Construction machinery

Abstract

To provide a self-propelled construction machine having improved adjustment of a processing device relative to a machine frame.SOLUTION: A self-propelled construction machine, in particular a stabilizer or recycler, comprising a machine frame supported by a traveling gear, a processing device for processing the ground, in particular a grinding / mixing rotor, mounted so as to pivot relative to the machine frame, a drive device, in particular a drive engine, for driving at least the processing device and preferably the traveling gear, and at least one of first and second actuating devices, each connected to the processing device and the machine frame, by adjusting the actuating device, the processing device is pivotable relative to the machine frame, is provided with a control device designed to control the adjustment movements of the actuating devices so that the adjustment movements of the first and second actuating devices have a defined difference relative to each other.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The invention relates to a self-propelled construction machine as claimed in claim 1 and to a method for laying pavements by stabilising soil or reusing road surfaces with insufficient load-bearing capacity as claimed in claim 12. [Background technology]

[0002] A self-propelled construction machine for laying pavements by stabilizing soil with insufficient load-bearing capacity or by reclaiming a road surface is known, and the self-propelled construction machine includes a machine frame supported by a running gear. A processing device, in particular a grinding / mixing drum, mounted so as to pivot relative to the machine frame is further provided for processing the ground. A drive device, in particular a drive engine, is provided for driving the processing device. At least one first hydraulic actuator and at least one second hydraulic actuator are provided, which are connected to the processing device and the machine frame, respectively, and the processing device can be pivoted relative to the machine frame by adjusting the actuator.

[0003] Such a machine is known, for example, from DE 10 2018 126 672 A1. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] German Patent Application Publication No. 102018126672 Summary of the Invention [Problem to be solved by the invention]

[0005] In the current state of the art, the processing equipment is always aligned parallel to the machine frame, and the construction machine must therefore always have the same transverse inclination as the inclination of the processing equipment, but there is a problem in that in the rarest cases, the processing equipment must be aligned horizontally. The processing equipment must usually be aligned parallel to the ground, and therefore in most cases, it exhibits a certain inclination from the horizontal line. This, in turn, means that the entire construction machine must exhibit an inclination with respect to the horizontal line.

[0006] However, this has some drawbacks. On the one hand, since the driver is in a cab on the machine, he is also in an inclined position. Furthermore, tanks are often provided on the machine frame, for example for water or fuel. The displacement of the liquid causes a shift in the center of gravity of the machine, which in turn leads to uneven loading of the running gear. In addition, such machines have a relatively narrow track width, and since such construction machines often have a very high center of gravity, there is a risk of the machine tipping over if the transverse tilt increases. Furthermore, when using self-propelled construction machines, binders are added to recycle and stabilize the soil when processing it. The transverse tilt can cause the problem that the binder is not evenly distributed across the width of the construction machine.

[0007] SUMMARY OF THE INVENTION It is therefore an object of the present invention to create a self-propelled construction machine with improved adjustment of the processing device relative to the machine frame. [Means for solving the problem]

[0008] The above mentioned object is achieved by the features of claims 1 and 12.

[0009] The invention advantageously provides that a control device is provided which is designed to control the adjustment movements of the actuators so that the adjustment movements of the first actuator and the second actuator have a defined difference with respect to one another.

[0010] This allows for accurate positioning of the processing device relative to the machine frame.

[0011] At least one of the first and / or second actuators is preferably a hydraulic actuator.

[0012] Alternatively, at least one of the first and / or second actuators may be adjustable actuators using a linear motor or spindle drive.

[0013] The processing device may be supported on a pivot arm and be pivotable about a pivot axis relative to the machine frame by means of the pivot arm. The processing device may be pivoted about the pivot axis by means of an actuation device.

[0014] Each of the actuating devices may be connected directly or indirectly to a processing device and directly or indirectly to the machine frame.

[0015] The construction machine may further include four traveling gears. All traveling gears present may be steerable. In addition, all traveling gears may be driven. The processing device may be arranged between the front and rear traveling gears. The front traveling gear may form the front axle. The rear traveling gear may form the rear axle. The drive gear, in particular the drive engine, may be installed transversely.

[0016] According to the invention, at least one respective sensor device may be provided on or in each hydraulically actuated device, which is designed to detect the adjustment movement of the hydraulically actuated device and transmit the detected value to the control device.

[0017] In this way, it is possible to precisely control the adjustment movement of each hydraulically actuated device.

[0018] According to the invention, at least one mechanical power transmission device may be provided for transmitting drive power from the drive shaft of the drive device to the processing device.

[0019] The mechanical power transmission may include at least one belt drive.

[0020] The mechanical transmission may be pivotable about a pivot axis with the processing device mounted between the pivot arms.

[0021] That is, the mechanical transmission device can pivot together with the processing device relative to the machine frame.

[0022] The pivot axis is preferably arranged coaxially or parallel to the drive shaft of the drive device.

[0023] As an alternative to a mechanical transmission, the drum may be hydraulically driven.

[0024] The running gear may be connected to the machine frame via a lifting device so that the machine frame can be height-adjustable relative to the running gear by actuating the lifting device. The lifting device may be operable so that the transverse and / or longitudinal inclination of the machine frame is adjustable using the lifting device.

[0025] The lifting devices may be individually operable, for example to adjust the transverse and longitudinal inclination of the machine frame using the lifting devices, or alternatively, the lifting devices may be operable in pairs, for example to adjust the transverse or longitudinal inclination of the machine frame using the lifting devices.

[0026] The control device may be designed to control the modulation travel of the hydraulically actuated devices so that the difference between the modulation travel of the hydraulically actuated devices is substantially zero.

[0027] The control device may be designed to control the adjustment travel of the hydraulically actuated devices so that the hydraulically actuated devices are essentially synchronously adjustable.

[0028] The advantage of synchronous adjustment is that the difference in adjustment travel remains essentially permanently constant. If this difference is adjusted to zero and the actuators are adjusted synchronously, one advantage is that jamming of the processing device is virtually eliminated. As a result, the elements on which the processing device is supported have a significantly longer lifespan.

[0029] The present invention has the advantage that the adjustment travel of the hydraulically actuated devices can be matched to one another.

[0030] Both the first and second actuating devices can each include at least one first portion that is adjustable relative to a respective second portion, the respective first portion being connected to the processing device and the respective second portion being connected to the machine frame, and the respective first portions of the first and second actuating devices being connected to each other only via the processing device.

[0031] Also, the pivot arms, which are pivotally mounted on the machine frame, are not coupled to one another, so that the first and second actuating devices are connected to one another only via the processing device.

[0032] There is no additional connection, in particular no additional mechanical connection, between the first and second actuating devices to allow synchronization of the adjustment movements: synchronization is performed solely by means of the control device.

[0033] Mechanical coupling of the first and second actuators or coupling of the first and second actuators via a dual rod cylinder or flow divider is known in the art, however, in accordance with the present invention, coupling can be achieved only by means of a control device.

[0034] According to the present invention, a method for generating pavement by stabilizing soil with insufficient load-bearing capacity or by reclaiming road surfaces using a self-propelled construction machine can be defined, the method comprising the following steps: - processing the ground with a processing device, in particular a grinding / mixing rotor, mounted so as to pivot relative to the machine frame of the construction machine, the processing device is driven by a drive device, the processing device is pivoted by adjusting the first and second actuating devices relative to the machine frame; The stage of processing the ground.

[0035] According to the invention, it is provided that the adjustment movements of the actuators are controlled by means of a control device so that the adjustment movements of the first actuator and the second actuator have a defined difference with respect to one another.

[0036] At least one of the first and / or second actuators is preferably a hydraulic actuator.

[0037] Each adjustment movement of the actuator device may be detected using at least one sensor device, and the detected values ​​may be transmitted to the control device.

[0038] The control device can control the adjustment of the adjustment travel of each actuator as a function of the detected value of the respective adjustment travel and a predetermined difference in the adjustment travel.

[0039] The adjustment travel of the actuators may be controlled by means of a control device so that the difference in the adjustment travel of the hydraulic actuators is substantially zero.

[0040] The adjustment travel of the actuators may be controlled using a control device so that the actuators are adjusted synchronously.

[0041] The drive force may be transmitted to the processing device by a driven shaft of the drive device via at least one mechanical power transmission device.

[0042] The mechanical transmission may pivot about a pivot axis with the processing device attached to the pivot arm.

[0043] The present invention has the advantage that no additional coupling elements, such as mechanical coupling elements between the two actuators and / or between the swivel arms, are required to match the adjustment travels with each other. Therefore, installation space does not need to be used for these coupling elements in the machine frame, which saves installation space. This means that neither the machine frame nor components within the machine frame, such as the tank, need to be adapted to establish the connection between the two actuators.

[0044] A controller in the sense of the present invention may include or be assigned to a processor, a computer-readable medium, a database, and a control panel having an input / output module or display. Likewise, a controller may include or be assigned to input / output devices such as a keyboard, joystick, or other user interface to allow a human operator to input commands into the controller. It is understood that the controller described herein may be a single controller containing the entire described functionality, or may include multiple controllers, or the described functionality may be distributed among multiple controllers.

[0045] The different operations, steps, or algorithms that the control device can perform in the sense of the present invention may be embodied, for example, directly in hardware, in a computer program such as a software module executed by a processor, or in a combination of both. The computer program may be located, for example, in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, a hard disk, a removable medium, or any other form of computer-readable medium known in the art. Examples of computer-readable media may be coupled to the processor, for example, such that the processor can read information from and write information to the memory / storage medium. Alternatively, the medium may be integrated into the processor. The processor and the medium may be located, for example, in an Application Specific Integrated Circuit (ASIC). The ASIC may be located in a user terminal device. Alternatively, the processor and the medium may be located as discrete components in the user terminal device.

[0046] The term "processor," as used herein, as will be understood by those skilled in the art, may refer to at least a general-purpose or special-purpose processing device and / or unit of logic, including, but not limited to, a microprocessor, a microcontroller, a finite state machine, etc. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors in combination with a DSP core, or other such configurations.

[0047] At least one sensor device may be provided on or in each actuator device, which is designed to detect the adjustment movement of the actuator device and transmit the detected value to the control device.

[0048] The control device may be designed or programmed to receive sensed values ​​from the at least one sensor device and to send control signals to the actuator device to control extension of the actuator device.

[0049] In the following, embodiments of the invention are illustrated in more detail with reference to the drawings. [Brief explanation of the drawings]

[0050] [Figure 1] 1 is a side view of a construction machine according to the present invention, with the working drum in an idle position; FIG. [Figure 2] 2 shows the construction machine according to FIG. 1, with the working drum in the working position; [Figure 3] FIG. 2 shows a drive train for driving a processing device. [Figure 4] FIG. 1 is a schematic rear view of the machine, with the processing device tilted relative to the machine frame. [Figure 5] 5 is a schematic side view of the construction machine according to FIG. 4, showing the first actuation device. [Figure 6] 5 is yet another schematic side view of the construction machine according to FIG. 4, showing the second actuation device. [Figure 7] FIG. 1 is a schematic rear view of the processing device aligned parallel to the machine frame. [Figure 8a] FIG. 8 is a schematic side view of the construction machine according to FIG. 7, showing the first and second actuation devices. [Figure 8b] FIG. 8 is a schematic side view of the construction machine according to FIG. 7, showing the first and second actuation devices. [Figure 9] FIG. DETAILED DESCRIPTION OF THE INVENTION

[0051] Figure 1 shows a self-propelled construction machine 1, in particular a stabilizer or recycler. The construction machine comprises a machine frame 6 supported by running gear 2 and 4. The running gear 2, 4 may comprise wheels as shown, or alternatively may comprise crawlers.

[0052] The construction machine 1 further comprises a processing device 8 mounted so as to pivot relative to the machine frame 6. The processing device 8 may in particular be a crushing and / or mixing rotor used to process the ground. The processing device 8 is preferably surrounded by a housing 24. The space surrounded by the housing 24 is called the mixing chamber 23. The processing device 8 designed as a crushing / mixing rotor can be used to crush soil or pavement that lacks a load-bearing capacity.

[0053] The construction machine 1 may further comprise, as shown in the illustrated embodiment, a lifting device 12 by means of which the running gear 2 or 4, respectively, is height adjustable relative to the machine frame 6, which is therefore height adjustable relative to the ground surface 14.

[0054] The construction machine 1 may further comprise four travelling devices 2, 4 as shown in the illustrated embodiment. Furthermore, all of the travelling devices 2, 4 present may be steerable. In addition, all of the travelling devices 2, 4 may be driven. The processing device 8 may be arranged between the front and rear travelling devices 2, 4 as shown. The front travelling device 2 may form the front axle. The rear travelling device 4 may form the rear axle. The drive device 8, in particular the drive engine, may be installed transversely.

[0055] According to the invention, at least one first hydraulic actuator 10 and one second hydraulic actuator 11 are provided, each of which is directly or indirectly connected to the processing device 8 on the one hand and to the machine frame 6 on the other hand. Figure 1 shows only the first hydraulic actuator 10. The second hydraulic actuator is arranged on the opposite side of the construction machine 1. The processing device 8 can be swiveled relative to the machine frame 6 by adjusting the actuators 10, 11.

[0056] The processing device 8 can be mounted between the pivot arms 30, 31. As shown, a mechanical power transmission device 20 may further be provided on at least one side of the construction machine 1. The mechanical power transmission device 20 is covered by a housing 21. The mechanical power transmission may be, for example, a belt drive. In this design, the driving force is transmitted to the processing device 8 by a driven shaft 25 of a drive device 26. The processing device 8 has an axis 28 on which the belt drive runs. In this embodiment, the pivot arm 30 is formed by the housing 21. The pivot arm 31 is arranged on the opposite side of the construction machine and similarly pivots around a pivot axis arranged coaxially with the pivot axis 52.

[0057] Preferably, a gearbox is provided between the mechanical power transmission device 20 and the processing device 8. This gearbox may be, for example, a planetary gearbox. The mechanical power transmission device 20, together with the processing device 8 mounted between the pivot arms 30, 31, can pivot about a pivot axis 52. In this embodiment, the pivot axis 52 is arranged coaxially with the driven shaft 25 of the drive device 26. Alternatively, the pivot axis 52 can be arranged parallel to the driven shaft 25 of the drive device 26.

[0058] In FIG. 2, the processing device 8 is depicted in an operating position. In this case, the operating devices 10, 11 are activated, and the processing device 8 pivots about a pivot axis 52 relative to the machine frame 6 so that the processing device 8 can pulverize the ground surface 14. Furthermore, FIG. 2 shows that the ground surface has been recycled or stabilized. For this purpose, the pulverized material is accumulated in the mixing chamber 23 inside the housing 24. A binder may be added to the pulverized material in the mixing chamber 23. The pulverized material, together with the added binder, may be leveled using a scraper device and then remain on the ground surface as the processed ground surface 15. The processed ground surface 15, mixed with the binder, is still very loose, and therefore the running gear 4 may sink into the ground surface as shown.

[0059] Furthermore, a control device 50 is arranged on the self-propelled construction machine 1, and the control device 50 is designed to control the adjustment movement amounts of the hydraulic actuators so that the adjustment movement amounts of the first hydraulic actuator 10 and the second hydraulic actuator 11 have a predetermined difference from each other.

[0060] 3 depicts a schematic drive train. The drive unit 26, which may preferably be an internal combustion engine, is preferably mounted transversely. A clutch 62 may be provided between the drive unit 26 and the processing device 8.

[0061] A mechanical power transmission 20 for driving the processing device 8 is arranged between the clutch 62 and the processing device 8. The mechanical power transmission 20 may be, for example, a belt drive. Furthermore, a gearbox, in particular a planetary gearbox, may be arranged between the power transmission 20 and the processing device 8.

[0062] FIG. 4 shows a schematic rear view of a construction machine according to the present invention. In the embodiment, the processing device 8 is shown to have a predetermined inclination relative to the machine frame 6. The lifting device is extended so that the machine frame is aligned substantially perpendicular to the direction of gravity. Since FIG. 4 is merely a schematic view, the first and second hydraulic actuators are not depicted. However, the first and second hydraulic actuators have different adjustment travels so that the processing device 8 is aligned substantially parallel to the ground surface. Therefore, the processing device 8 has a predetermined inclination relative to the machine frame 6.

[0063] The different sides of the construction machine, and therefore the different adjustment travels L1 and L2 of the first hydraulic actuator 10 and the second hydraulic actuator 11, respectively, are depicted in Figures 5 and 6, respectively.

[0064] FIG. 7 shows an embodiment similar to that shown in FIG. 4, but in this embodiment the travel distances of the hydraulic actuators 10, 11 are the same, and therefore the difference in adjustment travel distances of the hydraulic actuators 10, 11 is substantially zero.

[0065] Therefore, the control device 50 can be designed to control the adjustment travel of the hydraulic actuators 10, 11 in such a way that the difference between the adjustment travel of the hydraulic actuators 10, 11 is substantially zero.

[0066] Furthermore, the control device 50 may be designed to control the adjustment travel of the hydraulic actuators 10, 11 so that they are adjustable synchronously.

[0067] 7, it can be seen that the hydraulic actuators 10, 11 are adjusted so that the difference in the adjustment travel of the hydraulic actuators 10, 11 is substantially zero, since the processing device 8 is arranged parallel to the machine frame 6. If the hydraulic actuators 10, 11 are then adjusted synchronously, the processing device 8 will remain arranged parallel to the machine frame 6.

[0068] Figure 8a shows the actuating device 10. A second actuating device 11 is arranged on the opposite side of the construction machine 1 and is shown in Figure 8b. The adjustment movement of the second actuating device 11 substantially corresponds to the adjustment movement of the first actuating device 10.

[0069] According to the present invention, a sensor device 60 may be provided as shown in the drawings, which is provided in each hydraulic actuator 10, 11 and is designed to detect the adjustment movement of the hydraulic actuator 10, 11 and transmit the detected value to the control device 50.

[0070] As exemplarily depicted in Figure 9, the control device 50 may be a control device 202. A control device 202 in the sense of the present invention may comprise or be assigned to a processor 204, a computer-readable medium 206, a database 208, and a control panel 210 having an input / output module or display 212. The control device may also include or be assigned to input / output devices 214, such as a keyboard, joystick, or other user interface, to allow a human operator to input instructions to the control device. It is understood that the control device 202 described herein may be a single control device containing the entire described functionality, or may include multiple control devices, and the described functionality may be distributed among multiple control devices.

[0071] The different operations, steps or algorithms that the control device 202 can execute in the sense of the present invention may be embodied, for example, directly in hardware, in a computer program 216 such as a software module executed by the processor 204, or in a combination of both. The computer program 216 may be located, for example, in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, a hard disk, a removable medium, or any other form of computer-readable medium 206 known in the art. An example of a computer-readable medium 206 may be coupled to the processor 204, for example, such that the processor can read information from and write information to the memory / storage medium. Alternatively, the medium may be integrated into the processor. The processor and the medium may be located, for example, in an application-specific integrated circuit (ASIC). The ASIC may be located in a user terminal device. Alternatively, the processor and the medium may be located as separate components in the user terminal device.

[0072] The term "processor," as used herein, as will be understood by those skilled in the art, may refer to at least a general-purpose or special-purpose processing device and / or logic unit, including, but not limited to, a microprocessor, a microcontroller, a finite state machine, etc. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors in combination with a DSP core, or other such configuration.

[0073] At least one sensor device 60 may be provided on or in each actuator 10, 11, designed to detect the adjustment movement of the actuator 10, 11 and transmit the detected values ​​to the control device 202.

[0074] The control device 50, 202 can be programmed to receive detection values ​​from at least one sensor device 60 and send control signals to the actuators 10, 11 in order to control the extension of the actuators 10, 11 and thus the adjustment movement of the actuators.

Claims

1. a machine frame supported by a running gear; a processing device pivotally mounted relative to the machine frame for processing the ground surface; a drive device for driving at least the processing device; at least one first actuator and at least one second actuator connected to the processing device and the machine frame, respectively, wherein the processing device is pivotable relative to the machine frame by adjusting the actuators; A self-propelled construction machine comprising: a control device is provided that is designed to control the adjustment movements of the first and second actuators so that the adjustment movements of the first and second actuators have a defined difference with respect to each other; A self-propelled construction machine characterized by:

2. 2. The self-propelled construction machine according to claim 1, wherein at least one sensor device is provided on or in each of the actuating devices, the sensor device being designed to detect the adjustment movement of the actuating device and to transmit the detected value to the control device.

3. 3. The self-propelled construction machine according to claim 2, wherein the control device is designed to receive the detected value from the at least one sensor device and to send a control signal to the actuator device to control the adjustment movement of the actuator device.

4. 2. The self-propelled construction machine according to claim 1, further comprising at least one mechanical power transmission device for transmitting a driving force from the driven shaft of the drive device to the processing device.

5. 5. The self-propelled construction machine of claim 4, wherein the mechanical power transmission device includes at least one belt drive.

6. 5. The self-propelled construction machine according to claim 4, wherein the mechanical power transmission device is rotatable around a pivot axis together with the processing device attached between pivot arms.

7. 4. The self-propelled construction machine according to claim 3, wherein the pivot shaft is arranged coaxially with or parallel to the driven shaft of the drive device.

8. 2. A self-propelled construction machine according to claim 1, characterized in that the traveling gear is connected to the machine frame via a lifting device, such that by operating the lifting device the height of the machine frame can be adjusted relative to the traveling gear, and the lifting device is operable so that the transverse and / or longitudinal inclination of the machine frame can also be adjusted by the lifting device.

9. 2. The self-propelled construction machine according to claim 1, wherein the control device is designed to control the adjustment travel of the actuator so that the difference between the adjustment travels of the actuators is substantially zero.

10. 2. The self-propelled construction machine according to claim 1, wherein the control device is designed to control the adjustment travel of the actuators so that the actuators are synchronously adjustable.

11. 2. The self-propelled construction machine of claim 1, wherein both the first actuation device and the second actuation device include at least one first portion that is adjustable relative to a respective second portion, each first portion being connected to the processing device and each second portion being connected to the machine frame, and the respective first portions of the first actuation device and the second actuation device being connected to each other only via the processing device.

12. 1. A method for laying pavement by stabilizing soil with insufficient load-bearing capacity or by reclaiming a road surface using a self-propelled construction machine, comprising: processing the ground using a processing device pivotally mounted to a machine frame of the construction machine; The processing device is driven using a drive device, the processing device is pivoted by adjusting a first actuator and a second actuator relative to the machine frame; the adjustment travel of the actuator is controlled using a control device such that the adjustment travel of the first actuator and the second actuator have a defined difference with respect to each other. A method characterized by:

13. 13. The method according to claim 12, wherein the adjustment movements of the actuating devices are detected by means of at least one sensor device, respectively, and the detected values ​​are transmitted to the control device.

14. 13. The method of claim 12, wherein the controller controls the adjustment of the adjustment travel of each of the actuators as a function of the detected adjustment travel and the difference between the adjustment travel.

15. 13. The method according to claim 12, wherein the adjustment movements of the actuators are controlled by means of the control device such that the differences defined for the adjustment movements of the actuators relative to one another are substantially zero.

16. 13. The method of claim 12, wherein the adjustment travel of the actuators is controlled using the control device such that the actuators are adjusted synchronously.

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