EP3587668B1 - 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
EP3587668B1
EP3587668B1 EP19166117.2A EP19166117A EP3587668B1 EP 3587668 B1 EP3587668 B1 EP 3587668B1 EP 19166117 A EP19166117 A EP 19166117A EP 3587668 B1 EP3587668 B1 EP 3587668B1
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EP
European Patent Office
Prior art keywords
speed
drive system
construction machine
fluctuations
accordance
Prior art date
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Application number
EP19166117.2A
Other languages
German (de)
French (fr)
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EP3587668A1 (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 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
    • 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
    • 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
    • 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
    • E01C23/12—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
    • 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
    • E01C23/12—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, with a detection device being provided which at Movement of the construction machine Detected fluctuations in the longitudinal speed of the construction machine.
  • 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.
  • Surface miners can be used to mine coal and rock.
  • the WO 03/064770 A1 discloses a construction machine, in particular for processing floors or for removing traffic areas with a milling drum equipped with a plurality of chisels, at least one signal pickup unit being assigned to at least one machine component directly or indirectly involved in the work process, the signal pickup unit indicating an operating state of the machine component detected, and that the signal recording unit is connected to a signal output device via a signal processing arrangement.
  • the invention is based on the object of creating a construction machine and a method for processing floor coverings, in which or in which the construction machine is prevented from rocking or an optimized operation of the construction machine is made possible.
  • control unit (38) is designed in such a way that it controls the hydraulic drive system as a function of the detected fluctuations in such a way that the drive speed specified by means of the hydraulic drive system for driving the driving devices is continuously adapted so that the detected fluctuations can be 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.
  • 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 longitudinal speed of the construction machine is a superposition of the specified drive speed and influencing factors of the machine or the environment.
  • the specified drive speed can thus be overlaid by fluctuations that are caused, for example, by an uneven running of the working device.
  • the specified drive speed is the speed that would be set given the 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 a vibration by means of the detection device.
  • the detectable oscillation preferably has essentially a fixed frequency. Particularly disruptive 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, among other things, on the amount of fuel and water in the tanks) and other factors. This frequency is therefore variable and can therefore not be determined for a machine in principle.
  • the fluctuations in the longitudinal speed affect the chassis on the one hand by causing noticeable "rocking movements", but on the other hand the fluctuation also affects the hydraulic drive system.
  • the movements of the machine are transmitted 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 fluctuations detected.
  • the set speed does not have to be changed by the operator of the construction machine in order to prevent the construction machine from swaying undesirably.
  • the control unit can control the hydraulic drive system in such a way that the frequency of the counter-oscillation is adapted to the frequency of the detected oscillation and is out of phase with it.
  • the phase offset can also be adjusted continuously.
  • the control unit can control the hydraulic drive system in such a way that the frequency of the counter-oscillation is out of phase with the frequency of the detected oscillation.
  • the control unit can control the hydraulic drive system in such a way that the amplitude of the counter-oscillation is adapted to the amplitude of the detected oscillation.
  • the undesired detected oscillation can be reduced or compensated 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 in order to periodically change the specified drive speed.
  • the hydraulic pump can be designed in such a way that it controls the volume flow and / or the pressure in the hydraulic drive system in order to adapt the predetermined drive speed.
  • the at least one hydraulic motor can also be designed in such a way that the absorption volume can be set for the periodic change in the predetermined drive speed.
  • the control unit can control the hydraulic drive system in such a way that the drive speed predetermined by means of the hydraulic drive system for driving the driving device is only continuously adapted 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 travel devices or on the machine frame and / or as fluctuations in the volume flow and / or as fluctuations in the pressure of the hydraulic drive. If the construction machine rocks, the construction machine can also tilt back and forth. Vertical fluctuations can thus also be measured, which allow conclusions to be drawn about the longitudinal velocity 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 speed changes, 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 is self-propelled with the help of driving devices, in particular road milling machine, recycler, stabilizer or surface miner, in which the driving devices are driven by a hydraulic drive system, with a working device removing the floor covering machined, and with a movement of the construction machine fluctuations in the longitudinal speed of the construction machine are detected by means of a detection device.
  • the invention advantageously provides that, depending on the detected fluctuations, the drive speed specified by the hydraulic drive system for the driving devices is continuously adapted by means of a control unit, so that the detected fluctuations of the construction machine are reduced or compensated.
  • the fluctuations in the longitudinal speed of the construction machine can be detected as vibrations with an essentially fixed frequency.
  • the specified drive speed can be changed periodically in order to generate a counter-oscillation which reduces or compensates for the fluctuations detected.
  • the frequency of the counter oscillation can be adapted to the frequency of the detected oscillation and be out of phase with it.
  • the frequency of the counter oscillation can be adjusted in such a way that it is out of phase with the frequency of the detected oscillation.
  • the predefined drive speed does not change on average during the adaptation, but rather only oscillates around the desired set driving 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.
  • the construction machine shown has the form of a road milling machine.
  • the construction machine 1 can, however, also be any other construction machine with at least one hydraulic drive system and a work 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 chisels (not shown) on the outer surface of the milling drum 6 for machining 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 transporting away 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 height-adjustable by means of the lifting columns 48.
  • the milling drum 6 can also be adjusted in height.
  • the milling drum 6 can again be mounted so as to be movable relative to the machine frame 4, in particular in a height-adjustable manner.
  • Fig. 2 shows a drive train of the construction machine 1.
  • a first drive train I is used to transfer the drive power to the driving devices 2, while a second drive train II is used to transfer 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 in particular be a Be a diesel engine.
  • the drive unit can be provided via an elastomer coupling 20 with a pump transfer 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 12 for the mechanical drive of the milling drum 6 is arranged between the clutch 14 and the milling drum 6.
  • the traction mechanism 12 has a drive element 11 which is coupled non-rotatably to the output shaft 22 of the drive unit 10.
  • the traction mechanism 12 also has an output element 13 which is coupled in a rotationally fixed manner to the drive shaft 15 of the milling drum 6.
  • 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 12 is preferably a belt drive, the drive and output elements consisting of belt pulleys 11 and 13 over which one or more drive belts 30 rotate.
  • the traction mechanism 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 illustrated embodiment, several hydraulic motors 34.
  • the hydraulic motors 34 each drive one, in Fig. 2 driving device 2 shown only schematically.
  • 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 such that the drive speed specified by the hydraulic drive system 50 for driving the driving devices 2 is continuously adapted so that the detected fluctuations are reduced or compensated.
  • 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 dashed line 45.
  • the term control is to be understood in such a way that the detection device 44 records a measured 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 multiple measured values 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 travel 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.
  • the control unit 38 can, however, also be designed separately.
  • Fig. 3 shows the longitudinal speed v ist over time.
  • the illustrated detected longitudinal velocity v has fluctuations that should v to a set speed varies.
  • the set speed v soll is the speed that the driver can set on an operating unit.
  • the detected longitudinal speed is denoted by v ist.
  • the detected fluctuations are an oscillation with a fixed frequency f.
  • f a fixed frequency
  • 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 specified 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.
  • the detected speed v ist (solid line) is shown. This fluctuates around a speed v soll set by the vehicle driver.
  • the control unit now controls the hydraulic drive system in such a way that the predefined 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 specified drive speed v drive is a counter oscillation to the detected fluctuation. This reduces the detected fluctuations over time.
  • the predefined drive speed v drive is also adapted so that at the end the detected fluctuation of the construction machine is reduced so much that the longitudinal speed of the construction machine almost matches the predefined speed v soll .
  • 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 oscillation is adapted to the frequency of the detected oscillation and is out of phase with it.
  • the frequency of the counter-oscillation is particularly preferably in phase opposition to the frequency of the detected oscillation.
  • the amplitude of the counter oscillation is also preferably adapted to the amplitude of the detected oscillation.
  • the amplitude of the detected vibrations corresponds, for example, to the maximum deviation of the detected longitudinal speed v ist from the set speed v soll , the amplitude of the counter oscillation, for example, to the maximum deviation of the specified drive speed v drive from the set speed v soll .
  • the control unit 38 can adjust the drive speed in the hydraulic drive system 50 by adapting 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 point other than the hydraulic pump 32. This can be done, for example, by an additional hydraulic actuator, not shown.
  • the absorption volume of the hydraulic motors 34 can also be adapted to periodically change the predetermined drive speed.
  • control unit 38 until the predetermined driving speed v drive continuously adjusts, when the detected variation is v exceeds a pre-defined amplitude.
  • the construction machine can be moved at any speed v soll and, in contrast to the previous state of the art, the construction machine can also be moved at a higher or optimal speed because the specified speed v soll does not have to 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. Alternatively or additionally, these can be used to reliably detect fluctuations in the longitudinal speed of the construction machine. However, these can also be omitted.

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  • Mining & Mineral Resources (AREA)
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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, wobei eine Detektionseinrichtung vorgesehen ist, die bei Fortbewegung der Baumaschine Schwankungen in der Längsgeschwindigkeit der Baumaschine detektiert.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, with a detection device being provided which at Movement of the construction machine Detected fluctuations in the longitudinal speed of the construction machine.

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 the 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. Surface miners can be used to mine coal and rock.

Aus der EP 2644775 A1 sind selbstfahrende Fräsmaschine zum Bearbeiten von Straßen- oder Bodenoberflächen (5) bekannt, mit einem Fahrwerk (2) mit in Fahrtrichtung (18) vorderen und hinteren Fahrwerksachsen (4,6) mit insgesamt mindestens drei Laufwerken (8), mit einem von dem Fahrwerk (2) getragenen Maschinenrahmen (3), mit Hubsäulen (10) zwischen den Laufwerken (8) und dem Maschinenrahmen (3) an zumindest zwei in Fahrtrichtung (18) quer zueinander versetzten Laufwerken (8) einer Fahrwerksachse (4,6), und mit einer Arbeitswalze (12), wobei die Arbeitswalze (12) in eine Position für den Fahrbetrieb mit angehobener Arbeitswalze (12) verstellbar ist und die Hubsäulen (10) in der eingestellten Position der Arbeitswalze (12) mit Abstand von der Straßen- oder Bodenoberfläche (5) mit einer Federeinrichtung (14) koppelbar sind.From the EP 2644775 A1 Self-propelled milling machine for machining road or ground surfaces (5) are known, with a chassis (2) with front and rear chassis axes (4,6) in the direction of travel (18) with a total of at least three drives (8), with one of the chassis (2) supported machine frame (3), with lifting columns (10) between the drives (8) and the machine frame (3) on at least two drives (8) of a chassis axis (4,6) offset transversely to one another in the direction of travel (18), and with a Work roll (12), the work roll (12) being adjustable into a position for driving operation with the work roll (12) raised and the lifting columns (10) in the set position of the work roll (12) at a distance from the road or ground surface (5 ) can be coupled to a spring device (14).

Die WO 03/064770 A1 offenbart eine Baumaschine, insbesondere zum Bearbeiten von Böden oder zum Abtragen von Verkehrsflächen mit einer Fräswalze, die mit einer Vielzahl von Meisseln bestückt ist, wobei wenigstens einem am Arbeitsprozess direkt oder indirekt beteiligten Maschinenauteil mindestens eine Signalaufnahmeeinheit zugeordnet ist, wobei die Signalaufnahmeeinheit einen Betriebszustand des Maschinenbauteils erfasst, und dass die Signalaufnahmeeinheit über eine Signalverarbeitungsanordnung an eine Signal-Ausgabeeinrichtung angeschlossen ist.The WO 03/064770 A1 discloses a construction machine, in particular for processing floors or for removing traffic areas with a milling drum equipped with a plurality of chisels, at least one signal pickup unit being assigned to at least one machine component directly or indirectly involved in the work process, the signal pickup unit indicating an operating state of the machine component detected, and that the signal recording unit is connected to a signal output device via a signal processing arrangement.

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.It has been shown, however, that when the construction machinery is operated, for example, vibrations can occur as a result of the work equipment running unsteadily. Particularly when the vibrations are in the range of the resonance frequency of the machine, this can lead to vibration excitation of the entire construction machine and even to rocking of the machine. According to the prior art, such a build-up of the machine is prevented by the fact that the machine operator adjusts the speed of the construction machine changes and drives slower. 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 is based on the object of creating a construction machine and a method for processing floor coverings, in which or in which the construction machine is prevented from rocking 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 solve this problem.

Die Erfindung sieht in vorteilhafter Weise vor, dass eine Steuerungseinheit (38) derart ausgebildet ist, dass diese in Abhängigkeit der detektieren Schwankungen 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 control unit (38) is designed in such a way that it controls the hydraulic drive system as a function of the detected fluctuations in such a way that the drive speed specified by means of the hydraulic drive system for driving the driving devices is continuously adapted so that the detected fluctuations can be 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, it is also possible for only two driving devices to 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 specified 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. A distinction must be made between this and the specified drive speed in the hydraulic drive system. 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. The specified drive speed can thus be overlaid by fluctuations that are caused, for example, by an uneven running of the working device. The specified drive speed is the speed that would be set given the 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 a vibration by means of the detection device. The detectable oscillation preferably has essentially a fixed frequency. Particularly disruptive 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, among other things, on the amount of fuel and water in the tanks) and other factors. This frequency is therefore variable and can therefore not be determined for a machine in principle.

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 causing noticeable "rocking movements", but on the other hand the fluctuation also affects the hydraulic drive system. The movements of the machine are transmitted 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 fluctuations detected.

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 does not have to be changed by the operator of the construction machine in order to prevent the construction machine from swaying undesirably.

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 in such a way that the frequency of the counter-oscillation is adapted to the frequency of the detected oscillation and is out of phase with it. The phase offset can also be adjusted continuously.

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-oscillation is out of phase with the frequency of the detected oscillation.

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-oscillation is adapted to the amplitude of the detected oscillation.

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 to the amplitude of the detected oscillation, the undesired detected oscillation can be reduced or compensated 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 in order to periodically change the specified drive speed.

Die hydraulische Pumpe kann derart ausgebildet sein, dass diese den Volumenstrom und/oder den Druck im hydraulischen Antriebssystem zum Anpassen der vorgegebenen Antriebsgeschwindigkeit steuert.The hydraulic pump can be designed in such a way that it controls the volume flow and / or the pressure in the hydraulic drive system in order to adapt the predetermined drive speed.

Auch kann der zumindest eine Hydraulikmotor derart ausgebildet sein, dass das Schluckvolumen zur periodischen Änderung der vorgegebenen Antriebsgeschwindigkeit einstellbar ist.The at least one hydraulic motor can also be designed in such a way that the absorption volume can be set for the periodic change in the predetermined 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 in such a way that the drive speed predetermined by means of the hydraulic drive system for driving the driving device is only continuously adapted 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, are compensated for or reduced, in which the machine starts to rock.

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 Schwankungen des Volumenstroms und/oder als Schwankungen 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 travel devices or on the machine frame and / or as fluctuations in the volume flow and / or as fluctuations in the pressure of the hydraulic drive. If the construction machine rocks, the construction machine can also tilt back and forth. Vertical fluctuations can thus also be measured, which allow conclusions to be drawn about the longitudinal velocity 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 speed changes, 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, und wobei bei einer Fortbewegung der Baumaschine Schwankungen in der Längsgeschwindigkeit der Baumaschine mittels einer Detektionseinrichtung detektiert werden. Die Erfindung sieht in vorteilhafter Weise vor, dass Abhängigkeit der detektierten Schwankungen die von dem hydraulischen Antriebssystem an die Fahreinrichtungen vorgegebene Antriebsgeschwindigkeit kontinuierlich mittels einer Steuerungseinheit angepasst wird, so dass die detektierten Schwankungen der Baumaschine reduziert oder kompensiert werden. Die Schwankungen in der Längsgeschwindigkeit der Baumaschine können als Schwingungen mit einer im Wesentlichen festen Frequenz detektiert werden. Die vorgegebene Antriebsgeschwindigkeit kann periodisch geändert werden, um eine Gegenschwingung zu erzeugen, die die detektierten Schwankungen reduziert oder kompensiert.According to the present invention, a method for processing floor coverings can also be provided, with a construction machine that is self-propelled with the help of driving devices, in particular road milling machine, recycler, stabilizer or surface miner, in which the driving devices are driven by a hydraulic drive system, with a working device removing the floor covering machined, and with a movement of the construction machine fluctuations in the longitudinal speed of the construction machine are detected by means of a detection device. The invention advantageously provides that, depending on the detected fluctuations, the drive speed specified by the hydraulic drive system for the driving devices is continuously adapted by means of a control unit, so that the detected fluctuations of the construction machine are reduced or compensated. The fluctuations in the longitudinal speed of the construction machine can be detected as vibrations with an essentially fixed frequency. The specified drive speed can be changed periodically in order to generate a counter-oscillation which reduces or compensates for the fluctuations detected.

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

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

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. Im Folgenden werden unter Bezugnahme auf die Zeichnungen Ausführungsbeispiele der Erfindung näher erläutert.According to the present invention, it is crucial that the predefined drive speed does not change on average during the adaptation, but rather only oscillates around the desired set driving speed. In the following, exemplary embodiments of the invention are explained in more detail 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 construction machinery,
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 specified 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 The construction machine shown has the form of a road milling machine. The construction machine 1 can, however, also be any other construction machine with at least one hydraulic drive system and a work 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 chisels (not shown) on the outer surface of the milling drum 6 for machining 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 transporting away 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 height-adjustable by means of the lifting columns 48. As a result, the milling drum 6 can also be adjusted in height. As an alternative or in addition, the milling drum 6 can again be mounted so as to be movable relative to the machine frame 4, in particular in a height-adjustable manner.

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 transfer the drive power to the driving devices 2, while a second drive train II is used to transfer 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 in particular be a Be a diesel engine. The drive unit can be provided via an elastomer coupling 20 with a pump transfer 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 12 for the mechanical drive of the milling drum 6 is arranged between the clutch 14 and the milling drum 6. The traction mechanism 12 has a drive element 11 which is coupled non-rotatably to the output shaft 22 of the drive unit 10. The traction mechanism 12 also has an output element 13 which is coupled in a rotationally fixed manner to the drive shaft 15 of the milling drum 6. 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 12 is preferably a belt drive, the drive and output elements consisting of belt pulleys 11 and 13 over which one or more drive belts 30 rotate. Alternatively, the traction mechanism 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 case of 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 illustrated embodiment, several hydraulic motors 34. The hydraulic motors 34 each drive one, in Fig. 2 driving device 2 shown only schematically.

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 such that the drive speed specified by the hydraulic drive system 50 for driving the driving devices 2 is continuously adapted so that the detected fluctuations are reduced or compensated. 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 dashed line 45. The term control is to be understood in such a way that the detection device 44 records a measured 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 multiple measured values 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 travel 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. The control unit 38 can, however, 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 speed v ist over time. The illustrated detected longitudinal velocity v has fluctuations that should v to a set speed varies. The set speed v soll is the speed that the driver can set on an operating unit. The detected longitudinal speed is denoted by v ist. As shown, the detected fluctuations are an oscillation with a fixed frequency f. Such a build-up 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 that cause the machine to rock. However, this has the disadvantage that the construction machine is moved more slowly overall than would be possible in principle on the basis of the available machine power.

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 specified 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. This is in Fig. 4 shown. The detected speed v ist (solid line) is shown. This fluctuates around a speed v soll set by the vehicle driver. The control unit now controls the hydraulic drive system in such a way that the predefined 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 specified drive speed v drive is a counter oscillation to the detected fluctuation. This reduces the detected fluctuations over time. The predefined drive speed v drive is also adapted so that at the end the detected fluctuation of the construction machine is reduced so much that the longitudinal speed of the construction machine almost matches the predefined speed v soll .

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 oscillation is adapted to the frequency of the detected oscillation and is out of phase with it. The frequency of the counter-oscillation is particularly preferably in phase opposition to the frequency of the detected oscillation. The amplitude of the counter oscillation is also preferably adapted to the amplitude of the detected oscillation. The amplitude of the detected vibrations corresponds, for example, to the maximum deviation of the detected longitudinal speed v ist from the set speed v soll , the amplitude of the counter oscillation, for example, to the maximum deviation of the specified drive speed v drive from the set speed v soll .

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 adapting 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 point 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 absorption volume of the hydraulic motors 34 can also be adapted to periodically change the predetermined 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 until the predetermined driving speed v drive continuously adjusts, when the detected variation is v exceeds a pre-defined 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 soll and, in contrast to the previous state of the art, the construction machine can also be moved at a higher or optimal speed because the specified speed v soll does not have to 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.With the construction machine in Fig. 1 additional or alternative detection devices are also shown. A detection device 60 designed as an acceleration sensor and a detection device 62 designed as a pick-up sensor are shown. Alternatively or additionally, these can be used to reliably detect fluctuations in the longitudinal speed of the construction machine. However, these can also be omitted.

Claims (16)

  1. Self-propelled construction machine (1), in particular road milling machine, recycler, stabilizer or surface miner, comprising
    - a machine frame (4),
    - at least two travelling devices (2),
    - at least one hydraulic drive system (50) for driving at least two travelling devices (2),
    - at least one working device, in particular a milling drum (6), for working the ground pavement (3),
    - wherein a detection device (44, 60, 62) is provided which detects fluctuations in the longitudinal speed (vact) of the construction machine (1) during movement of the construction machine (1),
    characterized in that
    a control unit (38) is configured to control the hydraulic drive system (50) as a function of the detected fluctuations in such a fashion that the drive speed (vdrive) for driving the travelling devices (2) specified by means of the hydraulic drive system (50) is continuously adjusted so that the detected fluctuations are reduced or compensated for.
  2. Device in accordance with claim 1, characterized in that the fluctuations in the longitudinal speed (vact) of the construction machine (1) are detectable as a vibration by means of the detection device (44, 60, 62), wherein said vibration preferably exhibits an essentially fixed frequency.
  3. Device in accordance with claim 1 or 2, characterized in that the control unit controls the hydraulic drive system (50) in such a fashion that the specified drive speed (vdrive) is changed periodically.
  4. Device in accordance with claim 3, characterized in that the control unit (38) controls the hydraulic drive system (50) in such a fashion that the frequency of the counter-vibration is adjusted to the frequency of the detected vibration and is phase-shifted, preferably opposite in phase, to the same.
  5. Device in accordance with claim 3 or 4, characterized in that the control unit (38) controls the hydraulic drive system (50) in such a fashion that the amplitude of the counter-vibration is adjusted to the amplitude of the detected vibration.
  6. Device in accordance with one of the 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).
  7. Device in accordance with one of the claims 1 to 6, characterized in that the control unit (38) controls the volumetric flow rate and/or the pressure in the hydraulic drive system (50) so as to effect a periodical change in the specified drive speed (vdrive).
  8. Device in accordance with claim 7, characterized in that the hydraulic pump (32) is configured to control the volumetric flow rate and/or the pressure in the hydraulic drive system (50) for adjusting the specified drive speed (vdrive).
  9. Device in accordance with one of the claims 1 to 8, characterized in that the at least one hydraulic motor is configured such that the displacement capacity is adjustable so as to effect a periodical change in the specified drive speed (vdrive).
  10. Device in accordance with one of the claims 2 to 9, characterized in that the control unit (38) controls the hydraulic drive system (50) in such a fashion that the drive speed (vdrive) for driving the travelling devices (2) specified by means of the hydraulic drive system (50) is continuously adjusted only when the detected vibration exceeds a predefined amplitude.
  11. Device in accordance with one of the claims 1 to 10, characterized in that the detection device (44) detects fluctuations in the longitudinal speed (vact) as a fluctuation in the longitudinal speed (vact) around the set speed (vset) on the travelling devices (2) or on the machine frame and/or as a fluctuation in the volumetric flow rate and/or as a fluctuation in the pressure of the hydraulic drive system.
  12. Device in accordance with claim 11, characterized in that the detection device (44) comprises a pick-up sensor and/or an accelerometer for measuring the speed changes and/or a measuring device for measuring the fluctuations in pressure or the volumetric flow rate in the hydraulic drive system.
  13. Method for working ground pavements comprising a construction machine (1) self-propelled by means of travelling devices (2), in particular road milling machine, recycler, stabilizer or surface miner, in which the travelling devices are driven by a hydraulic drive system (50), wherein a working device, in particular a milling drum (6), works the ground pavement and wherein a detection means detects fluctuations in the longitudinal speed (vact) of the construction machine (1) during movement of the construction machine (1), and the drive speed (vdrive) specified by the hydraulic drive system (50) for the travelling devices (2) is continuously adjusted by a control unit as a function of the detected fluctuation so that the detected fluctuations of the construction machine (1) are reduced or compensated for.
  14. Method in accordance with claim 13, characterized in that the fluctuations in the longitudinal speed (vact) of the construction machine (1) are detected as vibrations, wherein said vibration preferably exhibits an essentially fixed frequency.
  15. Method in accordance with claim 13 or 14, characterized in that the specified drive speed (vdrive) is changed periodically in order to generate a counter-vibration which reduces or compensates for the detected fluctuations.
  16. Method in accordance with claim 15, characterized in that the frequency of the counter-vibration is adjusted to the frequency of the detected vibration and is phase-shifted, preferably opposite in phase, to the same.
EP19166117.2A 2018-06-22 2019-03-29 Self-propelled construction machine and method for processing floor linings Active EP3587668B1 (en)

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DE102018210253A1 (en) * 2018-06-22 2019-12-24 Wirtgen Gmbh Self-propelled construction machine and method for processing floor coverings
CN111676785B (en) * 2020-07-03 2022-03-18 三一汽车制造有限公司 Material conveying control method of milling machine, material conveying control system of milling machine and milling machine
CN112301849A (en) * 2020-10-23 2021-02-02 江苏集萃道路工程技术与装备研究所有限公司 In-situ heat regeneration heating unit
US20230044267A1 (en) 2021-08-05 2023-02-09 Wirtgen Gmbh Shiftable cabin

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US6769838B2 (en) * 2001-10-31 2004-08-03 Caterpillar Paving Products Inc Variable vibratory mechanism
DE10203732A1 (en) * 2002-01-30 2003-08-21 Wirtgen Gmbh Construction machinery
US6921230B2 (en) 2002-12-24 2005-07-26 Diamond Products, Limited Closed loop control system for pavement surfacing machine
US8880362B2 (en) * 2011-02-03 2014-11-04 Epic Solutions, Inc. System and method for monitoring paint flow in pavement marking applications
DE102012205005B4 (en) * 2012-03-28 2015-04-02 Wirtgen Gmbh Self-propelled milling machine, use of a lifting column of a milling machine, as well as methods for increasing the working efficiency of a milling machine
CN105386399B (en) * 2015-10-13 2018-03-09 长安大学 A kind of pavement milling machine and milling flatness auxiliary control method
EP3208380B1 (en) * 2016-02-17 2021-08-11 Joseph Vögele AG Method of controlling a road paver with wheel running gear and road paver with wheel running gear
DE102018210253A1 (en) * 2018-06-22 2019-12-24 Wirtgen Gmbh Self-propelled construction machine and method for processing floor coverings

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CN211113045U (en) 2020-07-28
CN110629642B (en) 2021-06-15

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