Self-propelled construction machine

Abstract

In a self-propelled construction machine (1), in particular a road milling machine, a paver, a recycling machine or a surface miner, comprising at least one machine frame (2); at least one working device (4) for processing a ground-paved road surface (6), in particular a milling drum, arranged on the machine frame (2); at least three travel devices connected to the machine frame (2) via lifting columns, wherein the lifting columns are designed for raising or lowering the machine frame (2) relative to the travel devices; at least one drive device for driving the at least three travel devices (2); at least two sensors (12) are arranged on the respective lifting column for each travel device, wherein the sensors are designed to each detect one parameter, which corresponds to a load (15) acting on the travel device.

Description

Technical Field

[0001] This utility model relates to construction machinery. Background Technology

[0002] Self-propelled construction machinery, particularly road milling machines, concrete mixing plants, recycling machines, or open-pit mining machines, typically includes at least one mechanical frame, at least one milling drum arranged on the mechanical frame for milling the ground and paving the road surface, and at least three traveling devices connected to the mechanical frame via lifting columns. In addition, in most cases, a drive unit is provided to power the at least three traveling devices. The lifting columns are typically designed to raise or lower the mechanical frame relative to the traveling devices.

[0003] During normal operation of construction machinery including a milling drum, the operator is expected to be in a position that maintains control over the machine's forward or backward movement, independent of the operation of the milling drum. However, if the reaction force exerted on the milling drum by the ground surface exceeds the force acting on the milling drum through the weight, driving force, and braking force of the construction machinery, it can cause sudden and undesirable lifting or lowering of the construction machinery. In particular, when the traveling device and the working device rotate on the same axis, it can cause undesirable lifting or lowering of the construction machinery and sudden forward or backward vibrations.

[0004] When the machine descends into the cut too quickly, depending on the cutting pattern (i.e., downward or upward cutting pattern), the reaction force acting on the rotating milling drum can cause the construction machinery to move suddenly forward or backward.

[0005] In systems according to the prior art, such unintended events are typically handled by logging the event after it has occurred and then shutting down the mechanical operating system. Examples of this are given in US 4,929,121, US 5,318,378, and US 5,879,056. Utility Model Content

[0006] The purpose of this invention is to provide a construction machine and a control method for controlling the construction machine, so as to reduce or completely prevent the occurrence of undesirable forward or backward vibrations.

[0007] The above objectives are achieved through the following features.

[0008] Advantageously, this invention provides that each traveling device has at least two sensors arranged on the corresponding lifting column, wherein each sensor is designed to detect a parameter corresponding to the load acting on the traveling device.

[0009] Construction machinery may include a control unit that detects the deviation between two sensors set for each movement device. This deviation relates to the discrepancy between parameter values ​​detected by the sensors.

[0010] Construction machinery can be designed to send a message to the operator when the deviation between two sensors set for a traveling device exceeds a predetermined first limit value.

[0011] Construction machinery can be designed such that when the deviation between two sensors provided for a traveling device exceeds a second limit value (which is higher than a first limit value), the control device sends at least one signal to stop the forward movement of the milling drum and / or the construction machinery.

[0012] Construction machinery can be designed such that, after exceeding a first limit value, the travel drive can continue to operate or can be restarted. This first limit value is also a first limit value set for the deviation between two sensors of a travel device.

[0013] Construction machinery can be designed such that, after exceeding a second limit value, the travel drive can only be restarted if the deviation between the two sensors configured for a travel device decreases again below the second limit value. The second limit value is also the second limit for the deviation between the two sensors configured for a travel device.

[0014] Construction machinery may include a control device designed to determine the average load acting on two traveling devices, wherein parameters detected by sensors assigned to the two traveling devices are used to calculate the average value. Two sensors are provided for each traveling device, thus providing two parameters. To calculate the average load acting on the two traveling devices, either one of the measured values ​​(preferably the lowest measured value from both sensors) can be used for each traveling device, or the average value from both sensors can be used.

[0015] Construction machinery can be designed such that the two traveling devices that determine the average value of the load acting on it are two forward traveling devices and / or two rear traveling devices.

[0016] Construction machinery can be designed such that the two traveling devices that determine the average value of the load acting on it are a front traveling device and a rear traveling device.

[0017] For example, in construction machinery comprising four rising columns, the average load acting on the two front traveling units or the two rear traveling units can be determined. In this design, parameters detected by sensors assigned to the respective traveling units are used for calculation. Alternatively or additionally, the average load acting on the two right-side traveling units or the two left-side traveling units can be calculated. For example, in construction machinery comprising three traveling units, the average load acting on a single front traveling unit and a rear traveling unit can be determined.

[0018] Construction machinery can be designed to compare the minimum of multiple average values ​​with at least one predetermined limit value. The limit value of the average value must be distinguished from the aforementioned limit value of the deviation between two sensors provided for a traveling device.

[0019] Construction machinery can be designed such that when the minimum value of the average value drops to a predetermined first limit value below the average value, the control device sends a signal to reduce the forward movement of the construction machinery.

[0020] Construction machinery can be designed such that when the minimum value of the average value drops to a predetermined second limit value below the average value, the control device sends a signal to stop the forward movement of the working device and / or the construction machinery.

[0021] Construction machinery can be designed such that when the minimum value of the average value drops below a predetermined second limit value, the control device sends a signal to stop the forward movement of the working device and / or the construction machinery.

[0022] Furthermore, a method for controlling self-propelled construction machinery (particularly road milling machines, concrete mixing plants, recycling machines, or open-pit mining machines) can be provided, the self-propelled construction machinery comprising at least one mechanical frame, at least one working device (particularly a milling drum) arranged on the mechanical frame for processing ground paving, at least three traveling devices connected to the mechanical frame via lifting columns (wherein the mechanical frame is raised and lowered relative to the traveling devices by means of the lifting columns), and at least one drive device for driving the at least three traveling devices, wherein at least two sensors for each traveling device are arranged on the corresponding lifting column, wherein each sensor detects a parameter corresponding to a load acting on the traveling device.

[0023] The deviation between the two sensors set for each travel device can be detected by means of a control device.

[0024] The detected deviation can be compared with at least one predetermined limit value. The limit value is the limit of the deviation between two sensors set for a traveling device.

[0025] When the deviation between two sensors set for a traveling device exceeds a predetermined first limit value, a message can be sent to the operator of the machine.

[0026] When the deviation between two sensors provided for a traveling device exceeds a second limit value higher than a first limit value, the control device may issue at least one signal to stop the forward movement of the milling drum and / or construction machinery.

[0027] After exceeding the first limit, operation can continue or the travel drive can be restarted.

[0028] After exceeding the second limit, the travel drive can only be restarted if the deviation between the two sensors provided for a travel device drops below the second limit again.

[0029] The control device can also determine the average load acting on the two traveling devices, wherein parameters detected by sensors assigned to the two traveling devices are used to calculate the average value. Two sensors and therefore two parameter settings are used for each traveling device. To calculate the average load acting on the two traveling devices, either one of the measured values ​​(preferably the lowest measured value from both sensors) can be used for each traveling device, or the average value from both sensors can be used.

[0030] The two traveling devices that determine the average value of the load acting on them can be two forward traveling devices and / or two rear traveling devices.

[0031] The two traveling devices that determine the average value of the load acting on them can be a front traveling device and a rear traveling device.

[0032] When multiple average values ​​are determined, the minimum of the average values ​​can be compared with at least one predetermined limit value. The limit value used for the average value must be distinguished from the limit value of the deviation between two sensors set for a traveling device.

[0033] When the minimum value of the average value drops below a predetermined first limit value, the control device can issue a signal to reduce the forward movement of the construction machinery.

[0034] When the minimum value of the average value drops below a predetermined second limit value, the control device can issue a signal to stop the forward movement of the working device and / or construction machinery.

[0035] When the minimum value of the average value drops below a predetermined second limit value, the control device can issue a signal to stop the forward movement of the working device and / or construction machinery. Attached Figure Description

[0036] In the following description, embodiments of the present invention are illustrated in more detail with reference to the accompanying drawings.

[0037] The following is an illustration:

[0038] Figure 1 A schematic depiction of a self-propelled construction machine is shown (1);

[0039] Figure 2 A section of a lift column (10) is shown in a schematic depiction, in which two sensors (12) are arranged on the lift column (10);

[0040] Figure 3 A schematic diagram of a top view of a construction machine with a lifting column is shown;

[0041] Figure 4 A schematic diagram of a self-propelled construction machine with an operating device (4) is shown. Detailed Implementation

[0042] Figure 1 A schematic diagram of a self-propelled construction machine 1 is shown. This construction machine 1 can be specifically designed as a road milling machine, a concrete mixing machine, a recycling machine, or an open-pit mining machine. The construction machine 1 includes a mechanical frame 2, which can serve as a support structure and can bear various components of the machine.

[0043] The working device 4 is arranged on the mechanical frame 2, and in this case, the working device 4 is designed as a milling drum. The milling drum 4 is designed for processing the ground paving surface 6, wherein the milling drum 4 uses tools arranged on the milling drum to rotate and remove the ground paving surface material. The rotational movement of the milling drum 4 is... Figure 4 The arrow indicates the middle.

[0044] Construction machinery 1 is also equipped with at least three traveling devices 10, which are connected to the machinery frame 2 via lifting columns 14. Figure 1 The schematic construction machinery 1 shown includes four traveling devices 10. Rising columns 14 are designed to raise or lower the mechanical frame 2 relative to the traveling devices 10. The corresponding loads acting on the respective traveling devices 10 are indicated by numeral 15 in the figure.

[0045] At least two sensors 12 for each traveling device 10 Figure 2 The sensors are arranged on the lifting column 14. Each sensor is designed to detect a parameter corresponding to the load 15 acting on the traveling device. The detected parameters are transmitted to the control unit 16, which processes the data and sends appropriate control commands to the construction machinery 1.

[0046] The control device 16 is capable of detecting the deviation between two sensors provided for each traveling device and can compare the deviation with at least one predetermined limit value. When the predetermined first limit value is exceeded, a message can be sent to the operator of the machine. When the second limit value, which is higher than the first limit value, is exceeded, the control device 16 can issue at least one signal to stop the forward movement of the milling drum 4 and / or the construction machinery 1.

[0047] Furthermore, the control device 16 can determine the average value of the load 15 acting on the two travel devices 10, wherein parameters detected by sensors assigned to the two travel devices 10 are used to calculate the average value. Two sensors 12, and therefore two parameter settings, are used for each travel device 10. To calculate the average value of the load 15 acting on the two travel devices 10, each travel device 10 can use either one of the measured values ​​(preferably the lowest measured value from both sensors 12), or the average value from both sensors 12.

[0048] The two traveling devices 10 used to determine the average load acting on them can be two forward traveling devices and / or two rear traveling devices. In the case of determining multiple average values, the minimum value of the average value can be compared with at least one predetermined limit value. When the minimum value of the average value drops below a predetermined first limit value, the control device 16 signals to reduce the forward movement of the construction machinery 1. When the minimum value of the average value drops below a predetermined second limit value, the control device 16 signals to stop the forward movement of the working device 4 and / or the construction machinery 1.

[0049] therefore, Figure 1 The basic components of a self-propelled construction machine 1 and their interactions are shown, with sensor 12 and control device 16 playing a central role in monitoring and controlling the operation of the machine.

[0050] Figure 1 A schematic diagram of a self-propelled construction machine, specifically a road milling machine, a concrete mixing plant, a recycling machine, or an open-pit mining machine, is shown. The lifting column 10 is connected to a mechanical frame 2. Two sensors 12 are attached to the lifting column 10, each sensor detecting a parameter corresponding to a load 15 acting on the lifting column 10.

[0051] The mechanical frame 2 is the central structural component of the construction machinery, to which various parts are attached. The lifting column 14 is used to raise or lower the mechanical frame 2 relative to the traveling device 10. This allows for adjustment of the operating height of the construction machinery.

[0052] Sensor 12 is mounted on the upper side of the lifting column 14 and is designed to measure the load acting on the corresponding traveling device. The sensor continuously provides data to a control unit, which processes the detected parameters. The precise positioning of sensor 12 on the lifting column 14 ensures accurate detection of load distribution and allows for precise control of the mechanical operation.

[0053] Figure 1The control device shown receives data from sensor 12 and analyzes the deviation between the measured loads. This deviation can be compared to predetermined limit values ​​to ensure the construction machinery operates under safe and efficient conditions. When a predetermined first limit value is exceeded, a message can be sent to the operator of the machinery. When a higher second limit value is exceeded, the control device 16 can issue a signal to stop the forward movement of the milling drum and / or the construction machinery.

[0054] Figure 2 The rising column 14 is shown, to which two sensors 12 are attached, working in conjunction with the mechanical frame 2 to monitor and control the load distribution to the traveling device. Precise detection and analysis of load parameters by the sensors 12 and the control unit ensures the safe and efficient operation of the self-propelled construction machinery.

[0055] Figure 3 A schematic diagram of a self-propelled construction machine 1 is shown, particularly a road milling machine, a concrete mixing plant, a recycling machine, or an open-pit mining machine. The construction machine includes a mechanical frame 2, which serves as a central structure to which various components are attached.

[0056] Four traveling devices 10 are arranged on the mechanical frame 2 and connected to the mechanical frame 2 via lifting columns 14. The lifting columns 14 are designed to raise or lower the mechanical frame 2 relative to the traveling devices 10 to allow adjustment to different operating conditions.

[0057] At least two sensors 12 are assigned to each travel unit 10 and attached to the corresponding lifting column 14. The sensors are designed to detect parameters corresponding to the loads L_VL, L_VR, L_HL, and L_HR acting on the travel unit 10. The load sensors are labeled in the figure as L_VL (left front load), L_VR (right front load), L_HL (left rear load), and L_HR (right rear load).

[0058] The detected load parameters are transmitted to the control device 16. Figure 3 (Not shown in the diagram), the control device 16 detects the deviation between two sensors provided for each traveling device 10. The control device 16 compares the detected deviation with at least one predetermined limit value. When the predetermined first limit value is exceeded, a message is sent to the operator of the machine. When the second higher limit value is exceeded, the control device 16 signals to stop the forward movement of the milling drum 4 and / or the construction machinery 1.

[0059] Additionally, the control device is designed to determine the average value of the load 15 acting on the two traveling devices 10. Parameters detected by sensors 12 assigned to the two traveling devices 10 are used to calculate the average value. The two traveling devices 10 for which the average value of the load 15 acting on them is determined can be two front traveling devices and / or two rear traveling devices. Alternatively, the average value can also be determined for a left front traveling device and a left rear traveling device or a right front traveling device.

[0060] In the case of determining multiple average values, the minimum value of the average values ​​is compared with at least one predetermined limit value. When the minimum average value drops below a predetermined first limit value, the control device signals to reduce the forward movement of the construction machinery 1. When the minimum average value drops below a second lower limit value, the control device signals to stop the forward movement of the working device 4 and / or the construction machinery 1.

[0061] Figure 3 The arrangement of the sensors and their positioning on the traveling device 10, as well as the distribution of the lifting columns L_VL, L_VR, L_HL, and L_HR, are shown. These are crucial for controlling and monitoring the construction machinery 1.

[0062] Figure 4 A schematic diagram of a self-propelled construction machine 1 is shown, which can be specifically used as a road milling machine, a concrete mixing plant, a recycling machine, or an open-pit mining machine. The construction machine 1 includes a mechanical frame 2, to which a working device 4 (particularly a milling drum) is attached. The working device 4 is used to process the ground surface for paving 6.

[0063] The working device 4 is arranged to contact and work on the ground paving surface 6. The milling drum 4 is mounted to rotate and features a rotational motion 16, as indicated by the arrow in the figure. This rotational motion allows for milling or breaking the ground paving surface 6.

[0064] A drive unit is provided to drive the traveling device and thus allow the construction machinery 1 to move. The drive operation is carried out in the direction of arrow F, as shown in the figure.

[0065] A key feature of the construction machinery 1 is that at least two sensors 12 are arranged on each traveling device on the respective lifting column. Each sensor 12 is designed to detect a parameter corresponding to the load 15 acting on the traveling device. The detected parameter is forwarded to a control device 16, which detects the deviation between the two sensors 12 provided for each traveling device.

[0066] The control device 16 compares the detected deviation with at least one predetermined limit value. When the predetermined first limit value is exceeded, a message is sent to the operator of the machine. When the deviation is exceeded by a second limit value higher than the first limit value, the control device issues at least one signal to stop the forward movement of the milling drum 4 and / or the construction machinery 1.

[0067] Additionally, the control device is designed to determine the average value of the load 15 acting on the two traveling devices 10. Parameters detected by sensors 12 assigned to the two traveling devices 10 are used to calculate the average value. The two traveling devices 10 for which the average value of the load 15 acting on them is determined can be two forward traveling devices and / or two rear traveling devices.

[0068] If multiple average values ​​are determined, the minimum value among the average values ​​is compared with at least one predetermined limit value. When the minimum value among the average values ​​drops below a predetermined first limit value, the control device 16 signals to reduce the forward movement of the construction machinery 1. When the minimum value among the average values ​​drops below a predetermined second limit value, the control device signals to stop the forward movement of the working device 4 and / or the construction machinery 1.

Claims

1. A self-propelled construction machine (1), comprising: - At least one mechanical frame (2); - At least one working device (4) is arranged on the mechanical frame (2) for processing the ground paving road surface (6); - At least three traveling devices connected to the mechanical frame (2) via lifting columns, wherein the lifting columns are designed to raise or lower the mechanical frame (2) relative to the traveling devices; - At least one drive device for driving the at least three traveling devices (2); Its features are: At least two sensors (12) for each traveling device are arranged on the corresponding lifting column, wherein each sensor is designed to detect a parameter corresponding to the load (15) acting on the traveling device.

2. The self-propelled construction machinery (1) according to claim 1, characterized in that, A control device (16) is provided, which detects the deviation between two sensors (12) for each travel device.

3. The self-propelled construction machinery (1) according to claim 2, characterized in that, The control device (16) compares the detected deviation with at least one predetermined limit value.

4. The self-propelled construction machinery (1) according to claim 3, characterized in that, When the predetermined first limit value is exceeded, a message will be sent to the machine operator.

5. The self-propelled construction machinery (1) according to claim 3 or 4, characterized in that, When a second limit value higher than the first limit value is exceeded, the control device (16) issues at least one signal to stop the forward movement of the milling drum and / or the construction machinery (1).

6. The self-propelled construction machinery (1) according to claim 3 or 4, characterized in that, After exceeding the first limit, the travel drive may continue to operate or may be restarted, and / or after exceeding the second limit, the travel drive may be restarted only if the deviation between the two sensors set for a travel device falls below the second limit again.

7. The self-propelled construction machinery (1) according to any one of claims 1 to 4, characterized in that, The control device is designed to determine the average value of the load (15) acting on the two travel devices (10), wherein the parameters detected by the sensors (12) assigned to the two travel devices are used to calculate the average value.

8. The self-propelled construction machinery (1) according to claim 7, characterized in that, The two traveling devices (10) that determine the average value of the load (15) acting on them are two forward traveling devices and / or two rear traveling devices, and / or the two traveling devices that determine the average value of the load (15) acting on them are one forward traveling device and one rear traveling device.

9. The self-propelled construction machinery (1) according to claim 7, characterized in that, When multiple average values ​​are determined, the control device compares the minimum value of the average values ​​with at least one predetermined limit value.

10. The self-propelled construction machinery (1) according to claim 9, characterized in that, When the minimum value of the average value drops below a predetermined first limit value, the control device is designed to issue a signal to reduce the forward movement of the construction machinery (1).

11. The self-propelled construction machinery (1) according to claim 9, characterized in that, When the minimum value of the average value drops below a predetermined second limit value, the control device is designed to issue a signal to stop the forward movement of the working device (4) and / or the construction machinery (1).

12. The self-propelled construction machinery (1) according to claim 9, characterized in that, When the minimum value of the average value drops below a predetermined second limit value, the control device is designed to issue a signal to stop the forward movement of the working device (4) and / or the construction machinery (1).

13. The self-propelled construction machinery (1) according to claim 1, characterized in that, The construction machinery (1) is a road milling machine, a concrete mixing machine, a recycling machine, or an open-pit mining machine.

14. The self-propelled construction machinery (1) according to claim 1, characterized in that, The working device (4) is a milling drum.

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