EP1204800A1 - Method and construction machine for producing ground surfaces - Google Patents

Method and construction machine for producing ground surfaces

Info

Publication number
EP1204800A1
EP1204800A1 EP00947983A EP00947983A EP1204800A1 EP 1204800 A1 EP1204800 A1 EP 1204800A1 EP 00947983 A EP00947983 A EP 00947983A EP 00947983 A EP00947983 A EP 00947983A EP 1204800 A1 EP1204800 A1 EP 1204800A1
Authority
EP
European Patent Office
Prior art keywords
pressure
pump
lifting cylinder
lifting
excavator
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP00947983A
Other languages
German (de)
French (fr)
Other versions
EP1204800B1 (en
Inventor
Georg Pletzer
Joachim Waegner
Heinrich Lackenberg
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.)
pletzer Georg
Original Assignee
O&K Orenstein and Koppel GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by O&K Orenstein and Koppel GmbH filed Critical O&K Orenstein and Koppel GmbH
Publication of EP1204800A1 publication Critical patent/EP1204800A1/en
Application granted granted Critical
Publication of EP1204800B1 publication Critical patent/EP1204800B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/028—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the actuating force
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2239—Control of flow rate; Load sensing arrangements using two or more pumps with cross-assistance
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2292—Systems with two or more pumps
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20546—Type of pump variable capacity
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20546—Type of pump variable capacity
    • F15B2211/20553—Type of pump variable capacity with pilot circuit, e.g. for controlling a swash plate
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20576—Systems with pumps with multiple pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/30525—Directional control valves, e.g. 4/3-directional control valve
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/3056—Assemblies of multiple valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/31—Directional control characterised by the positions of the valve element
    • F15B2211/3105—Neutral or centre positions
    • F15B2211/3111—Neutral or centre positions the pump port being closed in the centre position, e.g. so-called closed centre
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/32—Directional control characterised by the type of actuation
    • F15B2211/329—Directional control characterised by the type of actuation actuated by fluid pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/505—Pressure control characterised by the type of pressure control means
    • F15B2211/50509—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means
    • F15B2211/50518—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using pressure relief valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/505—Pressure control characterised by the type of pressure control means
    • F15B2211/50509—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means
    • F15B2211/50536—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using unloading valves controlling the supply pressure by diverting fluid to the return line
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/52—Pressure control characterised by the type of actuation
    • F15B2211/526—Pressure control characterised by the type of actuation electrically or electronically
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/55—Pressure control for limiting a pressure up to a maximum pressure, e.g. by using a pressure relief valve
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/635—Circuits providing pilot pressure to pilot pressure-controlled fluid circuit elements
    • F15B2211/6355—Circuits providing pilot pressure to pilot pressure-controlled fluid circuit elements having valve means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7051—Linear output members
    • F15B2211/7053—Double-acting output members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/76—Control of force or torque of the output member

Definitions

  • the invention relates to a method for producing floor surfaces by means of a working machine, in particular a hydraulic excavator, with a one-piece or multi-part excavator equipment with a bucket that can be attached to the floor surface and a lifting cylinder for lifting and lowering the excavator equipment, the lifting cylinder of the excavator equipment being provided by the driver operable control device is operatively connected to at least one working pump, the lifting cylinder being raised, lowered or blocked depending on the switching position of the control device.
  • the invention relates to a working machine, in particular a hydraulic excavator, for producing floor surfaces with a one-piece or multi-part excavator equipment with a bucket that can be attached to the floor surface and a lifting cylinder for lifting and lowering the excavator equipment, the lifting cylinder of the excavator equipment being operated by a control device that can be actuated by the driver is operatively connected to at least one working pump, the lifting cylinder being able to be raised, lowered or blocked depending on the switching position of the control device.
  • a working machine in particular a hydraulic excavator, for producing floor surfaces with a one-piece or multi-part excavator equipment with a bucket that can be attached to the floor surface and a lifting cylinder for lifting and lowering the excavator equipment
  • the lifting cylinder of the excavator equipment being operated by a control device that can be actuated by the driver is operatively connected to at least one working pump, the lifting cylinder being able to be raised, lowered or blocked depending
  • Hydraulic excavators are often used to create flat floor surfaces.
  • the spoon or the spoon cutting edge can be guided over the floor surface to be produced with little or no contact force, since different contact forces can lead to waves in the floor surface.
  • No. 5,855,159 shows a further system in which a pressure control valve is provided in the lower line of the lifting cylinder, which can be switched from normal working pressure to a selectable low pressure. The switching is done by control pressure from an auxiliary pump, which acts on the adjustment of the pressure control valve.
  • the system causes the bucket to dodge in the lifting direction due to digging forces because the hydraulic oil flows out of the piston rod-side cylinder chamber at low pressure via the pressure control valve. Since no hydraulic oil is supplied on the stroke side of the cylinder, the weight of the excavator equipment rests on the bucket.
  • the object of the invention is therefore to provide a solution with which floor surfaces which are as flat as possible can be created in a simpler and faster manner with the aid of working machines, in particular hydraulic excavators.
  • This object is achieved according to the invention in a method of the type mentioned at the outset in that, for weight compensation of the excavator equipment and for setting an approximately constant bearing force of the bucket on the ground surface during the working movement of the excavator equipment, the lifting side of the lifting cylinder after triggering an actuating element is automatically supplied or discharged of a hydraulic medium with an adjustable compensation pressure.
  • the contact force of the spoon on the ground is thus reduced, in particular kept very low and as constant as possible, the control of the contact force taking place automatically to relieve the driver.
  • a suitable hydraulic medium such as pressure oil
  • This procedure relieves the driver considerably, since the control of the boom does not have to be carried out during the work process.
  • This relief and the automatic control means that the bucket can be moved across the floor area much faster and increases efficiency.
  • Another advantage is that the risk of damage to cables and pipes is reduced.
  • the compensation pressure required for weight compensation can be provided in different ways. So it can be generated either by an additional pump or by the work pump itself.
  • the method can be further improved by monitoring the center of gravity of the excavator equipment and automatically adjusting the compensation pressure when the center of gravity is shifted.
  • a generic work machine in particular a hydraulic excavator, which is characterized in that the lifting side of the lifting side of the excavator equipment for weight compensation and for setting an approximately constant bearing force on the floor surface during the working movement of the excavator equipment Lift cylinder is connected via a switchable actuating element to a hydraulic medium supply and discharge device for the application of a constant, adjustable compensation pressure.
  • the hydraulic medium supply and discharge device has a valve arranged in parallel to the control device designed as a control slide, an auxiliary pump and a tank, the valve directing the compensation pressure generated by the auxiliary pump to the stroke side of the lifting cylinder and connects the lower side of the lifting cylinder to the tank, the pressure of the auxiliary pump being adjustable.
  • valve for example, a 4/2-way valve is set by the driver to the "Pia-" kidneys ", which can be done either permanently via a switch or briefly via a button
  • the 4/2-way valve directs the pressure of the auxiliary pump into the lifting line of the lifting cylinder between the spool and lifting cylinder.
  • the lowering line of the cylinder is Directional control valve connected to the tank The control spool remains closed during this process.
  • the pressure of the auxiliary pump is adjustable via a pressure control valve.
  • This pressure control valve can be set to different pressures using a selector switch.
  • the driver uses the selector switch to set such a pressure that almost completely compensates for the weight of the excavator equipment.
  • the control spool When the control spool is in the zero position - the boom lifting cylinder does not need to be controlled when leveling - the leveling takes place and the auxiliary pump including pressure control valve ensure that the excavator equipment is always supported on the bucket with the selected contact force on the ground surface. Moving the arm and the bucket changes the center of gravity of the excavator equipment so that there may be changes in the bucket's bearing force, but these changes are small.
  • the auxiliary pump is designed as an adjustable pressure-controlled variable displacement pump in order to replace the pressure control valve and to avoid energy losses.
  • the pressure control valve or the pressure-controlled variable pump can be switched to pressureless flow or zero delivery when the switches are switched off.
  • the hydraulic medium supply and discharge device is formed by the work pump and the control device, which is designed as a control slide and can be actuated by a manual control valve, can be separated from the manual control valve by a valve and into the lifting position by means of the constant pressure of a control pump is switchable, and that a pressure control valve is arranged in the line from the control slide to the stroke side of the lifting cylinder, in such a way that the compensation pressure can be provided by the working pump. If the excavator operator switches on the leveling process, the control spool is permanently switched to lifting via a valve.
  • a pressure control valve activated at the same time which is arranged in the lifting line between the control slide and the lifting side of the lifting cylinder, controls the pressure so that the weight of the excavator equipment is almost compensated.
  • the lower side of the lifting cylinder is connected to the tank via the control slide.
  • the work pump is switched to a predetermined reduced delivery rate by a pressure reducing valve arranged in the control line to the work pump.
  • a selector switch which can be actuated by the driver is provided.
  • a measuring device for determining the shift in the center of gravity of the excavator equipment e.g. a potentiometer, which detects the angular position of the stick, is provided, which delivers a modulated control signal to the pressure regulating valve or the pressure-controlled variable pump in order to change the compensation pressure in such a way that the contact force of the spoon remains constant during the working movement.
  • 1 is a first imple mentation form of a work machine according to the invention with auxiliary pump and pressure control valve,
  • FIG. 3 shows the embodiment of FIG. 2 with an additional measuring device to provide a constant bucket contact force
  • Fig. 4 shows a further embodiment of the working machine without an auxiliary pump, in which the working pump provides the weight compensation.
  • a work machine namely a hydraulic excavator, is generally designated 1 in FIG. 1.
  • This hydraulic excavator 1 is equipped with excavator equipment consisting of a boom 2, a lifting cylinder 3, a stick cylinder 4, a stick 5, a bucket cylinder 6 and a bucket 7.
  • the lifting cylinder 3 is connected via lines 10, 11 to a control device designed as a control slide 8 with the control spool blocking the lifting cylinder 3 in position 0, lifting the excavator equipment in position 1 and lowering the excavator equipment in position 2.
  • a work pump 9 is provided, which is usually also used for other work functions of the hydraulic excavator 1.
  • the control slide 8 is actuated by the driver by means of a manual control valve 17, which is supplied by a control pump 37, via lines 21, 22.
  • a 4/2-way valve 12 is arranged parallel to the control slide 8 and blocks lines 23, 24 in the idle position (0) and connects an auxiliary pump 29 to the tank.
  • the valve 12 connects the auxiliary pump 29 via the line 23 and the line 11 to the lifting surface of the lifting cylinder 3, while the lower side of the lifting cylinder 3 is connected to the tank via line 10 and line 24.
  • the valve 12 is switched on by a voltage source 26 via a switch 18 or a button 16.
  • the pressure of the auxiliary pump 29 is adjustable via a pressure control valve 13, which can be controlled in a predetermined range by a selector switch 14.
  • a switch 15 is provided which interrupts the power supply as soon as the manual control valve 17 is actuated, which actuates the switch 15 via a shuttle valve 36 and via a line 25.
  • the weight compensation explained in more detail below is switched off when the manual control valve 17 is actuated and the pressure control valve 13 is set to pass through without pressure.
  • FIG. 2 differs from that according to FIG. 1 in that a pressure-controlled variable displacement pump 27 is provided instead of the pressure control valve 13 and the auxiliary pump 29.
  • the pressure of the pressure-controlled variable displacement pump 27 is regulated via a line 31 by means of the selector switch 14 and the pump 27 is switched to zero delivery as soon as the switch 15 interrupts the power supply.
  • FIG. 3 shows the hydraulic excavator 1 according to FIG. 2 with an additional measuring device 32 which is inserted into a control line 31.
  • the measuring device 32 is designed, for example, as a potentiometer and measures the angular position between the arm 5 and the arm 2.
  • the signal for the pressure control valve 13 or the pressure-controlled variable displacement pump 27 is modulated by the measuring device 32 via a line 33, that the positional force of the spoon 7 on the floor surface can be kept constant.
  • FIG. 4 shows a further embodiment of a hydraulic excavator according to the invention, the same reference numerals as in the preceding figures being used, if the same parts are concerned.
  • the work pump 9 is provided in the hydraulic excavator 1 according to FIG. 4 as a pressure source for the weight compensation. Therefore, the pressure control valve 13 is connected to the line 11 to the stroke side of the lifting cylinder 3.
  • a 3/2-way valve 36 switches the line 22 of the manual control valve 17 off when the switches 16 or 18 are actuated and connects the constant pressure of the control pump 37 via a line 38 to the switching side of the control slide, which switches on the lifting process of the lifting cylinder 3 of the boom 2 ,
  • the signal of the switches 16, 18 also causes the activation of the pressure control valve 13 via a selector switch 14 and the reduction of the feed pump 9 by a pressure reducing valve 35, which modulates the signal of the pump control 34 so that a predetermined delivery rate of the working pump is available.
  • the weight compensation is switched off via a shuttle valve 36 and the line 25 with the switch 15 and the control of the control slide 8 is restored by means of the manual control valve 17.
  • the driver switches the switch 18 or, for short operations, the button 16 and thus the valve 12 into position (P) or the valve 36.
  • the driver selects the contact force of the bucket 7 by means of the selector switch 14.
  • the stroke side of the lifting cylinder 3 is now connected to the activated pressure control valve 13 or the pressure-controlled variable displacement pump 27 and supports the boom 2 to the extent selected.
  • the driver then only moves the stick 5 and the bucket 7, the boom 2 is automatically adjusted so that the weight compensation maintains the selected value.
  • the movement of the bucket 7 increases due to this movement.
  • a slight increase in the bearing force causes the boom 2 to be automatically raised immediately such a measure that the spoon 7 continues to rest on the floor surface with the selected low contact force.
  • the auxiliary pump 29 or the working pump 9 is permanently connected to the lifting surface of the lifting cylinder 3, the pressure oil required for lifting the boom 2 is always available. If the spoon 7 is moved on the floor surface in such a way that the boom 2 has to be lowered, it is automatically lowered as soon as the spoon 7 begins to lose contact with the ground and the set contact force gives the necessary lowering force.
  • the hydraulic oil then flows from the lifting side of the lifting cylinder 3 via the pressure control valve 13, while the lower side is connected to the tank and can suck up hydraulic oil.
  • the spoon 7 automatically follows the course of the floor surface with almost constant contact force.
  • the actual control slide 8 of the lifting cylinder 3 does not have to be actuated and can remain in the blocking position. If the driver is also switched on with the manual control valve 17 via line 22 with the weight compensation switched on, the control slide 8 is interrupted, the weight compensation is interrupted and the boom 2 can be controlled by the driver.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Fluid Mechanics (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Paleontology (AREA)
  • Operation Control Of Excavators (AREA)
  • Soil Working Implements (AREA)

Abstract

The invention relates to a method for producing ground surfaces using a construction machine (1), especially a hydraulic excavator. Said construction machine comprises excavating equipment (2, 5, 7) which consists of one part or of multiple parts and which is equipped with a shovel (7) that can be placed on the ground surface. The construction machine also comprises a lifting cylinder (3) for lifting and lowering said excavating equipment. The lifting cylinder (3) of the excavating equipment is operationally connected to at least one work pump (9) via a control device (17, 8) that can be operated by a driver. In order to effect a weight compensation of the excavating equipment (2, 5, 7) and to adjust an approximately constant application force of the shovel (7) on the ground surface, the lifting side of the lifting cylinder (3) is, after actuating an operating element (16, 18), automatically subjected to the action of the adjustable compensating pressure of the pump (29) by supplying or evacuating the hydraulic medium.

Description

"Verfahren und Arbeitsmaschine zur Herstellung von Bodenflächen" "Process and machine for the production of floor surfaces"
Die Erfindung betrifft ein Verfahren zur Herstellung von Bodenflächen mittels einer Arbeitsmaschine, insbesondere eines Hydraulikbaggers, mit einer ein- oder mehrteiligen Baggerausrüstung mit einem auf die Bodenfläche aufbringbaren Löffel und einem Hubzylinder zum Heben und Senken der Baggerausrüstung, wobei der Hubzylinder der Baggerausrüstung über eine vom Fahrer betätigbare Steuereinrichtung mit wenigstens einer Arbeitspumpe wirkmäßig verbunden ist, wobei in Abhängigkeit von der Schaltstellung der Steuereinrichtung der Hubzylinder angehoben, abgesenkt oder blockiert wird.The invention relates to a method for producing floor surfaces by means of a working machine, in particular a hydraulic excavator, with a one-piece or multi-part excavator equipment with a bucket that can be attached to the floor surface and a lifting cylinder for lifting and lowering the excavator equipment, the lifting cylinder of the excavator equipment being provided by the driver operable control device is operatively connected to at least one working pump, the lifting cylinder being raised, lowered or blocked depending on the switching position of the control device.
Ferner betrifft die Erfindung eine Arbeitsmaschine, insbesondere einen Hydraulikbagger, zur Herstellung von Bodenflächen mit einer ein- oder mehrteiligen Baggerausrüstung mit einem auf die Bodenfläche aufbringbaren Löffel und einem Hubzylinder zum Heben und Senken der Baggerausrüstung, wobei der Hubzylinder der Baggerausrüstung über eine vom Fahrer betätigbare Steuereinrichtung mit wenigstens einer Arbeitspumpe wirkmäßig verbunden ist, wobei in Abhängigkeit von der Schaltstellung der Steuereinrichtung der Hubzylinder heb-, senk- oder blockierbar ist.Furthermore, the invention relates to a working machine, in particular a hydraulic excavator, for producing floor surfaces with a one-piece or multi-part excavator equipment with a bucket that can be attached to the floor surface and a lifting cylinder for lifting and lowering the excavator equipment, the lifting cylinder of the excavator equipment being operated by a control device that can be actuated by the driver is operatively connected to at least one working pump, the lifting cylinder being able to be raised, lowered or blocked depending on the switching position of the control device.
Hydraulikbagger werden häufig zum Herstellen von ebenen Bodenflächen eingesetzt. Zu diesem Zweck muß der Löffel bzw. die Löffelschneide ohne oder nur mit leichter Auflagekraft über die herzustellenden Bodenfläche geführt werden, da unterschiedliche Auflagekräfte zu Wellen in der Bodenfläche führen können.Hydraulic excavators are often used to create flat floor surfaces. For this purpose the spoon or the spoon cutting edge can be guided over the floor surface to be produced with little or no contact force, since different contact forces can lead to waves in the floor surface.
Da das Führen des Löffels mit kontrollierter Auflagekraft über eine ebene Bodenfläche bei Hydraulikbaggern die gleichzeitige Bewegungen von drei Zylindern (Hubzylinder, Stielzylinder, Löffelzylinder ) erforderlich macht, ist eine außerordentliche Geschicklichkeit des Fahrers erforderlich, um diese Operation gut durchzuführen. Wird z.B. der Stiel der Baggerausrüstung bewegt, so muß gleichzeitig der gesamte Ausleger gehoben oder gesenkt werden, um die Löffelschneide auf der ebenen Bodenfläche zu halten. Werden gleichzeitig Stiel und Löffel bewegt, wird die Korrektur des Auslegers noch erheblich komplexer.Because moving the bucket with controlled contact force over a flat floor surface in hydraulic excavators requires the simultaneous movements of three cylinders (lifting cylinder, stick cylinder, bucket cylinder), extraordinary skill of the driver is required to perform this operation well. E.g. If the arm of the excavator equipment moves, the entire boom must be raised or lowered at the same time in order to keep the bucket blade on the flat floor surface. If the stick and the spoon are moved at the same time, the correction of the boom becomes even more complex.
Daher sind verschiedene Konstruktionen bekannt geworden, die den Fahrer von Hydraulikbaggern bei der Herstellung von ebenen Bodenflächen unterstützen sollen. Neben mechanischen Führungen des Löffels mittels Parallelogramm-Kinematik oder mittels elektronisch bahngesteuerter Bewegung des Löffels sind weitere einfachere Unterstützungssysteme bekannt geworden.Various designs have therefore become known which are intended to assist the operator of hydraulic excavators in the production of flat floor surfaces. In addition to mechanical guidance of the spoon by means of parallelogram kinematics or by means of electronically path-controlled movement of the spoon, further simpler support systems have become known.
So sind Ausführungen bekannt, bei denen die Hubzylinder in sogenannte Schwimmstellung geschaltet werden. Dabei werden beide Seiten der Hubzylinder mit dem Tank verbunden. Das Eigengewicht der Baggerausrüstung lastet auf dem Löffel und der Ausleger hebt und senkt sich dann, je nachdem wie der Untergrund beschaffen ist. Nachteilig ist, daß das Gewicht der gesamten Baggerausrüstung voll auf dem Löffel lastet und der Löffel dadurch die Tendenz hat, tiefer in den Boden einzudringen. Eine saubere ebene Bodenfläche ist damit nicht herzustellen.Versions are known in which the lifting cylinder be switched to the so-called floating position. Both sides of the lifting cylinders are connected to the tank. The weight of the excavator equipment rests on the bucket and the boom rises and falls depending on the nature of the ground. It is disadvantageous that the weight of the entire excavator equipment rests fully on the bucket and the bucket thus tends to penetrate deeper into the ground. A clean, flat floor surface cannot be created with it.
In US 5,855,159 ist ein weiteres System dargestellt, bei dem in der Senkleitung des Hubzylinders ein Druckregelventil vorgesehen ist, das vom normalen Arbeitsdruck auf einen wählbaren niedrigen Druck geschaltet werden kann. Die Schaltung erfolgt durch Steuerdruck von einer Hilfspumpe, der auf die Verstellung des Druckregelventils wirkt. Das System bewirkt, daß der Löffel durch Grabkräfte in Hubrichtung ausweichen kann, weil das Hydrauliköl aus dem kolbenstangenseitigen Zylinderraum unter niedrigem Druck über das Druckregelventil abfließt. Da auf die Hubseite des Zylinders kein Hydrauliköl nachgefördert wird, lastet das Gewicht der Baggerausrüstung auf dem Löffel.No. 5,855,159 shows a further system in which a pressure control valve is provided in the lower line of the lifting cylinder, which can be switched from normal working pressure to a selectable low pressure. The switching is done by control pressure from an auxiliary pump, which acts on the adjustment of the pressure control valve. The system causes the bucket to dodge in the lifting direction due to digging forces because the hydraulic oil flows out of the piston rod-side cylinder chamber at low pressure via the pressure control valve. Since no hydraulic oil is supplied on the stroke side of the cylinder, the weight of the excavator equipment rests on the bucket.
Dieses System stellt somit keine Unterstützung des Fahrers zur Herstellung von ebenen Bodenflächen dar, da die Kraft zum Anheben der Baggerausrüstung aus dem Gewicht der Baggerausrüstung zzgl. der verbleibenden kolbenstan- genseitigen Zylinderkraft besteht. Diese Kräfte führen zum Eindringen des Löffels in den Boden.This system therefore does not support the driver in the production of flat floor surfaces, since the Power to lift the excavator equipment consists of the weight of the excavator equipment plus the remaining cylinder force on the piston rod side. These forces cause the spoon to penetrate the soil.
Aufgabe der Erfindung ist es deshalb, eine Lösung zu schaffen, mit der auf einfachere und schnellere Weise möglichst ebene Bodenflächen mit Hilfe von Arbeitsmaschinen, insbesondere Hydraulikbaggern, geschaffen werden können.The object of the invention is therefore to provide a solution with which floor surfaces which are as flat as possible can be created in a simpler and faster manner with the aid of working machines, in particular hydraulic excavators.
Diese Aufgabe wird bei einem Verfahren der eingangs bezeichneten Art erfindungsgemäß dadurch gelöst, daß zur Gewichtskompensation der Baggerausrüstung und zur Einstellung einer annähernd konstanten Auflagekraft des Löffels auf die Bodenfläche während der Arbeitsbewegung der Baggerausrüstung die Hubseite des Hubzylinders nach Auslösung eines Betätigungselementes automatisch durch Zu- oder Ableitung eines Hydraulikmediums mit einem einstellbaren Kompensationsdruck beaufschlagt wird.This object is achieved according to the invention in a method of the type mentioned at the outset in that, for weight compensation of the excavator equipment and for setting an approximately constant bearing force of the bucket on the ground surface during the working movement of the excavator equipment, the lifting side of the lifting cylinder after triggering an actuating element is automatically supplied or discharged of a hydraulic medium with an adjustable compensation pressure.
Erfindungsgemäß wird somit die Auflagekraft des Löffels auf den Boden reduziert, und zwar insbesondere sehr gering und möglichst konstant gehalten, wobei die Steuerung der Auflagekraft zur Entlastung des Fahrers automatisch erfolgt. Zu diesem Zweck wird die Kolbenseite des Hubzy- linders mit einem geeigneten Hydraulikmedium, z.B. Druck- öl, versorgt, welches das Gewicht der Baggerausrüstung weitgehend kompensiert und damit die Auflagekraft des Löffels auf der Bodenfläche auf einen niedrigen Wert bringt oder ganz eliminiert. Dieses Verfahren entlastet den Fahrer erheblich, da die Steuerung des Auslegers während des Arbeitsvorganges nicht vorgenommen werden muß. Durch diese Entlastung und die automatische Steuerung kann der Löffel wesentlich schneller über die Bodenfläche geführt werden und erhöht die Wirtschaftlichkeit. Ein weiterer Vorteil ist, daß die Gefahr der Beschädigungen von Kabeln und Rohrleitungen vermindert wird.According to the invention, the contact force of the spoon on the ground is thus reduced, in particular kept very low and as constant as possible, the control of the contact force taking place automatically to relieve the driver. For this purpose the piston side of the stroke linders supplied with a suitable hydraulic medium, such as pressure oil, which largely compensates for the weight of the excavator equipment and thus brings the bucket's contact force to the ground surface to a low value or eliminates it entirely. This procedure relieves the driver considerably, since the control of the boom does not have to be carried out during the work process. This relief and the automatic control means that the bucket can be moved across the floor area much faster and increases efficiency. Another advantage is that the risk of damage to cables and pipes is reduced.
Der zur Gewichtskompensation erforderliche Kompensationsdruck kann auf unterschiedliche Weise bereitgestellt werden. So kann er entweder von einer zusätzlichen Pumpe oder von der Arbeitspumpe selbst erzeugt werden.The compensation pressure required for weight compensation can be provided in different ways. So it can be generated either by an additional pump or by the work pump itself.
Das Verfahren kann noch weiter dadurch verbessert werden, daß die Schwerpunktlage der Baggerausrüstung überwacht und bei Schwerpunktverlagerung der Kompensationsdruck automatisch angepaßt wird.The method can be further improved by monitoring the center of gravity of the excavator equipment and automatically adjusting the compensation pressure when the center of gravity is shifted.
Um ggf. ein manuelles Eingreifen des Fahrers zu ermöglichen, ist weiterhin vorgesehen, daß bei Betätigung der Steuereinrichtung durch den Fahrer die Kompensations- druckbeaufschlagung beendet wird.In order to enable the driver to intervene manually, it is further provided that when the driver actuates the control device, the compensation pressurization is ended.
Zur Lösung der eingangs gestellten Aufgabe sieht die Erfindung auch eine gattungsgemäße Arbeitsmaschine, insbesondere einen Hydraulikbagger, vor, die sich dadurch auszeichnet, daß zur Gewichtskompensation der Baggerausrüstung und zur Einstellung einer annähernd konstanten Auflagekraft des Löffels auf die Bodenfläche während der Arbeitsbewegung der Baggerausrüstung die Hubseite des Hubzylinders über ein schaltbares Betätigungselement mit einer Hydraulikmediumzu- und -abführeinrichtung zur Beaufschlagung mit einem konstanten einstellbaren Kompensationsdruck verbunden ist.To achieve the object set forth in the invention, there is also a generic work machine, in particular a hydraulic excavator, which is characterized in that the lifting side of the lifting side of the excavator equipment for weight compensation and for setting an approximately constant bearing force on the floor surface during the working movement of the excavator equipment Lift cylinder is connected via a switchable actuating element to a hydraulic medium supply and discharge device for the application of a constant, adjustable compensation pressure.
Bei einer ersten Ausgestaltung der Arbeitsmaschine ist vorgesehen, daß die Hydraulikmediumzu- und -abführein- richtung ein parallel zur als Steuerschieber ausgebildeten Steuereinrichtung angeordnetes Ventil, eine Hilfspumpe und einen Tank aufweist, wobei das Ventil den von der Hilfspumpe erzeugten Kompensationsdruck auf die Hubseite des Hubzylinders leitet und die Senkseite des Hubzylinders mit dem Tank verbindet, wobei der Druck der Hilfspumpe einstellbar ist.In a first embodiment of the working machine it is provided that the hydraulic medium supply and discharge device has a valve arranged in parallel to the control device designed as a control slide, an auxiliary pump and a tank, the valve directing the compensation pressure generated by the auxiliary pump to the stroke side of the lifting cylinder and connects the lower side of the lifting cylinder to the tank, the pressure of the auxiliary pump being adjustable.
Wird das Ventil beispielsweise ein 4/2-Wegeventil vom Fahrer über das Betätigungselement in die Position "Pia- nieren" geschaltet, was entweder dauerhaft über einen Schalter oder kurzzeitig über einen Taster geschehen kann, leitet das 4/2- Wegeventil den Druck der Hilfspumpe in die Hubleitung des Hubzylinders zwischen Steuerschieber und Hubzylinder. Die Senkleitung des Zylinders wird durch das 4/2-Wegeventil mit dem Tank verbunden. Der Steuerschieber bleibt während dieses Vorganges geschlossen .If the valve, for example, a 4/2-way valve is set by the driver to the "Pia-" kidneys ", which can be done either permanently via a switch or briefly via a button, the 4/2-way valve directs the pressure of the auxiliary pump into the lifting line of the lifting cylinder between the spool and lifting cylinder. The lowering line of the cylinder is Directional control valve connected to the tank The control spool remains closed during this process.
Um den Kompensationsdruck einstellen zu können, ist vorteilhaft vorgesehen, daß der Druck der Hilfspumpe über ein Druckregelventil einstellbar ist. Dieses Druckregelventil kann über einen Wahlschalter auf verschiedene Drücke eingestellt werden. Der Fahrer stellt über den Wahlschalter einen solchen Druck ein, der das Gewicht der Baggerausrüstung fast vollständig kompensiert. In der Nullstellung des Steuerschiebers - der Hubzylinder des Auslegers braucht beim Planieren nicht gesteuert zu werden - findet das Planieren statt und die Hilfspumpe samt Druckregelventil sorgen dafür, daß sich die Baggerausrüstung über den Löffel immer mit der gewählten Auflagekraft auf der Bodenfläche abstützt. Durch das Bewegen des Stiels und des Löffels verändert sich zwar der Schwerpunkt der Baggerausrüstung, so daß es Veränderungen in der Auflagekraft des Löffels geben kann, diese Veränderungen sind jedoch klein. Anstelle einer Hilfspumpe mit Druckregelventil kann alternativ auch vorgesehen sein, daß die Hilfspumpe als einstellbare druckgeregelte Verstellpumpe ausgebildet ist, um das Druckregelventil zu ersetzen und Energieverluste zu vermeiden.In order to be able to set the compensation pressure, provision is advantageously made for the pressure of the auxiliary pump to be adjustable via a pressure control valve. This pressure control valve can be set to different pressures using a selector switch. The driver uses the selector switch to set such a pressure that almost completely compensates for the weight of the excavator equipment. When the control spool is in the zero position - the boom lifting cylinder does not need to be controlled when leveling - the leveling takes place and the auxiliary pump including pressure control valve ensure that the excavator equipment is always supported on the bucket with the selected contact force on the ground surface. Moving the arm and the bucket changes the center of gravity of the excavator equipment so that there may be changes in the bucket's bearing force, but these changes are small. Instead of an auxiliary pump with a pressure control valve, it can alternatively also be provided that the auxiliary pump is designed as an adjustable pressure-controlled variable displacement pump in order to replace the pressure control valve and to avoid energy losses.
Zur Energieeinsparung kann das Druckregelventil bzw. die druckgeregelte Verstellpumpe bei ausgeschalteten Schaltern auf drucklosen Durchlauf bzw. auf Nullförderung geschaltet werden.To save energy, the pressure control valve or the pressure-controlled variable pump can be switched to pressureless flow or zero delivery when the switches are switched off.
In einer zweiten Ausgestaltung der Arbeitsmaschine ist vorgesehen, daß die Hydraulikmediumzu- und -abführein- richtung von der Arbeitspumpe gebildet ist und die als Steuerschieber ausgebildete, von einem Handsteuerventil betätigbare Steuereinrichtung durch ein Ventil vom Handsteuerventil trennbar und über den konstanten Druck einer Steuerpumpe in die Hebeposition schaltbar ist, und daß in der Leitung vom Steuerschieber zur Hubseite des Hubzylinders ein Druckregelventil angeordnet ist, derart, daß der Kompensationsdruck von der Arbeitspumpe bereitstellbar ist. Schaltet der Baggerfahrer den Planiervorgang ein, so wird der Steuerschieber über ein Ventil dauerhaft auf Heben geschaltet. Ein gleichzeitig aktiviertes Druckregelventil, das in der Hubleitung zwischen dem Steuerschieber und der Hubseite des Hubzylinders angeordnet ist, steuert den Druck so, daß das Gewicht der Baggerausrüstung nahezu kompensiert wird. Die Senkseite des Hubzylinders ist über den Steuerschieber dabei mit dem Tank verbunden. Zeitgleich damit wird die Arbeitspumpe auf eine vorbestimmte reduzierte Fördermenge durch ein in der Steuerleitung zur Arbeitspumpe angeordnetes Druckreduzierventil geschaltet.In a second embodiment of the working machine, it is provided that the hydraulic medium supply and discharge device is formed by the work pump and the control device, which is designed as a control slide and can be actuated by a manual control valve, can be separated from the manual control valve by a valve and into the lifting position by means of the constant pressure of a control pump is switchable, and that a pressure control valve is arranged in the line from the control slide to the stroke side of the lifting cylinder, in such a way that the compensation pressure can be provided by the working pump. If the excavator operator switches on the leveling process, the control spool is permanently switched to lifting via a valve. A pressure control valve activated at the same time, which is arranged in the lifting line between the control slide and the lifting side of the lifting cylinder, controls the pressure so that the weight of the excavator equipment is almost compensated. The lower side of the lifting cylinder is connected to the tank via the control slide. At the same time, the work pump is switched to a predetermined reduced delivery rate by a pressure reducing valve arranged in the control line to the work pump.
Um auf einfache Weise den Kompensationsdruck einstellen zu können, ist ein vom Fahrer betätigbarer Wahlschalter vorgesehen.In order to be able to set the compensation pressure in a simple manner, a selector switch which can be actuated by the driver is provided.
Die beim Planieren durch die Stielbewegung entstehende Schwerpunktsverlagerung verändert die Auflagekraft des Löffels. Um sie exakt konstant halten zu können, ist vorteilhaft vorgesehen, daß in einer Steuerleitung zum Druckregelventil oder zur druckgeregelten Verstellpumpe ein Meßgerät zur Ermittlung der Schwerpunktverlagerung der Baggerausrüstung, z.B. ein Potentiometer, das die Winkelstellung des Stiels feststellt, vorgesehen ist, welches an das Druckregelventil oder die druckgeregelte Verstellpumpe ein moduliertes Steuersignal liefert, um den Kompensationsdruck derart zu verändern, daß die Auf- lagekraft des Löffels während der Arbeitsbewegung konstant bleibt.The shift in the center of gravity caused by the stick movement changes the contact force of the bucket. In order to be able to keep it exactly constant, it is advantageously provided that in a control line to the pressure regulating valve or to the pressure-controlled variable pump, a measuring device for determining the shift in the center of gravity of the excavator equipment, e.g. a potentiometer, which detects the angular position of the stick, is provided, which delivers a modulated control signal to the pressure regulating valve or the pressure-controlled variable pump in order to change the compensation pressure in such a way that the contact force of the spoon remains constant during the working movement.
Die Erfindung ist nachstehend anhand der Zeichnung bei- spielhaft näher beschrieben. Diese zeigt inThe invention is below with reference to the drawing playfully described in more detail. This shows in
Fig. 1 eine erste Aus führungsform einer erfindungsgemäßen Arbeitsmaschine mit Hilfspumpe und Druckregelventil,1 is a first imple mentation form of a work machine according to the invention with auxiliary pump and pressure control valve,
Fig. 2 eine zweite Ausführungsform mit druckgeregelter Verstellpumpe ,2 shows a second embodiment with a pressure-controlled variable displacement pump,
Fig. 3 die Ausführungs form nach Fig. 2 mit einer zusätzlichen Meßeinrichtung zur Bereitstellung einer konstanten Löffelauflagekraft undFig. 3 shows the embodiment of FIG. 2 with an additional measuring device to provide a constant bucket contact force and
Fig. 4 eine weitere Ausführungsform der Arbeitsmaschine ohne Hilfspumpe, bei der die Arbeitspumpe die Gewichtskompensation bereitstellt .Fig. 4 shows a further embodiment of the working machine without an auxiliary pump, in which the working pump provides the weight compensation.
In Fig. 1 ist eine Arbeitsmaschine, nämlich ein Hydraulikbagger, allgemein mit 1 bezeichnet. Dieser Hydraulikbagger 1 ist mit einer Baggerausrüstung ausgestattet, die aus einem Ausleger 2, einem Hubzylinder 3, einem Stielzy- linder 4, einem Stiel 5, einem Löffelzylinder 6 und einem Löffel 7 besteht.A work machine, namely a hydraulic excavator, is generally designated 1 in FIG. 1. This hydraulic excavator 1 is equipped with excavator equipment consisting of a boom 2, a lifting cylinder 3, a stick cylinder 4, a stick 5, a bucket cylinder 6 and a bucket 7.
Der Hubzylinder 3 ist über Leitungen 10, 11 mit einer als Steuerschieber 8 ausgebildeten Steuereinrichtung verbun- den, wobei der Steuerschieber in Position 0 den Hubzylinder 3 blockiert, in der Position 1 die Baggerausrüstung anhebt und in der Position 2 die Baggerausrüstung absenkt .The lifting cylinder 3 is connected via lines 10, 11 to a control device designed as a control slide 8 with the control spool blocking the lifting cylinder 3 in position 0, lifting the excavator equipment in position 1 and lowering the excavator equipment in position 2.
Zur Versorgung des Steuerschiebers 8 mit einem Hydraulikmedium ist eine Arbeitspumpe 9 vorgesehen, die üblicherweise auch für weitere Arbeitsfunktionen des Hydraulikbaggers 1 eingesetzt wird. Der Steuerschieber 8 wird vom Fahrer mittels eines Handsteuerventils 17, das von einer Steuerpumpe 37 versorgt wird, über Leitungen 21, 22 betätigt .To supply the control slide 8 with a hydraulic medium, a work pump 9 is provided, which is usually also used for other work functions of the hydraulic excavator 1. The control slide 8 is actuated by the driver by means of a manual control valve 17, which is supplied by a control pump 37, via lines 21, 22.
Parallel zum Steuerschieber 8 ist ein 4/2-Wegeventil 12 angeordnet, das in Ruhestellung (0) Leitungen 23, 24 sperrt und eine Hilfspumpe 29 mit dem Tank verbindet. In geschalteter Stellung P verbindet das Ventil 12 die Hilfspumpe 29 über die Leitung 23 und die Leitung 11 mit der Hubfläche des Hubzylinders 3, während die Senkseite des Hubzylinders 3 über die Leitung 10 und die Leitung 24 mit dem Tank verbunden wird. Das Ventil 12 wird über einen Schalter 18 oder einen Taster 16 von einer Spannungsquelle 26 eingeschaltet. Der Druck der Hilfspumpe 29 ist über ein Druckregelventil 13 einstellbar, das durch einen Wahlschalter 14 in vorgegebenen Bereichen geregelt werden kann. Hinter den parallel geschalteten Schaltern 16, 18 ist ein Schalter 15 vorgesehen, der die Stromversorgung unterbricht, sobald das Handsteuerventil 17 betätigt wird, welches über ein Wechselventil 36 und über eine Leitung 25 den Schalter 15 betätigt. Damit wird die nachfolgend näher erläuterte Gewichtskompensation bei Betätigung des Handsteuerventils 17 ausgeschaltet und das Druckregelventil 13 auf drucklosen Durchlauf gestellt.A 4/2-way valve 12 is arranged parallel to the control slide 8 and blocks lines 23, 24 in the idle position (0) and connects an auxiliary pump 29 to the tank. In the switched position P, the valve 12 connects the auxiliary pump 29 via the line 23 and the line 11 to the lifting surface of the lifting cylinder 3, while the lower side of the lifting cylinder 3 is connected to the tank via line 10 and line 24. The valve 12 is switched on by a voltage source 26 via a switch 18 or a button 16. The pressure of the auxiliary pump 29 is adjustable via a pressure control valve 13, which can be controlled in a predetermined range by a selector switch 14. Behind the switches 16, 18 connected in parallel, a switch 15 is provided which interrupts the power supply as soon as the manual control valve 17 is actuated, which actuates the switch 15 via a shuttle valve 36 and via a line 25. Thus, the weight compensation explained in more detail below is switched off when the manual control valve 17 is actuated and the pressure control valve 13 is set to pass through without pressure.
Die Ausführungsform nach Fig. 2 unterscheidet sich von derjenigen nach Fig. 1 dadurch, daß anstelle des Druckregelventils 13 und der Hilfspumpe 29 eine druckgeregelte Verstellpumpe 27 vorgesehen ist. Der Druck der druckgeregelten Verstellpumpe 27 wird über eine Leitung 31 mittels des Wahlschalters 14 geregelt und die Pumpe 27 wird auf Nullförderung geschaltet, sobald der Schalter 15 die Stromversorgung unterbricht .The embodiment according to FIG. 2 differs from that according to FIG. 1 in that a pressure-controlled variable displacement pump 27 is provided instead of the pressure control valve 13 and the auxiliary pump 29. The pressure of the pressure-controlled variable displacement pump 27 is regulated via a line 31 by means of the selector switch 14 and the pump 27 is switched to zero delivery as soon as the switch 15 interrupts the power supply.
Fig. 3 zeigt den Hydraulikbagger 1 nach Fig. 2 mit einem zusätzlichen Meßgerät 32, das in eine Steuerleitung 31 eingefügt ist. Das Meßgerät 32 ist beispielsweise als Potentiometer ausgebildet und mißt die Winkelstellung zwischen dem Stiel 5 und dem Ausleger 2. Abhängig von der Stellung des Stiels 5 wird vom Meßgerät 32 das Signal für das Druckregelventil 13 oder die druckgeregelte Verstellpumpe 27 über eine Leitung 33 so moduliert, daß die Auf- lagekraft des Löffels 7 auf der Bodenfläche konstant gehalten werden kann.FIG. 3 shows the hydraulic excavator 1 according to FIG. 2 with an additional measuring device 32 which is inserted into a control line 31. The measuring device 32 is designed, for example, as a potentiometer and measures the angular position between the arm 5 and the arm 2. Depending on the position of the arm 5, the signal for the pressure control valve 13 or the pressure-controlled variable displacement pump 27 is modulated by the measuring device 32 via a line 33, that the positional force of the spoon 7 on the floor surface can be kept constant.
Fig. 4 zeigt eine weitere Ausführungsform eines erfindungsgemäßen Hydraulikbaggers, wobei, sofern gleiche Teile betroffen sind, dieselben Bezugszeichen wie in den vorangehenden Figuren verwandt sind.FIG. 4 shows a further embodiment of a hydraulic excavator according to the invention, the same reference numerals as in the preceding figures being used, if the same parts are concerned.
Im Unterschied zu den vorbeschriebenen Ausführungsformen ist bei dem Hydraulikbagger 1 nach Fig. 4 als Druckquelle für die Gewichtskompensation die Arbeitspumpe 9 vorgesehen. Daher ist das Druckregelventil 13 an die Leitung 11 zur Hubseite des Hubzylinders 3 angeschlossen. Ein 3/2- Wegeventil 36 schaltet bei Betätigung der Schalter 16 oder 18 die Leitung 22 des Handsteuerventils 17 ab und verbindet den konstanten Druck der Steuerpumpe 37 über eine Leitung 38 mit der Schaltseite des Steuerschiebers, die den Hubvorgang des Hubzylinders 3 des Auslegers 2 einschaltet .In contrast to the above-described embodiments, the work pump 9 is provided in the hydraulic excavator 1 according to FIG. 4 as a pressure source for the weight compensation. Therefore, the pressure control valve 13 is connected to the line 11 to the stroke side of the lifting cylinder 3. A 3/2-way valve 36 switches the line 22 of the manual control valve 17 off when the switches 16 or 18 are actuated and connects the constant pressure of the control pump 37 via a line 38 to the switching side of the control slide, which switches on the lifting process of the lifting cylinder 3 of the boom 2 ,
Das Signal der Schalter 16, 18 bewirkt ferner die Aktivierung des Druckregelventils 13 über einen Wahlschalter 14 sowie die Reduzierung der Förderpumpe 9 durch ein Druckreduzierventil 35, welches das Signal der Pumpensteuerung 34 so moduliert, daß eine vorgegebene Fördermenge der Arbeitspumpe zur Verfügung steht. Bei Betäti- gung des Handsteuerventils 17 wird über ein Wechselventil 36 und die Leitung 25 mit dem Schalter 15 die Gewichtskompensation ausgeschaltet und die Steuerung des Steuerschiebers 8 mittels des Handsteuerventils 17 wieder hergestellt .The signal of the switches 16, 18 also causes the activation of the pressure control valve 13 via a selector switch 14 and the reduction of the feed pump 9 by a pressure reducing valve 35, which modulates the signal of the pump control 34 so that a predetermined delivery rate of the working pump is available. With actuation supply of the manual control valve 17, the weight compensation is switched off via a shuttle valve 36 and the line 25 with the switch 15 and the control of the control slide 8 is restored by means of the manual control valve 17.
Die Funktionsweise der vorbeschriebenen Hydraulikbagger 1 zur Herstellung einer annähernd ebenen Bodenfläche ist die folgende:The operation of the hydraulic excavator 1 described above for producing an approximately flat floor surface is as follows:
Soll der Hydraulikbagger 1 zum Planieren oder für ähnliche Arbeiten eingesetzt werden, schaltet der Fahrer den Schalter 18 oder für kurze Einsätze den Taster 16 und damit das Ventil 12 in Position (P) bzw. das Ventil 36. Gleichzeitig wählt er die Auflagekraft des Löffels 7 mittels des Wahlschalters 14 vor. Die Hubseite des Hubzylinders 3 ist jetzt mit dem aktivierten Druckregelventil 13 oder der druckgeregelten Verstellpumpe 27 verbunden und stützt den Ausleger 2 in dem gewählten Maß ab. Zum Planieren werden vom Fahrer dann nur der Stiel 5 und der Löffel 7 bewegt, der Ausleger 2 wird automatisch so verstellt, daß die Gewichtskompensation den gewählten Wert einhält .If the hydraulic excavator 1 is to be used for leveling or for similar work, the driver switches the switch 18 or, for short operations, the button 16 and thus the valve 12 into position (P) or the valve 36. At the same time, he selects the contact force of the bucket 7 by means of the selector switch 14. The stroke side of the lifting cylinder 3 is now connected to the activated pressure control valve 13 or the pressure-controlled variable displacement pump 27 and supports the boom 2 to the extent selected. For leveling, the driver then only moves the stick 5 and the bucket 7, the boom 2 is automatically adjusted so that the weight compensation maintains the selected value.
Wird die Gewichtskompensation so gewählt, daß der Löffel 7 mit einer sehr geringen Kraft auf der ebenen Bodenflä- ehe aufliegt, ergeben sich durch das Verfahren folgende Abläufe:If the weight compensation is chosen so that the spoon 7 with a very low force on the flat floor surface Before it is applied, the procedure results in the following processes:
Wird der Löffel 7 auf einer Bodenfläche so bewegt, daß der Ausleger 2 gehoben werden muß, um den Flächenverlauf zu folgen, so erhöht sich durch diese Bewegung die Auflagekraft des Löffels 7. Eine geringfügige Erhöhung der Auflagekraft bewirkt ein sofortiges automatisches Anheben des Auslegers 2 um ein solches Maß, daß der Löffel 7 weiterhin mit der gewählten geringen Auflagekraft auf der Bodenfläche aufliegt. Da die Hilfspumpe 29 bzw. die Arbeitspumpe 9 mit der Hubfläche des Hubzylinders 3 permanent verbunden ist, steht das erforderliche Drucköl zum Anheben des Auslegers 2 ständig zur Verfügung. Wird der Löffel 7 auf der Bodenfläche so bewegt, daß der Ausleger 2 gesenkt werden muß, wird dieser automatisch gesenkt, sobald der Löffel 7 beginnt, den Bodenkontakt zu verlieren und die eingestellte Auflagekraft die notwendige Senkkraft gibt. Das Hydrauliköl fließt dann von der Hubseite des Hubzylinders 3 über das Druckregelventil 13 ab, während die Senkseite mit dem Tank verbunden ist und Hydrauliköl nachsaugen kann.If the bucket 7 is moved on a floor surface in such a way that the boom 2 has to be lifted in order to follow the course of the surface, the movement of the bucket 7 increases due to this movement. A slight increase in the bearing force causes the boom 2 to be automatically raised immediately such a measure that the spoon 7 continues to rest on the floor surface with the selected low contact force. Since the auxiliary pump 29 or the working pump 9 is permanently connected to the lifting surface of the lifting cylinder 3, the pressure oil required for lifting the boom 2 is always available. If the spoon 7 is moved on the floor surface in such a way that the boom 2 has to be lowered, it is automatically lowered as soon as the spoon 7 begins to lose contact with the ground and the set contact force gives the necessary lowering force. The hydraulic oil then flows from the lifting side of the lifting cylinder 3 via the pressure control valve 13, while the lower side is connected to the tank and can suck up hydraulic oil.
Auf diese Weise folgt der Löffel 7 automatisch mit nahezu gleichbleibender Auflagekraft dem Bodenflächenverlauf. Während der vorstehend dargestellten Vorgänge muß der eigentliche Steuerschieber 8 des Hubzylinders 3 nicht betätigt werden und kann in der Blockierstellung verbleiben. Wird mit eingeschalteter Gewichtskompensation vom Fahrer zusätzlich mit Handsteuerventil 17 über die Leitung 22 der Steuerschieber 8 eingeschaltet, so wird die Gewichtskompensation unterbrochen und der Ausleger 2 kann vom Fahrer gesteuert werden. In this way, the spoon 7 automatically follows the course of the floor surface with almost constant contact force. During the processes described above, the actual control slide 8 of the lifting cylinder 3 does not have to be actuated and can remain in the blocking position. If the driver is also switched on with the manual control valve 17 via line 22 with the weight compensation switched on, the control slide 8 is interrupted, the weight compensation is interrupted and the boom 2 can be controlled by the driver.

Claims

Ansprüche: Expectations:
1. Verfahren zur Herstellung von Bodenflächen mittels einer Arbeitsmaschine, insbesondere eines Hydraulikbaggers, mit einer ein- oder mehrteiligen Baggerausrüstung mit einem auf die Bodenfläche aufbringbaren Löffel und einem Hubzylinder zum Heben und Senken der Baggerausrüstung, wobei der Hubzylinder der Baggerausrüstung über eine vom Fahrer betätigbare Steuereinrichtung mit wenigstens einer Arbeitspumpe wirkmäßig verbunden ist, wobei in Abhängigkeit von der Schaltstellung der Steuereinrichtung der Hubzylinder angehoben, abgesenkt oder blockiert wird, dadurch gekennzeichnet, daß zur Gewichtskompensation der Baggerausrüstung und zur Einstellung einer annähernd konstanten Auflagekraft des Löffels auf die Bodenfläche während der Arbeitsbewegung der Baggerausrüstung die Hubseite des Hubzylinders nach Auslösung eines Betätigungselementes automatisch durch Zu- oder Ableitung eines Hydraulikmediums mit einem einstellbaren Kompensationsdruck beaufschlagt wird.1. A method for the production of floor surfaces by means of a working machine, in particular a hydraulic excavator, with a one-piece or multi-part excavator equipment with a bucket that can be attached to the floor surface and a lifting cylinder for lifting and lowering the excavating equipment, the lifting cylinder of the excavating equipment being operated by a control device that can be actuated by the driver is operatively connected to at least one working pump, the lifting cylinder being raised, lowered or blocked as a function of the switching position of the control device, characterized in that to compensate for the weight of the excavator equipment and to set an approximately constant bearing force of the bucket on the ground surface during the working movement of the excavator equipment the stroke side of the lifting cylinder is automatically acted upon by triggering an actuating element by supplying or discharging a hydraulic medium with an adjustable compensation pressure.
2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, daß der Kompensationsdruck von einer zusätzlichen Pumpe erzeugt wird. 2. The method according to claim 1, characterized in that the compensation pressure is generated by an additional pump.
3. Verfahren nach Anspruch 1, dadurch gekennzeichnet, daß der Kompensationsdruck von der Arbeitspumpe erzeugt wird.3. The method according to claim 1, characterized in that the compensation pressure is generated by the working pump.
4. Verfahren nach Anspruch 1, 2 oder 3, dadurch gekennzeichnet, daß die Schwerpunktlage der Baggerausrüstung überwacht und bei Schwerpunktverlagerung der Kompensationsdruck automatisch angepaßt wird.4. The method according to claim 1, 2 or 3, characterized in that the center of gravity of the excavator equipment is monitored and the compensation pressure is automatically adjusted when the center of gravity is shifted.
5. Verfahren nach Anspruch 1, 2, 3 oder 4, dadurch gekennzeichnet, daß bei Betätigung der Steuereinrichtung durch den Fahrer die Kompensationsdruckbeaufschlagung beendet wird.5. The method according to claim 1, 2, 3 or 4, characterized in that when the control device is actuated by the driver, the compensation pressurization is ended.
6. Arbeitsmaschine, insbesondere Hydraulikbagger, zur Herstellung von Bodenflächen mit einer ein- oder mehrteiligen Baggerausrüstung mit einem auf die Bodenfläche aufbringbaren Löffel (7) und einem Hubzylinder (3) zum Heben und Senken der Baggerausrüstung, wobei der Hubzylinder (3) der Baggerausrüstung über eine vom Fahrer betätigbare Steuereinrichtung (8) mit wenigstens einer Arbeitspumpe (9) wirkmäßig verbunden ist, wobei in Abhängigkeit von der Schaltstellung der Steuereinrichtung (8) der Hubzylinder (3) heb-, senk- oder blockierbar ist, dadurch gekennzeichnet, daß zur Gewichtskompensation der Baggerausrüstung und zur Einstellung einer annähernd konstanten Auflagekraft des Löffels (7) auf die Bodenfläche während der Arbeitsbewegung der Baggerausrüstung die Hubseite des Hubzylinders (3) über ein schaltbares Betätigungselement (16,18) mit einer Hydraulikmediumzu- und -abführeinrichtung zur Beaufschlagung mit einem konstanten einstellbaren Kompensationsdruck verbunden ist.6. Working machine, in particular hydraulic excavator, for the production of floor surfaces with a one-piece or multi-part excavator equipment with a bucket (7) which can be applied to the floor surface and a lifting cylinder (3) for lifting and lowering the excavator equipment, the lifting cylinder (3) being over the excavator equipment a control device (8) which can be actuated by the driver is operatively connected to at least one work pump (9), the lifting cylinder (3) being able to be raised, lowered or blocked as a function of the switching position of the control device (8), characterized in that for weight compensation of the excavator equipment and for setting an approximately constant contact force of the bucket (7) on the ground surface during the working movement of the excavator equipment, the lifting side of the lifting cylinder (3) via a switchable actuating element (16, 18) with a hydraulic medium supply and - discharge device is connected to the action of a constant adjustable compensation pressure.
7. Arbeitsmaschine nach Anspruch 6, dadurch gekennzeichnet, daß die Hydraulikmediumzu- und -abführeinrichtung ein parallel zur als Steuerschieber (8) ausgebildeten Steuereinrichtung angeordnetes Ventil (12), eine Hilfspumpe (29) und einen Tank aufweist, wobei das Ventil (12) den von der Hilfspumpe (29) erzeugten Kompensationsdruck auf die Hubseite des Hubzylinders (3) leitet und die Senkseite des Hubzylinders (3) mit dem Tank verbindet, wobei der Druck der Hilfspumpe (29) einstellbar ist.7. Working machine according to claim 6, characterized in that the hydraulic medium supply and discharge device comprises a valve (12) arranged parallel to the control slide (8), an auxiliary pump (29) and a tank, the valve (12) having the compensation pressure generated by the auxiliary pump (29) passes to the lifting side of the lifting cylinder (3) and connects the lower side of the lifting cylinder (3) to the tank, the pressure of the auxiliary pump (29) being adjustable.
8. Arbeitsmaschine nach Anspruch 7 , dadurch gekennzeichnet, daß der Druck der Hilfspumpe (29) über ein Druckregelventil (13) einstellbar ist. 8. Working machine according to claim 7, characterized in that the pressure of the auxiliary pump (29) via a pressure control valve (13) is adjustable.
9. Arbeitsmaschine nach Anspruch 7, dadurch gekennzeichnet, daß die Hilfspumpe als einstellbare druckgeregelte Verstellpumpe (27) ausgebildet ist.9. Working machine according to claim 7, characterized in that the auxiliary pump is designed as an adjustable pressure-controlled variable displacement pump (27).
10. Arbeitsmaschine nach Anspruch 6, dadurch gekennzeichnet, daß die Hydraulikmediumzu- und -abführeinrichtung von der Arbeitspumpe (9) gebildet ist und die als Steuerschieber (8) ausgebildete, von einem Handsteuerventil (17) betätigbare Steuereinrichtung durch ein Ventil (36) vom Handsteuerventil (17) trennbar und über den konstanten Druck einer Steuerpumpe (37) in die Hebeposition schaltbar ist, und daß in der Leitung (11) vom Steuerschieber (8) zur Hubseite des Hubzylinders (3) ein Druckregelventil (13) angeordnet ist, derart, daß der Kompensationsdruck von der Arbeitspumpe (9) bereitstellbar ist.10. Working machine according to claim 6, characterized in that the hydraulic medium supply and discharge device is formed by the working pump (9) and the control slide (8), which can be actuated by a manual control valve (17), can be actuated by a valve (36) from the manual control valve (17) separable and switchable to the lifting position via the constant pressure of a control pump (37), and in that a pressure control valve (13) is arranged in the line (11) from the control slide (8) to the stroke side of the lifting cylinder (3), such that that the compensation pressure can be provided by the working pump (9).
11. Arbeitsmaschine nach Anspruch 6 oder einem der folgenden, dadurch gekennzeichnet, daß ein Wahlschalter (14) zur Einstellung des Kompensationsdruckes vorgesehen ist.11. Working machine according to claim 6 or one of the following, characterized in that a selector switch (14) is provided for setting the compensation pressure.
12. Arbeitsmaschine nach Anspruch 6 oder einem der folgenden, dadurch gekennzeichnet, daß in einer Steuerleitung (31) zum Druckregelventil (13) oder zur druckgeregelten Verstellpumpe (27) ein Meßgerät (32) zur Ermittlung der Schwerpunktverlagerung der Baggerausrüstung vorgesehen ist, welches an das Druckregelventil (13) oder die druckgeregelte Verstellpumpe (27) ein moduliertes Steuersignal liefert, um den Kompensationsdruck derart zu verändern, daß die Auflagekraft des Löffels (7) während der Arbeitsbewegung konstant bleibt. 12. Working machine according to claim 6 or one of the following, characterized in that in a control line (31) to the pressure control valve (13) or for the pressure-controlled variable displacement pump (27) a measuring device (32) is provided for determining the shift in the center of gravity of the excavator equipment, which delivers a modulated control signal to the pressure regulating valve (13) or the pressure-controlled variable displacement pump (27) in order to change the compensation pressure in such a way that the contact force of the spoon (7) remains constant during the working movement.
EP00947983A 1999-08-21 2000-07-13 Method and construction machine for producing ground surfaces Expired - Lifetime EP1204800B1 (en)

Applications Claiming Priority (3)

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DE19939796 1999-08-21
DE19939796A DE19939796C1 (en) 1999-08-21 1999-08-21 Earthworking machine e.g. hydraulic excavator, has weight of excavator arm and shovel compensated during excavator arm movement by variable compensation pressure
PCT/EP2000/006660 WO2001014648A1 (en) 1999-08-21 2000-07-13 Method and construction machine for producing ground surfaces

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DE50002380D1 (en) 2003-07-03
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EP1204800B1 (en) 2003-05-28
WO2001014648A1 (en) 2001-03-01

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