Construction machinery

Abstract

In a self-propelled construction machine (1), in particular a road milling machine, stabilizer, recycler or surface miner, with at least one machine frame (2), at least one working device (4) arranged on the machine frame (2), in particular a milling drum, for processing a floor covering (6), at least three drive units which are connected to the machine frame (2) via lifting columns, wherein the lifting columns are designed to raise or lower the machine frame (2) relative to the drive units, and at least one drive unit for driving the at least three drive units (2), it is provided that at least two sensors (12) per drive unit are arranged on the respective lifting columns, wherein the sensors are designed to each detect a parameter corresponding to the load (14) acting on the drive unit.

Description

[0001] The invention relates to a construction machine according to the preamble of claim 1, and to a method for controlling a construction machine according to the preamble of claim 10.

[0002] Self-propelled construction machines, particularly road milling machines, stabilizers, recyclers, or surface miners, often have at least one machine frame, at least one milling drum mounted on the machine frame for milling a surface, and at least three drive units connected to the machine frame via lifting columns. Furthermore, a drive unit for powering the at least three drive units is usually provided. The lifting columns are frequently designed to raise or lower the machine frame relative to the drive units.

[0003] During normal operation of a construction machine equipped with a milling drum, it is desirable for the operator to maintain control over the machine's forward or backward movement, regardless of the milling drum's operation. However, if the reaction forces exerted on the milling drum by the ground surface exceed the forces acting on the milling drum due to the machine's weight, drive, and braking forces, a sudden and undesirable lifting of the machine can occur. In particular, if the drive mechanism and the working unit rotate on the same axis, an undesired lifting and a sudden forward or backward jerk of the machine can occur.

[0004] Even if the machine is lowered into the cut too quickly, the reaction force on the rotating milling drum can cause the construction machine to suddenly move forward or backward, depending on the cutting mode, i.e., in downward or upward cutting mode.

[0005] In state-of-the-art systems, such undesired events were typically handled by detecting the event upon its occurrence and then shutting down the machine's operating systems. Examples of this can be found in US 4,929,121, US 5,318,378, and US 5,879,056.

[0006] The invention is based on the objective of providing a construction machine and a method for controlling it in order to reduce or completely avoid the occurrence of unwanted forward or backward jerks. The features of claims 1 and 10 serve to solve this problem.

[0007] The invention advantageously provides that at least two sensors per drive unit are arranged on the respective lifting columns, wherein the sensors are designed to each detect a parameter corresponding to the load acting on the drive unit.

[0008] The construction machine may include a control unit that detects the deviation between the two sensors assigned to each drive mechanism. This deviation refers to the discrepancy between the values ​​of the parameters measured by the sensors.

[0009] The construction machine can be designed in such a way that if a first predetermined limit value for the deviation between the two sensors provided for a driving device is exceeded, a message is sent to the operator of the machine.

[0010] The construction machine can be designed in such a way that if a second limit value for the deviation between the two sensors provided for a driving device is exceeded, which is greater than the first limit value, the control device outputs at least one signal to stop the milling drum and / or the forward movement of the construction machine.

[0011] The construction machine can be designed so that, even after the first limit value is exceeded, the drive system remains operational or can be reactivated. This first limit value also represents the initial limit value for the deviation between the two sensors provided for a drive system.

[0012] The construction machine can be designed so that, after the second limit value is exceeded, the drive system can only be reactivated once the second limit value has been undercut again. This second limit value also represents the second limit value for the deviation between the two sensors provided for a drive system.

[0013] The construction machine can include a control unit designed to determine the average of loads acting on two drive units, using the parameters recorded by the sensors assigned to the two drive units to calculate the average. Two sensors, and therefore two parameters, are provided for each drive unit. To calculate the average of the loads acting on the two drive units, either one of the measured values, preferably the lower of the two measured values, or the average of the two sensor values ​​can be used for each drive unit.

[0014] The construction machine can be designed such that the two driving devices for which the mean value of the load acting on them is determined are two front and / or two rear driving devices.

[0015] The construction machine can be designed such that the two driving devices for which the mean value of the load acting on them is determined are a front and a rear driving device.

[0016] For example, on a construction machine with four lifting columns, the average load acting on the two front or the two rear travel units can be determined. This is done by using the parameters recorded by the sensors assigned to the respective travel units. Alternatively or additionally, the average load acting on the two right-hand or the two left-hand travel units could be calculated. On a construction machine with three lifting columns, the average load acting on one front and one rear travel unit can be determined.

[0017] The construction machine can be designed such that, when several mean values ​​are determined, the smallest of the mean values ​​is compared with at least one predefined limit value. This limit value for the mean value is to be distinguished from the aforementioned limit value for the deviation between the two sensors provided for a drive system.

[0018] The construction machine can be designed in such a way that the control device outputs a signal to reduce the feed rate of the construction machine when a first predetermined limit value for the mean value is undershot.

[0019] The construction machine can be designed in such a way that, if a second predetermined limit value for the mean value is undershot, the control device issues a signal to stop the working device and / or the feed of the construction machine.

[0020] The construction machine can be designed in such a way that the control device issues a signal when a second predetermined limit value is undershot, in order to stop the working device and / or the feed of the construction machine.

[0021] Furthermore, a method for controlling a self-propelled construction machine, in particular a road milling machine, stabilizer, recycler or surface miner, with at least one machine frame, at least one working device arranged on the machine frame, in particular a milling drum, for processing a floor covering, at least three drive units connected to the machine frame via lifting columns, wherein the machine frame is raised and lowered relative to the drive units by means of lifting columns, at least one drive unit for driving the at least three drive units, wherein at least two sensors per drive unit are provided on the respective lifting columns, wherein the sensors each detect a parameter corresponding to the load acting on the drive unit.

[0022] The deviation between the two sensors provided for each driving device can be detected by means of a control unit.

[0023] The detected deviation can be compared with at least one predefined limit value. This limit value is the limit value for the deviation between the two sensors provided for a driving device.

[0024] If a first predetermined limit value for the deviation between the two sensors provided for a driving device is exceeded, a message can be sent to the operator of the machine.

[0025] If a second limit value for the deviation between the two sensors provided for a driving device is exceeded, which is greater than the first limit value, at least one signal can be issued by the control device to stop the milling drum and / or the forward movement of the construction machine.

[0026] After exceeding the first limit value, the drive system can continue to operate or be reactivated.

[0027] After the second limit value has been exceeded, the drive system can only be reactivated when the second limit value is no longer exceeded.

[0028] The control unit can further determine an average value of the loads acting on two drive units, using the measured parameters from the sensors assigned to the two drive units to calculate the average. Two sensors, and therefore two parameters, are provided for each drive unit. To calculate the average of the loads acting on the two drive units, either one of the measured values, preferably the lower measured value of the two sensors, or the average of the two sensors can be used for each drive unit.

[0029] The two driving devices for which the mean value of the load acting on them is determined can be two front and / or two rear driving devices.

[0030] The two driving devices for which the mean value of the load acting on them is determined can be a front and a rear driving device.

[0031] When several mean values ​​are determined, the smallest of the mean values ​​can be compared with at least one predefined limit value. This limit value for the mean value is to be distinguished from the aforementioned limit value for the deviation between the two sensors intended for a driving device.

[0032] The control unit can issue a signal to reduce the feed rate of the construction machine if a first predefined limit is undershot.

[0033] The control unit can issue a signal to stop the work device and / or the feed of the construction machine if a second predefined limit value is undershot.

[0034] The control unit can issue a signal to stop the work device and / or the feed of the construction machine if a second predefined limit value is undershot.

[0035] In the following, exemplary embodiments of the invention are explained in more detail with reference to the drawings.

[0036] They show schematically: Fig. 1 : shows a schematic representation of a self-propelled construction machine (1), Fig. 2 : shows a section of a schematically represented lifting column (10) with two sensors (12) arranged on it, Fig. 3 : shows a schematic representation of a top view of the construction machine with lifting columns, Fig. 4 Figure 4 shows a schematic representation of a self-propelled construction machine with a working device. Fig. 1 Figure 1 shows a schematic representation of a self-propelled construction machine 1, which can be configured in particular as a road milling machine, stabilizer, recycler, or surface miner. The construction machine 1 includes a machine frame 2, which can serve as a supporting structure and carry the various components of the machine.

[0037] A working device 4, designed here as a milling drum, is arranged on the machine frame 2. The milling drum 4 is designed to process a floor covering 6 by rotating and removing material from the floor covering with tools arranged on the milling drum. The rotational movement of the milling drum 4 is indicated by an arrow in the Fig.4 hinted at.

[0038] The construction machine 1 is further equipped with at least three drive units 10, which are connected to the machine frame 2 via lifting columns 14. The in Fig.1 The schematic construction machine 1 shown has four drive units 10. The lifting columns 14 are designed to raise or lower the machine frame 2 relative to the drive units 10. The respective load acting on each drive unit 10 is shown in the figure by 14.

[0039] The lifting columns 14 have at least two sensors 12 ( Fig. 2 ) per drive unit 10. These sensors are designed to each detect a parameter corresponding to the load 15 acting on the drive unit. The detected parameters are transmitted to a control unit 16, which processes the data and sends corresponding control commands to the construction machine 1.

[0040] The control unit 16 is capable of detecting the deviation between the two sensors provided for each drive unit and can compare this deviation with at least one predefined limit value. If a first predefined limit value is exceeded, a message can be sent to the machine operator. If a second limit value, which is greater than the first limit value, is exceeded, the control unit 16 can output at least one signal to stop the milling drum 4 and / or the forward movement of the construction machine 1.

[0041] Additionally, the control unit 16 can determine an average value of the load 15 acting on two drive units, using the measured parameters of the sensors assigned to the two drive units 10 to calculate the average value. Two sensors 12, and thus two parameters, are provided for each drive unit 10. To calculate the average value of the loads 15 acting on the two drive units 10, either one of the measured values, preferably the lowest measured value of the two sensors 12, or the average of the two sensors 12 can be used for each drive unit 10.

[0042] The two drive units 10, for which the mean value of the load acting on them is determined, can be two front and / or two rear drive units. If several mean values ​​are determined, the smallest of the mean values ​​can be compared with at least one predefined limit value. If a first predefined limit value is not reached, the control unit 16 outputs a signal to reduce the feed rate of the construction machine 1. If a second predefined limit value is not reached, the control unit 16 outputs a signal to stop the working unit 4 and / or the feed rate of the construction machine 1.

[0043] The Fig.1 This illustrates the essential components and their interaction in the self-propelled construction machine 1, with the sensors 12 and the control unit 16 playing a central role in monitoring and controlling the machine operations.

[0044] Fig. 1 Figure 1 shows a schematic representation of a lifting column 10 of a self-propelled construction machine, in particular a road milling machine, a stabilizer, a recycler or a surface miner. The lifting column 10 is connected to a machine frame 2. Two sensors 12 are attached to the lifting column 10, each of which detects a parameter corresponding to the load 14 acting on the drive mechanism 10.

[0045] The machine frame 2 is the central structural component of the construction machine, to which various components are attached. The lifting column 14 serves to raise or lower the machine frame 2 relative to the drive mechanisms 10. This allows the working height of the construction machine to be adjusted.

[0046] The sensors 12 are mounted on the upper side of the lifting column 14 and are designed to measure the load acting on the respective drive mechanism. These sensors continuously supply data to a control unit, which processes the measured parameters. The precise positioning of the sensors 12 on the lifting column 14 ensures accurate measurement of the load distribution and enables precise control of the machine operations.

[0047] The control unit, which is in the Fig. 1 The control unit 16, as shown, receives data from sensors 12 and analyzes the deviations between the measured loads. These deviations can be compared with predefined limits to ensure that the construction machine operates within safe and efficient operating conditions. If a first predefined limit is exceeded, a message can be sent to the machine operator. If a second, higher limit is exceeded, the control unit 16 can issue a signal to stop the milling drum and / or the forward movement of the construction machine.

[0048] Fig. 2 A lifting column 14 with two attached sensors 12, which operate in conjunction with the machine frame 2 to monitor and control the load distribution on the drive mechanisms. The precise acquisition and analysis of the load parameters by the sensors 12 and the control unit ensures safe and efficient operation of the self-propelled construction machine.

[0049] Fig. 3 Figure 1 shows a schematic representation of a self-propelled construction machine 1, in particular a road milling machine, a stabilizer, a recycler or a surface miner. The construction machine comprises a machine frame 2, which serves as the central structure and to which various components are attached.

[0050] Four drive units 10 are arranged on the machine frame 2 and are connected to the machine frame 2 via lifting columns 14. These lifting columns 14 are designed to raise or lower the machine frame 2 relative to the drive units 10 in order to allow adaptation to different working conditions.

[0051] Each drive unit 10 is assigned at least two sensors 12, which are attached to the respective lifting columns 14. These sensors are designed to detect parameters corresponding to the load L_VL, L_VR, L_HL, L_HR acting on the drive unit 10. The load sensors are labeled in the figure as L_VL (load front left), L_VR (load front right), L_HL (load rear left) and L_HR (load rear right).

[0052] The recorded load parameters are sent to a control unit 16 (in Figur 3 (not shown) transmits data that detects the deviations between the two sensors provided for each drive unit 10. This control unit 16 compares the detected deviations with at least one predefined limit value. If a first predefined limit value is exceeded, a message is sent to the machine operator. If a second, higher limit value is exceeded, the control unit 16 issues a signal to stop the milling drum 4 and / or the forward movement of the construction machine 1.

[0053] Additionally, the control unit is designed to determine an average value of the load 15 acting on two drive units 10. The parameters recorded by the sensors 12 assigned to the two drive units 10 are used to calculate this average value. The two drive units 10 for which the average value of the load 15 acting on them is determined can be two front and / or two rear drive units. Alternatively, the average value can also be determined for one front left and one rear left or one front right drive unit.

[0054] When several mean values ​​are determined, the smallest mean value is compared with at least one predefined limit value. If the smallest mean value falls below a first predefined limit value, the control unit issues a signal to reduce the feed rate of construction machine 1. If the smallest mean value falls below a second, lower limit value, the control unit issues a signal to stop the work device 4 and / or the feed rate of construction machine 1.

[0055] The Fig. 3 Illustrates the arrangement of the sensors and their positioning on the driving devices 10, as well as the distribution of the lifting columns L_VL, L_VR, L_HL, L_HR, which are of central importance for the control and monitoring of the construction machine 1.

[0056] Fig. 4Figure 1 shows a schematic representation of a self-propelled construction machine 1, which can be used in particular as a road milling machine, stabilizer, recycler, or surface miner. The construction machine 1 comprises a machine frame 2 to which a working device 4, in particular a milling drum, is attached. This working device 4 serves to process a ground surface 6.

[0057] The working device 4 is arranged so that it comes into contact with the floor covering 6 and processes it. The milling drum 4 is rotatably mounted and has a rotating motion 16, as indicated by the arrow in the figure. This rotating motion enables the milling or shredding of the floor covering 6.

[0058] A drive unit is provided to power the travel mechanisms and thus enable the movement of the construction machine 1. The drive is in the direction of arrow F, as shown in the figure.

[0059] A key feature of the construction machine 1 is the arrangement of at least two sensors 12 per drive unit on the respective lifting columns. These sensors 12 are designed to each detect a parameter corresponding to the load 15 acting on the drive unit. The detected parameters are transmitted to a control unit 16, which detects the deviation between the two sensors 12 provided for each drive unit.

[0060] The control unit 16 compares the detected deviation with at least one predefined limit value. If a first predefined limit value is exceeded, a message is sent to the machine operator. If a second limit value, which is greater than the first limit value, is exceeded, the control unit outputs at least one signal to stop the milling drum 4 and / or the forward movement of the construction machine 1.

[0061] Additionally, the control unit is designed to determine an average value of the load 15 acting on two drive units 10. The parameters recorded by the sensors 12 assigned to the two drive units 10 are used to calculate this average value. The two drive units 10 for which the average value of the load 15 acting on them is determined can be two front and / or two rear drive units.

[0062] If several mean values ​​are determined, the lowest of the mean values ​​is compared with at least one predefined limit value. If a first predefined limit value is undershot, the control unit 16 outputs a signal to reduce the feed rate of the construction machine 1. If a second predefined limit value is undershot, the control unit outputs a signal to stop the working device 4 and / or the feed rate of the construction machine 1.

Claims

1. Self-propelled construction machine (1), in particular road milling machine, stabilizer, recycler or surface miner, comprising: - at least one machine frame (2), - at least one working device (4) arranged on the machine frame (2), in particular a milling drum, for processing a surface (6), - at least three travel devices connected to the machine frame (2) via lifting columns, wherein the lifting columns are designed to raise or lower the machine frame (2) relative to the travel devices, - at least one drive device for driving the at least three travel devices (2), characterized by the fact that at least two sensors (12) per drive unit are arranged on the respective lifting columns, the sensors being designed to each detect a parameter corresponding to the load (14) acting on the drive unit.

2. Construction machine (1) according to claim 1, characterized by the fact thata control device (16) is provided which detects the deviation between the two sensors (12) provided for each driving device.

3. Construction machine (1) according to claim 2, characterized by the fact that the control device (16) compares the detected deviation with at least one predetermined limit value, preferably sending a message to the operator of the machine when a first predetermined limit value is exceeded.

4. Construction machine (1) according to claim 3, characterized by the fact that If a second limit value is exceeded, which is greater than the first limit value, the control device (16) outputs at least one signal to stop the milling drum and / or the forward movement of the construction machine (1).

5. Construction machine (1) according to one of claims 3 or 4, characterized by the fact thatthat after exceeding the first limit value, the drive system can continue to be operated or reactivated, and / or that after exceeding the second limit value, the drive system can only be reactivated when the second limit value has been undercut again.

6. Construction machine (1) according to any one of claims 1 to 5, characterized by the fact that the control device is designed to determine an average value of the load (15) acting on two driving devices (10), whereby the parameters recorded by the sensors (12) assigned to the two driving devices are used to form the average value.

7. Construction machine (1) according to claim 6, characterized by the fact that the two driving devices 10, for which the mean value of the load acting on them (15) is determined, are two front and / or two rear driving devices and / or that the two driving devices, for which the mean value of the load acting on them (14) is determined, are one front and one rear driving device.

8. Construction machine (1) according to claim 6 or 7, characterized by the fact that The control device compares the smallest value of the mean values ​​with at least one predetermined limit value when several mean values ​​are determined, and preferably the control device is designed to output a signal when a first predetermined limit value is undershot in order to reduce the feed rate of the construction machine (1).

9. Construction machine (1) according to claim 8, characterized by the fact that the control device is designed to output a signal when a second predetermined limit value is undershot in order to stop the working device (4) and / or the feed of the construction machine (1) and / or the control device is designed to output a signal when a second predetermined limit value is undershot in order to stop the working device (4) and / or the feed of the construction machine (1).

10. Method for controlling a self-propelled construction machine (1), in particular a road milling machine, stabilizer, recycler or surface miner, comprising: - at least one machine frame (2), - at least one working device (4) arranged on the machine frame (2), in particular a milling drum, for processing a surface (6), - at least three travel devices connected to the machine frame (2) via lifting columns, wherein the machine frame (2) is raised and lowered relative to the travel devices by means of lifting columns, - at least one drive device for driving the at least three travel devices (2), characterized by the fact that at least two sensors (12) per drive unit are provided on the respective lifting columns, each sensor recording a parameter corresponding to the load (15) acting on the drive unit.

11. Method according to claim 10, characterized by the fact thatthe deviation between the two sensors (12) provided for each driving device is detected by means of a control device (16) and / or the detected deviation is compared with at least one predetermined limit value and / or a message is sent to the operator of the machine when a first predetermined limit value is exceeded.

12. Method according to claim 11, characterized by the fact that If a second limit value, which is greater than the first limit value, is exceeded, at least a signal is issued by the control unit (16) to stop the milling drum (4) and / or the forward movement of the construction machine (1) and / or that after exceeding the first limit value, the drive can continue to be operated or reactivated, and / or that after exceeding the second limit value, the drive will only be reactivated when the second limit value is again undercut.

13. Method according to any one of claims 10 to 12, characterized by the fact thatby means of the control unit an average value of the load (14) acting on two driving devices is determined, whereby the parameters recorded by the sensors (12) assigned to the two driving devices are used to form the average value.

14. Method according to claim 13, characterized by the fact that the two driving devices 10, for which the mean value of the load acting on them (15) is determined, are two front and / or two rear driving devices, and / or that the two driving devices for which the mean value of the load acting on them (15) is determined are one front and one rear driving device. and / or, by means of the control device, in the case of several determined mean values, the smallest value of the mean values ​​is compared with at least one predetermined limit value.

15. Method according to claim 14, characterized by the fact thatthe control device outputs a signal when a first predetermined limit value is undershot in order to reduce the feed of the construction machine (1) and / or that the control device outputs a signal when a second predetermined limit value is undershot in order to stop the working device (4) and / or the feed of the construction machine (1).

Images