahmen und/oder als Schwankung des Volumenstroms und/oder als Schwankung des Drucks des hydraulischen Antriebssystems detektiert.Device according to one of claims 1 to 10, characterized in that the detection device (44) fluctuations in the longitudinal speed (v ist ) as a fluctuation in the longitudinal speed (v ist ) by the set speed (v soll ) on the driving devices (2) or on the Machine frame and / or as a fluctuation in the volume flow and / or as a fluctuation in the pressure of the hydraulic drive system is detected. Vorrichtung nach Anspruch 11, dadurch gekennzeichnet, dass die Detektionseinrichtung (44) einen Pick-Up-Sensor und/oder einen Beschleunigungsaufnehmer zur Messung der Geschwindigkeitsänderungen und/oder eine Messeinrichtung zum Messen der Druckschwankungen oder des Volumenstroms im hydraulischen Antriebssystem umfasst.Apparatus according to claim 11, characterized in that the detection device (44) comprises a pick-up sensor and / or an acceleration sensor for measuring the speed changes and / or a measuring device for measuring the pressure fluctuations or the volume flow in the hydraulic drive system. Verfahren zum Bearbeiten von Bodenbelägen mit einer mit Hilfe von Fahreinrichtungen (2) selbstfahrenden Baumaschine (1), insbesondere Straßenfräsmaschine, Recycler, Stabilisierer oder Surface Miner, bei der die Fahreinrichtungen von einem hydraulischen Antriebssystem (50) angetrieben werden, wobei eine Arbeitseinrichtung, insbesondere eine Fräswalze (6), den Bodenbelag bearbeitet,
dadurch gekennzeichnet,
dass bei einer Fortbewegung der Baumaschine (1) Schwankungen in der Längsgeschwindigkeit (vist) der Baumaschine (1) detektiert werden und in Abhängigkeit der detektierten Schwankung die von dem hydraulischen Antriebssystem (50) an die Fahreinrichtungen (2) vorgegebene Antriebsgeschwindigkeit (vAntrieb) kontinuierlich angepasst wird, so dass die detektierten Schwankungen der Baumaschine (1) reduziert oder kompensiert werden.Method for processing floor coverings with a construction machine (1) which drives itself with the aid of driving devices (2), in particular road milling machine, recycler, stabilizer or surface miner, in which the driving devices are driven by a hydraulic drive system (50), a working device, in particular a Milling drum (6), processed the flooring,
characterized,
that when the construction machine (1) is moving, fluctuations in the longitudinal speed (v ist ) of the construction machine (1) are detected and, depending on the detected fluctuation, the drive speed (v drive ) predetermined by the hydraulic drive system (50) to the driving devices (2) is continuously adjusted so that the detected fluctuations of the construction machine (1) are reduced or compensated. Verfahren nach Anspruch 13, dadurch gekennzeichnet, dass die Schwankungen in der Längsgeschwindigkeit (vist) der Baumaschine (1) als Schwingungen detektiert werden, wobei diese Schwingung vorzugsweise eine im Westenlichen feste Frequenz aufweist.A method according to claim 13, characterized in that the fluctuations in the longitudinal speed (v ist ) of the construction machine (1) are detected as vibrations, said vibration preferably having a frequency fixed in the west. Verfahren nach Anspruch 13 oder 14, dadurch gekennzeichnet, dass die vorgegebene Antriebsgeschwindigkeit (vAntrieb) periodisch geändert wird, um eine Gegenschwingung zu erzeugen, die die detektierten Schwankungen reduziert oder kompensiert.A method according to claim 13 or 14, characterized in that the predetermined drive speed (v drive ) is changed periodically in order to generate a counter-vibration which reduces or compensates for the detected fluctuations. Verfahren nach Anspruch 15, dadurch gekennzeichnet, dass die Frequenz der Gegenschwingung an die Frequenz der detektierten Schwingung angepasst wird und phasenversetzt, bevorzugt gegenphasig zu dieser istA method according to claim 15, characterized in that the frequency of the counter-vibration is adapted to the frequency of the detected vibration and is out of phase, preferably in phase opposition to this
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