EP2650443B1 - Road milling machine with control means for producing parallelism of the machine frame with the ground - Google Patents

Road milling machine with control means for producing parallelism of the machine frame with the ground Download PDF

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Publication number
EP2650443B1
EP2650443B1 EP13154680.6A EP13154680A EP2650443B1 EP 2650443 B1 EP2650443 B1 EP 2650443B1 EP 13154680 A EP13154680 A EP 13154680A EP 2650443 B1 EP2650443 B1 EP 2650443B1
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EP
European Patent Office
Prior art keywords
machine frame
milling
ground
relative
traffic surface
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EP13154680.6A
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German (de)
French (fr)
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EP2650443A2 (en
EP2650443A3 (en
Inventor
Christian Berning
Dieter Simons
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Wirtgen GmbH
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Wirtgen GmbH
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    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
    • E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
    • E01C23/08—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades
    • E01C23/085—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades using power-driven tools, e.g. vibratory tools
    • E01C23/088—Rotary tools, e.g. milling drums

Definitions

  • the invention relates to a self-propelled road construction machine according to the preamble of claim 1.
  • the machine frame is carried by a chassis with wheels or crawler tracks that are connected to the machine frame via lifting columns, the lifting columns making it possible to adjust the machine frame to a certain level, parallel to the floor or with a predetermined longitudinal and / or transverse inclination.
  • a milling drum for processing a floor or traffic area is mounted on the machine frame.
  • height-adjustable side plates are provided as edge protection on an outer wall of the road milling machine, which, during operation, rest on the non-milled edges of the milling track on the ground or traffic area.
  • a height-adjustable stripping device In the direction of travel behind the milling drum there is a height-adjustable stripping device that can be lowered into the milling track created by the milling drum during operation in order to remove any milling material remaining in the milling track.
  • the road milling machine also has a control device to control the milling depth of the milling drum and to control the setting of the lifting columns.
  • the problem with the known road milling machines is that if the machine frame does not run parallel to the ground, the scraper behind the milling drum does not lie so precisely that the machined surface can be removed without leaving any residue. Furthermore, there is the problem that the belt shoe that surrounds the conveyor belt does not lie flat when the machine frame is not parallel to the floor, which means that milled material can sit between the belt shoe and the unprocessed floor surface, or that the function as a hold-down device is insufficiently fulfilled, causing clods to form of the milling drum and place it under the belt shoe. There is also the problem that the control of the milling depth is not sufficiently accurate and that for this reason the milling depth has to be repeatedly measured manually during the milling process.
  • the tools are subject to high wear, so that the set milling depth is falsified by the decreasing cutting circle diameter.
  • the wear of the tools when milling concrete can cause a difference in the milling radius of 15 mm after just a few 100 m, so that a measurement of the displacement e.g. of side plates relative to the machine frame is not sufficiently accurate. If the milling depth is not sufficient, the milling track must be reworked in a time-consuming process. If the milling track is too deep, more building material must then be re-applied in order to achieve the desired floor or traffic surface level.
  • the invention is therefore based on the object of simplifying the operation of the road milling machine and improving the milling process.
  • the invention advantageously provides that the control automatically regulates the lifting state of at least one rear and / or front lifting column in the direction of travel to produce the parallelism of the machine frame to the floor or traffic area or to a predetermined milling plane.
  • the invention can also be used for recycling machines.
  • the solution according to the invention has the advantage that the parallelism of the machine frame to the ground or traffic surface is set automatically and the operator does not have to readjust this parallel position himself, in particular not even after a milling depth control that has also taken place automatically. Because the machine frame is held parallel to the processed or unprocessed floor or traffic area, the proper functioning of other machine elements, e.g. the scraper and the belt shoe, is guaranteed. In this way, operational disruptions are avoided, which arise from an inaccurate setting of the parallel position, material can settle under the belt shoe, clods are thrown up, or the already milled surface cannot be removed cleanly.
  • the vehicle driver can concentrate on the actual milling process and is not distracted by manual control processes.
  • the control can determine the longitudinal inclination of the machine frame relative to the worked or unworked soil to produce the parallelism of the machine frame to the ground or traffic area.
  • the longitudinal inclination can be determined from at least two distance values offset from one another in the direction of travel between the machine frame and the processed or unprocessed soil.
  • the longitudinal inclination can be determined from at least one first distance value between the machine frame and the processed soil and at least one second distance value offset from the first in the direction of travel between the machine frame and the unprocessed soil in conjunction with a measured value for the milling depth.
  • the first or the second distance value between the machine frame and the processed or unprocessed soil can be derived from the position of one of the or unprocessed ground running crawler tracks can be determined in relation to the machine frame.
  • the longitudinal inclination can be determined from a first distance value between the machine frame and the processed soil and a second distance value between the machine frame and the processed soil, the second distance value from the position of the stripping device or from the position of at least one of the chain drives running on the processed soil in relation to the machine frame can be determined.
  • a conveyor belt can be attached to the machine frame, with a belt shoe receiving the roller-side end of the conveyor belt, which is provided for transporting away the milled material.
  • the longitudinal inclination can be determined from at least a first distance value between the machine frame and the unprocessed ground and a second distance value between the machine frame and the unprocessed ground, the second distance value from the position of the belt shoe or from the position of at least one of the track drives running on the unprocessed ground or from the Position of at least one of the side plates can be determined.
  • the distance values between the machine frame and the processed or unprocessed soil can be determined with the aid of distance measuring systems.
  • the position measuring systems can be integrated in the lifting columns or in the hydraulic cylinders of the lifting columns.
  • the longitudinal inclination of the machine frame can be determined in relation to the unprocessed floor from the relative angle in the direction of travel between a side plate resting on the floor and the machine frame.
  • the longitudinal inclination of the machine frame can be determined in relation to the processed or unprocessed soil by the relative angle between at least one lifting column running orthogonally to the machine frame and the running gear running parallel to the ground.
  • the automatic production of the parallelism of the machine frame in relation to the processed or unprocessed soil can only take place by the control when the control makes readjustment of the milling depth or a setting of a predetermined milling depth.
  • the control can decide whether the lifting status of the front and / or the rear lifting columns is regulated to adapt to the milling depth.
  • the automatic production of the parallelism of the machine frame in relation to the processed or unprocessed soil can be carried out by the control independently of the regulation of the milling depth.
  • the control can regulate the milling depth of the milling drum on both sides of the machine frame, viewed in the direction of travel, independently of one another.
  • At least one measuring device can detect the elevation of a first sensing device resting on the ground or traffic area to be processed and / or the lowering of a second sensing device on the surface of the milling track based on the current milling depth, with the control system measuring the milling depth from the measured values of the at least one measuring device determined by the milling drum.
  • the lifting state of the rear and front lifting columns in the direction of travel can be changed to produce the parallelism of the machine frame to the floor or traffic area or to the predetermined milling plane so that the machine frame can be pivoted about the milling drum axis.
  • a method for producing the parallelism of the machine frame to the ground or traffic area or to a predetermined milling plane in road milling machines, in which a ground or traffic area is milled with the help of a milling drum by lowering the road milling machine for milling according to the specified milling depth with the milling drum, the determination of the longitudinal inclination of the machine frame relative to the processed or unprocessed soil by recording measured values, and the automatic Control of the lifting condition of at least one rear and / or front lifting column in the direction of travel to produce the parallelism of the machine frame to the ground or traffic area or to the predetermined milling plane as a function of the longitudinal inclination of the machine frame.
  • At least one measuring device can be provided which, based on the current milling depth, detects the raising of a first sensing device resting on the ground or traffic area and / or the lowering of a second sensing device to the bottom of the milling track. From the measured values of the at least one measuring device, the control can determine the milling depth at the level of the stripping device of the milling drum or the second sensing device.
  • the measurement is preferably carried out at the level of the stripping device, which is arranged close behind the milling drum or directly behind the stripping device in the case of a separate sensing device.
  • the second sensing device can consist of the stripping device.
  • the use of the stripping device as a scanning device has the advantage that there are no measurement errors due to unevenness in the milling track. Another advantage is that the stripping device is protected against wear at its lower edge.
  • control can determine the current milling depth of the milling drum at the level of the milling drum axis from the measured values of the at least one measuring device. This is preferably done with the help of a calculation that can also take into account an inclined position of the machine frame.
  • the measuring devices preferably consist of displacement measuring devices.
  • the first sensing device consists of at least one of the side plates which are adjustable in height and pivotably arranged on both sides of the front sides of the milling drum relative to the machine frame.
  • the side plates rest on the floor or traffic area or are pressed against them, so that their change in position relative to the machine frame during operation enables precise milling depth detection if the change in position of a second sensing device is also measured in the milling track relative to the machine frame.
  • the measuring devices can have cable pulls and cable pull sensors coupled to the first scanning device and / or the second scanning device as displacement measuring devices.
  • the side plates also have the advantage that their lower edges are protected against wear.
  • the measuring devices can have cables coupled to the side plates and / or the stripping device and associated cable sensors as displacement measuring devices, which measure the change in the position of the side plates and the stripping device relative to the machine frame or the relative displacement of at least one of the side plates in relation to the stripping device or the second sensing device.
  • the arrangement of the cable pulls coupled to the side plates and the stripping device in a substantially vertical plane running approximately at the level of the stripping device is preferred, transversely to the milling track.
  • a cable pull is coupled on the one hand to the stripping device and on the other hand to at least one of the side plates via a pulley, such that a cable sensor directly measures the milling depth, for example on the pulley.
  • the measuring devices can detect the displacement of the first sensing device relative to the second sensing device or the displacement of the first and the second sensing device in each case relative to the machine frame.
  • the stripping device has a measuring device on the side edges facing the side plates, which measures the relative displacement of the stripping device to the at least one adjacent side plate or the relative displacement of at least one side plate to the stripping device.
  • the stripping device can have at least one height-adjustable bar that is vertically and linearly guided in the stripping device and running transversely to the direction of travel as the first sensing device, which rests next to the milling track on the ground or traffic area and its position relative to the stripping device, preferably with regard to Height and / or inclination, can be measured by the measuring device.
  • the side plates can rest on the edges of the floor or traffic area next to the milling track milled by the milling machine, or alternatively, they can be pressed onto the edges by hydraulic devices.
  • the stripping device can also be pressed onto the surface of the milling track with the aid of hydraulic devices.
  • the hydraulic devices for pressing the side plates onto the floor or traffic area or for pressing the stripping device on the floor of the milling track can have integrated displacement measurement systems.
  • the control calculates the current milling depth from the relative difference between the positions of the stripping device and the at least one first sensing device.
  • the control which receives the distance measurement signals from the measuring device, can automatically regulate the lifting status of the rear lifting columns in the direction of travel to produce the parallelism of the machine frame to the ground or traffic area of a desired milling depth.
  • the side plates pivotable on the traffic area relative to the machine frame can have measuring devices arranged at a distance from one another in the direction of travel, whereby the control can measure the longitudinal inclination and / or transverse inclination of the machine frame to the ground or traffic area from the difference between the measuring signals of the side plates and the stripping device.
  • the front and / or rear lifting columns can have a displacement measuring system for detecting the lifting state.
  • the control which receives the distance measurement signals from the measuring device, can regulate the state of all lifting columns in such a way that the machine frame has a predetermined inclination or a predetermined distance-dependent transverse slope profile transverse to the direction of travel.
  • the current setpoint value for the milling depth of the milling drum is preferably set with the aid of the front lifting columns.
  • the current setpoint for the milling depth of the milling drum can be set using the front lifting columns.
  • the control which receives the measurement signals of all measuring devices, sensing devices, i.e. for example the side plates and / or stripping devices, and / or the belt shoe and / or all lifting columns, can be dependent on the displacement measurement signals of the measuring devices and / or on the desired location-dependent change in a setpoint for set the milling depth in the course of the machined path, the lifting position of the lifting columns resulting therefrom.
  • the zero level of the measuring signals of the measuring devices (16) can be adjustable on the unmilled ground or traffic area.
  • Each lifting column can have a carrier for a wheel or a track drive at the lower end, and a distance sensor can measure the distance of the carrier to the ground and traffic area and a measurement signal to a controller for the lifting position of the lifting columns and / or to a controller for the Send the milling depth of the milling drum.
  • the milling drum can extend essentially over the entire working width of the machine frame.
  • the milling drum can be mounted in a height-adjustable manner in the machine frame.
  • the control can calculate the current milling depth from the distance measurement signals received and generate a control signal for the height adjustment of the milling drum.
  • the measurement of the milling depth of the milling track can be measured by recording the measured values of at least one first, the position of the unprocessed ground and traffic area scanning sensing device in relation to the measured values of a second sensing device scanning the position of the bottom of the milling track or by measuring the measured values of both sensing devices in relation to the machine frame.
  • the side edges next to the milling track can be held down by side plates and that at least one of the side plates can be used as the first sensing device, the scraper plate being used as the second sensing device for peeling off the milled surface.
  • the method can also correct the measured milling depth value as a function of the distance between the second sensing device and the The axis of rotation of the milling drum if the machine frame of the road milling machine does not run parallel to the ground or traffic area.
  • the road milling machine shown has a machine frame 4 which is supported by a running gear with two front track drives 2 and at least one rear track drive 3.
  • the track drives 2, 3 are connected to the machine frame 4 via lifting columns 12, 13. It goes without saying that instead of the crawler tracks 2, 3, wheels can also be used.
  • the machine frame 4 can be raised or lowered or brought into a predetermined inclined position relative to the ground or traffic area 8 to be processed.
  • the milling drum 6 mounted in the machine frame 4 is surrounded by a roll box 9, which is open at the front in the direction of travel to a first conveyor belt 11, which transfers the milled material in the front area of the machine frame 4 to a second conveyor 13.
  • the second transport device 13, with which the milled material can be dropped onto a truck, for example, is shown in FIG Fig. 1 not shown in full because of its length.
  • a height-adjustable stripping device 14 which, during operation, engages with a scraper blade 15 in the milling track 17 generated by the milling drum 6 and pulls off the bottom of the milling track 17 so that there is no more milled material behind the scraper blade in the milling track 17 is located.
  • control stand 5 with a control panel for the vehicle driver for all control functions of the driving and milling operations.
  • This also includes a control device 23 for controlling the milling depth of the milling drum 6.
  • the side plates 10, arranged on both sides near the end face of the milling drum 6, and the stripping device 14 are provided with measuring devices 16 which enable the determination of the current milling depth at the level of the stripping device 14 or the calculation of the milling depth at the level of the axis of rotation of the milling drum.
  • the milling depth is determined in a plane orthogonal to the ground or traffic area, which runs parallel to the axis of rotation of the milling drum and in which the axis of rotation lies.
  • a first sensing device for example the side signs 10, on the floor or traffic area 8 and / or the lowering of a second sensing device, for example the stripping device
  • Measuring devices 16 preferably consisting of displacement measuring devices, measure the displacements the sensing devices, for example the side plates 10 or a bar 20 or the scraper plate 15 in relation to the machine frame 4 or in relation to one another.
  • the embodiment of the Fig. 2 shows a bar 20 as a sensing device which rests on the floor or traffic surface 8 and which is guided to the scraper blade 15 of the scraper device in a slot 24 running linearly and orthogonally to the lower edge 19 of the scraper blade 15. It goes without saying that two mutually parallel slots 24 can also be provided in the scraper blade 15, or that the bar 20 as a sensing device can be guided in a height-adjustable manner on the scraper device 14 in a different manner.
  • the measuring device 16 in the form of a displacement measuring device detects the displacement of the bar 20 in relation to the stripping device 14.
  • Fig. 3 shows a further embodiment in which the scraper blade 15 of the scraper device 14 can be moved up and down with the aid of hydraulic devices.
  • the hydraulic devices consist of piston-cylinder units 26, 28 with an integrated position measuring system. This means that the piston-cylinder units 26, 28 not only enable the lifting movement of the stripping device, but also generate a path signal.
  • piston-cylinder units 26, 28 are coupled at one end to the machine frame 4 and at the other end to the scraper blade 15.
  • Fig. 4 shows an embodiment in which the relative movement between the side plates 10 and the scraper plate 15 is measured directly in order to detect the milling depth of the milling track 17.
  • elements 38, 40 of the measuring device 16 are arranged, for example, on the side plates 10 and in each case opposite on the scraper plate 15, which record the relative displacement of the scraper plate 15 in relation to the side plates 10 allow. This shift corresponds to the milling depth s in Fig. 4 .
  • a measuring device which measures the relative displacement, can consist of an optical system, for example by reading a scale with an optical sensor, or an electromagnetic or inductive system.
  • the relative displacement measuring system between the side plates 10 and the scraper plate 15 also consist of a cable 22 in combination with a cable sensor 21.
  • the cable 22 is coupled on the one hand to the stripping plate 15 of the stripping device 14 and on the other hand to at least one of the side plates 10 via a pulley 35 so that the signal from the cable sensor 21 can directly display the current milling depth value.
  • the side plates 10 can themselves be used as a first sensing device by monitoring their position with the aid of a cable and a cable sensor or with the aid of piston-cylinder units 30, 32 with integrated displacement measuring devices in relation to the machine frame 4 or the second sensing device.
  • the measuring devices can also measure the displacement of the side plates 10 in relation to the machine frame 4.
  • the longitudinal inclination of the machine frame 4 in relation to the ground or traffic area 8 or, by comparing the measured values of both side plates 10 on both sides of the milling drum 6, the transverse inclination of the machine frame 4 to be determined.
  • Fig. 6 showed a preferred embodiment in which on both sides of the stripping device 15 cable pulls 22 with cable pull sensors 21 attached to the machine frame 4 are arranged.
  • the side plates 10 are also provided with cables 22 and cable sensors 21 attached to the machine frame 4, to be precise on both sides of the machine.
  • the milling depth s is determined from the difference between the measured values of the cable sensors 21 for the side plates 10 and the cable sensors 21 of the stripping device 15. The measurement should preferably be take place in the same essentially vertical plane in order to avoid measurement errors.
  • Figs. 7a to 7c the cable sensors 21 for the side plates 10 and the stripping plates 14 are shown, with only one cable sensor 21 being indicated in the drawings because the cable sensors are essentially one behind the other in the same plane.
  • Figures 7a, b, c are intended to illustrate the case in which the floor or traffic area 8 does not run parallel to the machine frame 4, with the milling depth measurement value displayed by the measuring devices having to be corrected due to an angular error, since a longitudinal inclination of the machine frame 4 results in the measurement signal at the level of the scraper plate 15 or a second sensing device in the vicinity of the stripping device 15 is falsified. Due to the fixed geometric relationships, namely the distance of the scraper blade 15 from the axis of rotation of the milling drum 6, the measured milling depth value can be corrected and the current milling depth calculated at the height of the milling drum axis if the angular deviation from the horizontal in the direction of travel is known. The angular deviation in the direction of travel can be determined, for example, from the position of the lifting columns 12, 13 of the crawler tracks 2, 3 or of the piston-cylinder units 30, 32.
  • Figure 7c shows the position of the at least one side plate 10 with the machine frame 4 in a position parallel to the floor Figures 7a to 7c
  • the scraper blade 15 shown is located on the roller box 9, so that the distance between the scraper blade 15 and the axis of rotation of the milling drum 6 can be clearly determined in order to enable the milling depth correction to be calculated when the machine frame 4 is not parallel to the ground.
  • the controller 23 can calculate the current milling depth at the height of the milling drum axis from the path measurement signals received and, if necessary, also generate a control signal for the height adjustment of the milling drum 6.
  • the controller 23 can preferably automatically regulate the lifting state of the at least one lifting column 13, which is front and / or rear in the direction of travel, to produce the parallelism of the machine frame 4 to the floor or traffic area 8 or to the horizontal or to a predetermined desired milling plane.
  • all of the previously described measuring devices can also be used to determine the angular position or longitudinal inclination to regulate the parallelism of the machine frame 4 to the floor surface.
  • Fig. 8 shows a schematic representation of a preferred embodiment of a hydraulic circuit diagram of a road construction machine 1.
  • the four lifting columns 12, 13 are each assigned actuators, which enable the height adjustment of the respective lifting column 12, 13.
  • the actuators are designed as working cylinders 40, 42, 44, 46 in the lifting columns.
  • Each working cylinder 40, 42, 44, 46 has a first working chamber 48, 52, 56, 60 and a second working chamber 50, 54, 58, 62.
  • the respective first working chamber 48, 52, 56, 60 is separated from the respective second working chamber 50, 54, 58, 62 by a respective piston.
  • An increase in volume of the respective first working chamber 48, 52, 56, 60 and a simultaneous reduction in volume of the respective second working chamber 50, 54, 58, 62 result in an extension of the respective lifting column 12, 13 and, associated therewith, a lowering of the respective chassis.
  • the first working cylinder 40 is the actuator for the front left lifting column
  • the second working cylinder 42 is the adjusting element for the front right lifting column
  • the third working cylinder 44 is the adjusting element for the rear right lifting column
  • the fourth working cylinder 46 is the adjusting element for the rear lifting column Left.
  • the first working chamber 48 of the first working cylinder 40 is connected to the first working chamber 60 of the fourth working cylinder 46 via a connecting line 68 connected.
  • the second working chamber 50 of the first working cylinder 40 is connected to the second working chamber 54 of the second working cylinder 42 via a connecting line 64.
  • the first working chamber 52 of the second working cylinder 42 is connected to the first working chamber 56 of the third working cylinder 44 via the connecting line 70.
  • the second working chamber 58 of the third working cylinder 44 is in turn connected to the second working chamber of the fourth working cylinder 46 via the connecting line 66.
  • the working cylinders 40, 42, 44, 46 thus form a closed system via the connecting lines 64, 66, 68, 70, as a result of which driving comfort and stability of the road construction machine 1 are improved.
  • the connecting line 68 is connected to a connection B of a first 4/3 way valve 84 via a further connecting line 72.
  • a 4/3-way valve has four connections and three switching positions.
  • a second connection T of the first 4/3 way valve 84 is connected via a connecting line 76 to a connection T of a second 4/3 way valve 86.
  • the connecting line 76 is connected to a pressure medium sump 80 via a working line 87.
  • a third connection P of the first 4/3-way valve is connected to a second connection P of the second 4/3-way valve 86 via the connecting line 78.
  • a working line 79 is connected to the connecting line 78, an oil pump being provided in the working line 79.
  • the working line 79 also opens into the pressure medium sump 80 at the other end.
  • a third connection B of the second 4/3 way valve 86 is connected to the connecting line 70 via a connecting line 77.
  • a fourth port A of the first 4/3 way valve 84 is connected to a fourth port A of the second 4/3 way valve 86 via the connecting line 96.
  • the connecting line 64 is connected via the connecting line 75 to a connection of a 2/2-way valve 94 (two connections, two switching positions).
  • the second connection of the first 2/2-way valve 94 is connected to a connection of a check valve 92 for the connecting line 98.
  • the other connection of the check valve 92 is connected to the connecting line 96 via the connecting line 81.
  • the check valve 92 is for Fluid flows from the connecting line 81 to the connecting line 98 are blocked.
  • the connecting line 96 is also connected to a connection of a further check valve 90 via the connecting line 83.
  • the other connection of the check valve 90 is connected to a connection of a further 2/2-way valve 88 via the connecting line 100.
  • the other connection of the 2/2-way valve 88 is connected to the connecting line 66 via the connecting line 74.
  • the check valve 90 blocks fluid flows from the connecting line 100 to the connecting line 83.
  • the controller 23 regulates the adjustment of the working cylinders 40, 42, 44, 46 and thus the extension and retraction of the lifting columns 12, 13.
  • the milling depth is set by extending and retracting the lifting columns 12, 13.
  • the milling depth of the milling drum 6, viewed in the direction of travel can be regulated independently of one another on both sides of the machine frame 4, since only the left working cylinders 40, 46 or the right working cylinders 42, 44 can be moved.
  • the controller 23 regulates the parallelism of the machine frame 4 to the ground or traffic area 8 in the preferred exemplary embodiment according to Fig. 8 only when the controller 23 readjusts the milling depth or a setting of a predetermined milling depth.
  • the controller 23 decides whether the front working cylinders 40, 42 and thus the front lifting columns 12 or the rear working cylinders 44, 46 and thus the rear lifting columns 13 are to be adjusted.
  • the production of the parallelism of the machine frame 4 to the floor or traffic area 8 is therefore not actively regulated by the controller 23, but rather passively, in that a decision is made when the milling depth is currently being readjusted or a new target value is set for a predetermined milling depth, whether the amount of oil flowing through the two 4/3-way valves 84, 86 is directed into the front working cylinders 40, 42 and thus the front lifting columns 12 or the rear working cylinders 44, 46 and thus the rear lifting columns 13. Alternatively, the amount of oil can be added to both the front and the the rear working cylinders 40, 42, 44, 46 are guided simultaneously, whereby the front and rear lifting columns 12, 13 are adjusted.
  • Fig. 9 shows the arrangement of a belt shoe 122 on a larger scale.
  • a belt shoe 122 is fastened to the machine frame 4 in a height-adjustable manner.
  • a piston-cylinder unit 108 fastened to the machine frame 4 is provided for adjusting the height of the belt shoe 122. With the help of this piston cylinder unit, the belt shoe can be lifted in the vertical direction, for example to overcome obstacles.
  • the band shoe 122 has ground contact on the underside. When the milling depth is increased, the position of the belt shoe 122 adjusts itself automatically through contact with the ground.
  • the belt shoe 122 receives the end of the conveyor device 102 on the milling drum side.
  • the support of the rear end of the conveyor 102 is a fixed point between the belt shoe 122 and the conveyor 102.
  • connecting struts 128 are provided on both sides, which prevent the belt shoe 122 from pivoting relative to the conveyor 102.
  • the conveyor device preferably consists of a conveyor belt 11.
  • the belt shoe 122 consists of a grate 120 parallel to the floor, which serves as a hold-down device and as a sliding shoe.
  • the grate 120 consists of several grate bars aligned parallel to the direction of travel.
  • the grate 120 is laterally bounded by vertical side walls 124.
  • a front area 126 extends approximately parallel to the conveyor belt 11 of the conveyor device 102.
  • At the rear end of the belt shoe there is a protective shield 121 to protect the conveyor belt 11, which prevents the conveyor belt 11 from being damaged by sharp-edged material.
  • a shield 118 inclined slightly in the direction of travel is recessed in the upper region in a U-shape in order to form a passage opening for the processed material.
  • Distance measuring systems such as ultrasonic sensors or draw-wire sensors, can be attached directly to the belt shoe 122 or integrated in the piston-cylinder unit 108.
  • the distance values between the machine frame 4 and the unprocessed soil can be determined with the aid of the displacement measuring systems on the belt shoe 122.
  • a road milling machine 1 is shown, the machine frame 4 of which is not aligned parallel to the ground surface 8.
  • the lifting columns 12, 13 are mounted at the lower end in joints 43 on the respective chain drives 2, 3.
  • rotation angle sensors can be provided on the joints 43, which detect the relative angle between the lifting columns 12, 13 running orthogonally to the machine frame 4 and the chain drives 12, 13 running parallel on the floor surface.
  • one of the side plates 10 can also have an angle of rotation sensor which detects the relative angle between the side plate 10 lying parallel on the floor surface 8 and the machine frame 4.
  • two measuring devices arranged at a distance from one another in the longitudinal direction of the road milling machine e.g., measuring devices coupled to the piston-cylinder units 30, 32, detect the longitudinal inclination of the machine frame 4.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
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  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Road Repair (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)

Description

Die Erfindung betrifft eine selbstfahrende Straßenbaumaschine nach dem Oberbegriff des Anspruchs 1.The invention relates to a self-propelled road construction machine according to the preamble of claim 1.

Bei derartigen Straßenbaumaschinen wird der Maschinenrahmen von einem Fahrwerk mit Rädern oder Kettenlaufwerken getragen, die über Hubsäulen mit dem Maschinenrahmen verbunden sind, wobei die Hubsäulen es ermöglichen, den Maschinenrahmen auf eine bestimmte Ebene, bodenparallel oder mit einer vorbestimmten Längs- und/oder Querneigung einzustellen.In road construction machines of this type, the machine frame is carried by a chassis with wheels or crawler tracks that are connected to the machine frame via lifting columns, the lifting columns making it possible to adjust the machine frame to a certain level, parallel to the floor or with a predetermined longitudinal and / or transverse inclination.

An dem Maschinenrahmen ist eine Fräswalze zum Bearbeiten einer Boden- oder Verkehrsfläche gelagert.A milling drum for processing a floor or traffic area is mounted on the machine frame.

In der Nähe der Stirnseiten der Fräswalze sind an einer Außenwand der Straßenfräsmaschine höhenverstellbare Seitenschilder als Kantenschutz vorgesehen, die im Betrieb auf der Boden- oder Verkehrsfläche an den seitlichen ungefrästen Kanten der Frässpur aufliegen. In Fahrtrichtung hinter der Fräswalze befindet sich eine höhenverstellbare Abstreifeinrichtung, die im Betrieb in die von der Fräswalze erzeugte Frässpur absenkbar ist, um in der Frässpur verbliebenes Fräsmaterial abzuziehen. Die Straßenfräsmaschine weist des weiteren eine Steuereinrichtung zum Steuern der Frästiefe der Fräswalze und zum Steuern der Einstellung der Hubsäulen auf.In the vicinity of the end faces of the milling drum, height-adjustable side plates are provided as edge protection on an outer wall of the road milling machine, which, during operation, rest on the non-milled edges of the milling track on the ground or traffic area. In the direction of travel behind the milling drum there is a height-adjustable stripping device that can be lowered into the milling track created by the milling drum during operation in order to remove any milling material remaining in the milling track. The road milling machine also has a control device to control the milling depth of the milling drum and to control the setting of the lifting columns.

Bei den bekannten Straßenfräsmaschinen besteht das Problem, dass wenn der Maschinenrahmen nicht parallel zum Boden verläuft, der Abstreifer hinter der Fräswalze nicht so exakt aufliegt, dass ein rückstandsfreies Abziehen der bearbeiteten Fläche möglich ist. Desweiteren besteht das Problem, dass der Bandschuh, der das Transportband umgibt nicht flach aufliegt, wenn der Maschinenrahmen nicht Boden parallel ist, wodurch sich abgefrästes Material zwischen Bandschuh und noch unbearbeiteter Bodenfläche zwischensetzen kann oder die Funktion als Niederhalter unzureichend erfüllt wird, wodurch sich Schollen vor der Fräswalze aufwerfen und damit unter den Bandschuh stetzen. Auch besteht das Problem, dass die Steuerung der Frästiefe nicht ausreichend genau ist und dass aus diesem Grund die Frästiefe wiederholt während der Fräsbearbeitung manuell nachgemessen werden muss. Insbesondere in den Fällen, in denen eine harte Verkehrsfläche, z.B. Beton gefräst wird, entsteht ein hoher Verschleiß an den Werkzeugen, so dass die eingestellte Frästiefe durch den abnehmenden Schnittkreisdurchmesser verfälscht wird. So kann der Verschleiß der Werkzeuge beim Fräsen von Beton bereits nach wenigen 100 m einen Unterschied im Fräsradius von 15 mm herbeiführen, so dass eine Messung der Verlagerung z.B. von Seitenschildern relativ zum Maschinenrahmen nicht ausreichend genau ist. Ist die Frästiefe nicht ausreichend, muss eine zeitaufwändige Nachbearbeitung der Frässpur erfolgen. Ist die Frässpur zu tief, muss anschließend mehr Baumaterial neu aufgetragen werden, um das gewünschte Boden- oder Verkehrsflächenniveau zu erreichen.The problem with the known road milling machines is that if the machine frame does not run parallel to the ground, the scraper behind the milling drum does not lie so precisely that the machined surface can be removed without leaving any residue. Furthermore, there is the problem that the belt shoe that surrounds the conveyor belt does not lie flat when the machine frame is not parallel to the floor, which means that milled material can sit between the belt shoe and the unprocessed floor surface, or that the function as a hold-down device is insufficiently fulfilled, causing clods to form of the milling drum and place it under the belt shoe. There is also the problem that the control of the milling depth is not sufficiently accurate and that for this reason the milling depth has to be repeatedly measured manually during the milling process. In particular, in those cases in which a hard traffic area, e.g. concrete, is milled, the tools are subject to high wear, so that the set milling depth is falsified by the decreasing cutting circle diameter. The wear of the tools when milling concrete can cause a difference in the milling radius of 15 mm after just a few 100 m, so that a measurement of the displacement e.g. of side plates relative to the machine frame is not sufficiently accurate. If the milling depth is not sufficient, the milling track must be reworked in a time-consuming process. If the milling track is too deep, more building material must then be re-applied in order to achieve the desired floor or traffic surface level.

Eine weitere selbstfahrende Straßenfräsmaschine mit einer Steuerung der Frästiefe ist aus EP 1 154 075 A bekannt.Another self-propelled road milling machine with a control of the milling depth is off EP 1 154 075 A known.

Der Erfindung liegt daher die Aufgabe zugrunde, die Bedienung der Straßenfräsmaschine zu vereinfachen und den Fräsprozess zu verbessern.The invention is therefore based on the object of simplifying the operation of the road milling machine and improving the milling process.

Zur Lösung dieser Aufgabe dienen die Merkmale des Anspruchs 1.The features of claim 1 serve to solve this problem.

Die Erfindung sieht in vorteilhafter Weise vor, dass die Steuerung den Hubzustand mindestens einer in Fahrtrichtung hinteren und/oder vorderen Hubsäule automatisch zur Herstellung der Parallelität des Maschinenrahmens zu der Boden- oder Verkehrsfläche oder zu einer vorgegebenen Fräsebene regelt.The invention advantageously provides that the control automatically regulates the lifting state of at least one rear and / or front lifting column in the direction of travel to produce the parallelism of the machine frame to the floor or traffic area or to a predetermined milling plane.

Die Erfindung ist auch für Recyclingmaschinen verwendbar.The invention can also be used for recycling machines.

Die erfindungsgemäße Lösung hat den Vorteil, dass die Parallelität des Maschinenrahmens zu der Boden- oder Verkehrsoberfläche automatisch eingestellt wird und die Bedienungsperson diese Parallellage nicht selbständig nachregeln muss, insbesondere auch nicht nach einer ebenfalls automatisch erfolgten Frästiefenregelung. Dadurch, dass der Maschinenrahmen parallel zur bearbeiteten oder unbearbeiteten Boden- oder Verkehrsfläche gehalten wird, ist die ordnungsgemäß Funktion anderer Maschinenelemente, z.B. des Abstreifers und des Bandschuhs, gewährleistet. Auf diese Weise werden Betriebsstörungen vermieden, die dadurch entstehen, dass durch eine ungenaue Einstellung der Parallellage sich Material unter den Bandschuh setzen kann, Schollen aufgeworfen werden, oder dass die bereits abgefräste Fläche nicht sauber abgezogen werden kann.The solution according to the invention has the advantage that the parallelism of the machine frame to the ground or traffic surface is set automatically and the operator does not have to readjust this parallel position himself, in particular not even after a milling depth control that has also taken place automatically. Because the machine frame is held parallel to the processed or unprocessed floor or traffic area, the proper functioning of other machine elements, e.g. the scraper and the belt shoe, is guaranteed. In this way, operational disruptions are avoided, which arise from an inaccurate setting of the parallel position, material can settle under the belt shoe, clods are thrown up, or the already milled surface cannot be removed cleanly.

Desweiteren kann der Fahrzeugführer sich auf den eigentlichen Fräsvorgang konzentrieren und wird nicht durch manuell durchzuführende Regelvorgänge abgelenkt.Furthermore, the vehicle driver can concentrate on the actual milling process and is not distracted by manual control processes.

Die Steuerung kann zur Herstellung der Parallelität des Maschinenrahmens zu der Boden- oder Verkehrsfläche die Längsneigung des Maschinenrahmens relativ zum bearbeiteten oder unbearbeiteten Boden ermitteln.The control can determine the longitudinal inclination of the machine frame relative to the worked or unworked soil to produce the parallelism of the machine frame to the ground or traffic area.

Die Längsneigung kann aus mindestens zwei in Fahrtrichtung zueinander versetzten Abstandswerten zwischen Maschinenrahmen und bearbeitetem oder unbearbeitetem Boden ermittelbar sein.The longitudinal inclination can be determined from at least two distance values offset from one another in the direction of travel between the machine frame and the processed or unprocessed soil.

Die Längsneigung kann aus mindestens einem ersten Abstandswert zwischen Maschinenrahmen und dem bearbeiteten Boden und mindestens einem gegenüber dem ersten in Fahrtrichtung versetzten zweiten Abstandswert zwischen Maschinenrahmen und unbearbeitetem Boden in Verbindung mit einem Messwert für die Frästiefe ermittelbar sein.The longitudinal inclination can be determined from at least one first distance value between the machine frame and the processed soil and at least one second distance value offset from the first in the direction of travel between the machine frame and the unprocessed soil in conjunction with a measured value for the milling depth.

Der erste oder der zweite Abstandswert zwischen Maschinenrahmen und bearbeitetem oder unbearbeitetem Boden kann aus der Position eines der auf dem bearbeitetem oder unbearbeitetem Boden laufenden Kettenlaufwerke bezogen auf den Maschinenrahmen ermittelbar sein.The first or the second distance value between the machine frame and the processed or unprocessed soil can be derived from the position of one of the or unprocessed ground running crawler tracks can be determined in relation to the machine frame.

Die Längsneigung kann aus einem ersten Abstandswert zwischen Maschinenrahmen und bearbeitetem Boden und einem zweiten Abstandswert zwischen Maschinenrahmen und bearbeitetem Boden ermittelbar sein, wobei der zweite Abstandswert aus der Position der Abstreifeinrichtung oder aus der Position mindestens eines der auf dem bearbeiteten Boden laufenden Kettenlaufwerke bezogen auf den Maschinenrahmen ermittelbar ist.The longitudinal inclination can be determined from a first distance value between the machine frame and the processed soil and a second distance value between the machine frame and the processed soil, the second distance value from the position of the stripping device or from the position of at least one of the chain drives running on the processed soil in relation to the machine frame can be determined.

Ein Transportband kann am Maschinenrahmen befestigt sein, wobei ein Bandschuh das walzenseitige Ende des Transportbands, das zum Abtransport des abgefrästen Materials vorgesehen ist, aufnimmt.A conveyor belt can be attached to the machine frame, with a belt shoe receiving the roller-side end of the conveyor belt, which is provided for transporting away the milled material.

Die Längsneigung kann aus mindestens einem ersten Abstandswert zwischen Maschinenrahmen und unbearbeitetem Boden und einem zweiten Abstandswert zwischen Maschinenrahmen und unbearbeitetem Boden ermittelbar sein, wobei der zweite Abstandswert aus der Position des Bandschuhs oder aus der Position mindestens eines der auf dem unbearbeiteten Boden laufenden Kettenlaufwerke oder aus der Position mindestens eines der Seitenschilder ermittelbar ist.The longitudinal inclination can be determined from at least a first distance value between the machine frame and the unprocessed ground and a second distance value between the machine frame and the unprocessed ground, the second distance value from the position of the belt shoe or from the position of at least one of the track drives running on the unprocessed ground or from the Position of at least one of the side plates can be determined.

Die Abstandswerte zwischen Maschinenrahmen und bearbeitetem oder unbearbeitetem Boden können mit Hilfe von Wegmesssystemen ermittelbar sein.The distance values between the machine frame and the processed or unprocessed soil can be determined with the aid of distance measuring systems.

Die Wegmesssysteme können in den Hubsäulen oder in den Hydraulikzylindern der Hubsäulen integrierbar sein.The position measuring systems can be integrated in the lifting columns or in the hydraulic cylinders of the lifting columns.

Die Längsneigung des Maschinenrahmens kann bezogen auf den unbearbeiteten Boden aus dem Relativwinkel in Fahrtrichtung zwischen einem auf dem Boden aufliegenden Seitenschild und dem Maschinenrahmen ermittelbar sein.The longitudinal inclination of the machine frame can be determined in relation to the unprocessed floor from the relative angle in the direction of travel between a side plate resting on the floor and the machine frame.

Die Längsneigung des Maschinenrahmens kann bezogen auf den bearbeiteten oder unbearbeiteten Boden durch den Relativwinkel zwischen mindestens einer orthogonal zum Maschinenrahmen verlaufenden Hubsäule und dem parallel zum Boden verlaufenden Fahrwerk ermittelbar sein.The longitudinal inclination of the machine frame can be determined in relation to the processed or unprocessed soil by the relative angle between at least one lifting column running orthogonally to the machine frame and the running gear running parallel to the ground.

Die automatische Herstellung der Parallelität des Maschinenrahmens bezogen auf den bearbeiteten oder unbearbeiteten Boden kann durch die Steuerung erst dann erfolgen, wenn die Steuerung eine Nachregelung der Frästiefe oder eine Einstellung einer vorgegebenen Frästiefe vornimmt.The automatic production of the parallelism of the machine frame in relation to the processed or unprocessed soil can only take place by the control when the control makes readjustment of the milling depth or a setting of a predetermined milling depth.

Die Steuerung kann entscheiden, ob der Hubzustand der vorderen und/oder der hinteren Hubsäulen zur Anpassung an die Frästiefe geregelt wird.The control can decide whether the lifting status of the front and / or the rear lifting columns is regulated to adapt to the milling depth.

Die automatische Herstellung der Parallelität des Maschinenrahmens bezogen auf den bearbeiteten oder unbearbeiteten Boden kann durch die Steuerung unabhängig von der Regelung der Frästiefe erfolgen.The automatic production of the parallelism of the machine frame in relation to the processed or unprocessed soil can be carried out by the control independently of the regulation of the milling depth.

Die Steuerung kann die Frästiefe der Fräswalze in Fahrtrichtung gesehen auf beiden Seiten des Maschinenrahmens unabhängig voneinander regeln.The control can regulate the milling depth of the milling drum on both sides of the machine frame, viewed in the direction of travel, independently of one another.

Mindestens eine Messeinrichtung kann die aufgrund der aktuellen Frästiefe erfolgte Anhebung einer auf der zu bearbeiteten Boden- oder Verkehrsfläche aufliegenden ersten Tasteinrichtung und/oder die Absenkung einer zweiten Tasteinrichtung auf die Oberfläche der Frässpur erfassen, wobei die Steuerung aus den Messwerten der mindestens einen Messeinrichtung die Frästiefe der Fräswalze ermittelt.At least one measuring device can detect the elevation of a first sensing device resting on the ground or traffic area to be processed and / or the lowering of a second sensing device on the surface of the milling track based on the current milling depth, with the control system measuring the milling depth from the measured values of the at least one measuring device determined by the milling drum.

Der Hubzustand der in Fahrtrichtung hinteren und vorderen Hubsäulen kann zur Herstellung der Parallelität des Maschinenrahmens zu der Boden- oder Verkehrsfläche oder zu der vorgegebene Fräsebene derart veränderbar sein, dass der Maschinenrahmen um die Fräswalzenachse verschwenkbar ist.The lifting state of the rear and front lifting columns in the direction of travel can be changed to produce the parallelism of the machine frame to the floor or traffic area or to the predetermined milling plane so that the machine frame can be pivoted about the milling drum axis.

Dadurch, dass die Regelung der Parallelität des Maschinenrahmens so erfolgt, dass der Maschinenrahmen um die Fräswalzenachse verschwenkt, wird erreicht, dass die Regelung der Parallelität nicht die Frästiefen also das Fräsbild beeinflusst.The fact that the parallelism of the machine frame is regulated in such a way that the machine frame swivels around the milling drum axis ensures that the parallelism regulation does not affect the milling depths, that is, the milling pattern.

Ein Verfahren, das nicht Teil der Erfindung darstellt, zum Herstellen der Parallelität des Maschinenrahmens zu der Boden- oder Verkehrsfläche oder zu einer vorgegebenen Fräsebenen bei Straßenfräsmaschinen, bei denen mit Hilfe einer Fräswalze eine Boden- oder Verkehrsfläche gefräst wird, indem die Straßenfräsmaschine zum Fräsen entsprechend der vorgegebenen Frästiefe mit der Fräswalze abgesenkt wird, kann das Ermitteln der Längsneigung des Maschinenrahmens relativ zum bearbeiteten oder unbearbeiteten Boden durch Erfassen von Messwerten, und das automatische Regeln des Hubzustandes mindestens einer in Fahrtrichtung hinteren und/oder vorderen Hubsäule zur Herstellung der Parallelität des Maschinenrahmens zu der Boden- oder Verkehrsfläche oder zu der vorgegebene Fräsebene in Abhängigkeit von der Längsneigung des Maschinenrahmens umfassen.A method, which does not form part of the invention, for producing the parallelism of the machine frame to the ground or traffic area or to a predetermined milling plane in road milling machines, in which a ground or traffic area is milled with the help of a milling drum by lowering the road milling machine for milling according to the specified milling depth with the milling drum, the determination of the longitudinal inclination of the machine frame relative to the processed or unprocessed soil by recording measured values, and the automatic Control of the lifting condition of at least one rear and / or front lifting column in the direction of travel to produce the parallelism of the machine frame to the ground or traffic area or to the predetermined milling plane as a function of the longitudinal inclination of the machine frame.

Es kann mindestens eine Messeinrichtung vorgesehen sein, die aufgrund der aktuellen Frästiefe erfolgte Anhebung einer auf der Boden- oder Verkehrsfläche aufliegenden ersten Tasteinrichtung und/oder die Absenkung einer zweiten Tasteinrichtung auf den Grund der Frässpur erfasst. Die Steuerung kann aus den Messwerten der mindestens einen Messeinrichtung die Frästiefe in Höhe der Abstreifeinrichtung der Fräswalze oder der zweiten Tasteinrichtung ermitteln.At least one measuring device can be provided which, based on the current milling depth, detects the raising of a first sensing device resting on the ground or traffic area and / or the lowering of a second sensing device to the bottom of the milling track. From the measured values of the at least one measuring device, the control can determine the milling depth at the level of the stripping device of the milling drum or the second sensing device.

Dabei erfolgt die Messung vorzugsweise in Höhe der Abstreifeinrichtung, die dicht hinter der Fräswalze angeordnet ist oder unmittelbar hinter der Abstreifeinrichtung im Falle einer separaten Tasteinrichtung.The measurement is preferably carried out at the level of the stripping device, which is arranged close behind the milling drum or directly behind the stripping device in the case of a separate sensing device.

Die zweite Tasteinrichtung kann aus der Abstreifeinrichtung bestehen.The second sensing device can consist of the stripping device.

Die Verwendung der Abstreifeinrichtung als Abtasteinrichtung hat den Vorteil, dass keine Messfehler durch Unebenheiten der Frässpur entstehen. Ein weiterer Vorteil besteht darin, dass die Abstreifeinrichtung an ihrer Unterkante gegen Verschleiß geschützt ist.The use of the stripping device as a scanning device has the advantage that there are no measurement errors due to unevenness in the milling track. Another advantage is that the stripping device is protected against wear at its lower edge.

Alternativ kann die Steuerung aus den Messwerten der mindestens einen Messeinrichtung die aktuelle Frästiefe der Fräswalze in Höhe der Fräswalzenachse ermitteln. Die erfolgt vorzugsweise mit Hilfe einer Berechnung, die auch eine Schräglage des Maschinenrahmens berücksichtigen kann.Alternatively, the control can determine the current milling depth of the milling drum at the level of the milling drum axis from the measured values of the at least one measuring device. This is preferably done with the help of a calculation that can also take into account an inclined position of the machine frame.

Die Messeinrichtungen bestehen vorzugsweise aus Wegmesseinrichtungen. In einem Ausführungsbeispiel ist vorgesehen, dass die erste Tasteinrichtung aus mindestens einem der beidseitig an den Stirnseiten der Fräswalze relativ zu dem Maschinenrahmen höhenverstellbaren und schwenkbar angeordneten Seitenschildern besteht. Die Seitenschilder liegen auf der Boden- oder Verkehrsfläche auf oder werden gegen diese angepresst, so dass deren Lageveränderung relativ zu dem Maschinenrahmen während des Betriebs eine genaue Frästiefenerfassung ermöglichen, wenn zusätzlich eine Messung der Lageveränderung einer zweiten Tasteinrichtung in der Frässpur relativ zu dem Maschinenrahmen erfolgt.The measuring devices preferably consist of displacement measuring devices. In one embodiment it is provided that the first sensing device consists of at least one of the side plates which are adjustable in height and pivotably arranged on both sides of the front sides of the milling drum relative to the machine frame. The side plates rest on the floor or traffic area or are pressed against them, so that their change in position relative to the machine frame during operation enables precise milling depth detection if the change in position of a second sensing device is also measured in the milling track relative to the machine frame.

Die Messeinrichtungen können mit der ersten Tasteinrichtung und/oder der zweiten Tasteinrichtung gekoppelte Seilzüge und Seilzugsensoren als Wegmesseinrichtungen aufweisen.The measuring devices can have cable pulls and cable pull sensors coupled to the first scanning device and / or the second scanning device as displacement measuring devices.

Auch bei Seitenschildern besteht der Vorteil, dass diese an ihren Unterkanten verschleißgeschützt sind.The side plates also have the advantage that their lower edges are protected against wear.

Dabei können die Messeinrichtungen mit den Seitenschildern und/oder der Abstreifeinrichtung gekoppelte Seilzüge und zugeordnete Seilzugsensoren als Wegmesseinrichtungen aufweisen, die die Veränderung der Lage der Seitenschilder und der Abstreifeinrichtung relativ zu dem Maschinenrahmen messen oder die relative Verlagerung mindestens eines der Seitenschilder in Relation zu der Abstreifeinrichtung oder der zweiten Tasteinrichtung.The measuring devices can have cables coupled to the side plates and / or the stripping device and associated cable sensors as displacement measuring devices, which measure the change in the position of the side plates and the stripping device relative to the machine frame or the relative displacement of at least one of the side plates in relation to the stripping device or the second sensing device.

Bevorzugt ist die Anordnung der mit den Seitenschildern und der Abstreifeinrichtung gekoppelten Seilzüge in einer in etwa in Höhe der Abstreifeinrichtung verlaufenden im wesentlichen vertikalen Ebene quer zur Frässpur.The arrangement of the cable pulls coupled to the side plates and the stripping device in a substantially vertical plane running approximately at the level of the stripping device is preferred, transversely to the milling track.

Damit kann vermieden werden, dass aufgrund einer unterschiedlichen Bezugsebene der Messung an den Seitenschildern im Verhältnis zu der Messung an dem Abstreifschild ein Messfehler entsteht.It can thus be avoided that a measurement error occurs due to a different reference plane of the measurement on the side plates in relation to the measurement on the scraper plate.

Hierzu kann vorgesehen sein, dass ein Seilzug einerseits mit der Abstreifeinrichtung und andererseits mit mindestens einem der Seitenschilder über eine Umlenkrolle gekoppelt ist, derart, dass ein Seilzugsensor unmittelbar die Frästiefe, z.B. an der Umlenkrolle, misst.For this purpose, it can be provided that a cable pull is coupled on the one hand to the stripping device and on the other hand to at least one of the side plates via a pulley, such that a cable sensor directly measures the milling depth, for example on the pulley.

Die Messeinrichtungen können die Verlagerung der ersten Tasteinrichtung relativ zu der zweiten Tasteinrichtung oder jeweils die Verlagerung der ersten und der zweiten Tasteinrichtung relativ zu dem Maschinenrahmen erfassen.The measuring devices can detect the displacement of the first sensing device relative to the second sensing device or the displacement of the first and the second sensing device in each case relative to the machine frame.

Bei einer weiteren Alternative kann vorgesehen sein, dass die Abstreifeinrichtung an der den Seitenschildern zugewandeten Seitenkanten jeweils eine Messeinrichtung aufweist, die die relative Verlagerung der Abstreifeinrichtung zu dem wenigstens einen benachbarten Seitenschild oder die relative Verlagerung mindestens eines Seitenschildes zu der Abstreifeinrichtung misst.In a further alternative it can be provided that the stripping device has a measuring device on the side edges facing the side plates, which measures the relative displacement of the stripping device to the at least one adjacent side plate or the relative displacement of at least one side plate to the stripping device.

Nach einer weiteren alternativen Ausführungsform kann die Abstreifeinrichtung mindestens einen höhenverstellbaren, in der Abstreifeinrichtung vertikal und linear geführten quer zur Fahrtrichtung verlaufenden Balken als erste Tasteinrichtung aufweisen, der neben der Frässpur auf der Boden- oder Verkehrfläche aufliegt und dessen Position relativ zu der Abstreifeinrichtung, vorzugsweise hinsichtlich Höhe und/oder Neigung, von der Messeinrichtung messbar ist.According to a further alternative embodiment, the stripping device can have at least one height-adjustable bar that is vertically and linearly guided in the stripping device and running transversely to the direction of travel as the first sensing device, which rests next to the milling track on the ground or traffic area and its position relative to the stripping device, preferably with regard to Height and / or inclination, can be measured by the measuring device.

Die Seitenschilder können aufgrund der Schwerkraft auf den Kanten der Boden-oder Verkehrfläche neben der von der Fräsmaschine gefrästen Frässpur aufliegen, oder alternativ durch hydraulische Einrichtungen auf die Kanten angedrückt werden.Due to the force of gravity, the side plates can rest on the edges of the floor or traffic area next to the milling track milled by the milling machine, or alternatively, they can be pressed onto the edges by hydraulic devices.

Auch die Abstreifeinrichtung kann mit Hilfe hydraulischer Einrichtungen auf die Oberfläche der Frässpur angedrückt werden.The stripping device can also be pressed onto the surface of the milling track with the aid of hydraulic devices.

Die hydraulischen Einrichtungen zum Andrücken der Seitenschilder auf die Boden- oder Verkehrsfläche bzw. zum Andrücken der Abstreifeinrichtung auf dem Boden der Frässpur können integrierte Wegmesssysteme aufweisen.The hydraulic devices for pressing the side plates onto the floor or traffic area or for pressing the stripping device on the floor of the milling track can have integrated displacement measurement systems.

Zum Abheben oder Absenken der Seitenschilder und/oder der Abstreifeinrichtung können mehrere vorzugsweise jeweils zwei Kolbenzylindereinheiten mit integrierten Wegmesssystemen vorgesehen sein, aus deren Wegmesssignalen die Steuerung die aktuelle Frästiefe aus der relativen Differenz der Positionen der Abstreifeinrichtung und der mindestens einen ersten Tasteinrichtung berechnet.To raise or lower the side plates and / or the stripping device, several, preferably two, piston-cylinder units with integrated displacement measurement systems can be provided, from whose displacement measurement signals the control calculates the current milling depth from the relative difference between the positions of the stripping device and the at least one first sensing device.

Die Steuerung, die die Wegmesssignale der Messeinrichtung erhält, kann den Hubzustand der in Fahrtrichtung hinteren Hubsäulen automatisch zur Herstellung der Parallelität des Maschinenrahmens zu der Boden- oder Verkehrfläche einer gewünschten Frästiefe regeln.The control, which receives the distance measurement signals from the measuring device, can automatically regulate the lifting status of the rear lifting columns in the direction of travel to produce the parallelism of the machine frame to the ground or traffic area of a desired milling depth.

Die auf der Verkehrsfläche schwenkbar gegenüber dem Maschinenrahmen aufliegenden Seitenschilder können in Fahrtrichtung mit Abstand voneinander angeordnete Messeinrichtungen aufweisen, wobei die Steuerung aus der Differenz der Messsignale der Seitenschilder und der Abstreifeinrichtung die Längsneigung und/oder Querneigung des Maschinenrahmens zu der Boden- oder Verkehrsfläche messen kann.The side plates pivotable on the traffic area relative to the machine frame can have measuring devices arranged at a distance from one another in the direction of travel, whereby the control can measure the longitudinal inclination and / or transverse inclination of the machine frame to the ground or traffic area from the difference between the measuring signals of the side plates and the stripping device.

Die vorderen und/oder hinteren Hubsäulen können ein Wegmesssystem zum Erfassen des Hubzustandes aufweisen. Die Steuerung, die die Wegmesssignale der Messeinrichtung erhält, kann den Zustand aller Hubsäulen derart regeln, dass der Maschinenrahmen eine vorbestimmte Neigung oder einen vorbestimmten wegstreckenabhängigen Querneigungsverlauf quer zur Fahrtrichtung aufweist.The front and / or rear lifting columns can have a displacement measuring system for detecting the lifting state. The control, which receives the distance measurement signals from the measuring device, can regulate the state of all lifting columns in such a way that the machine frame has a predetermined inclination or a predetermined distance-dependent transverse slope profile transverse to the direction of travel.

Vorzugsweise wird der aktuelle Sollwert für die Frästiefe der Fräswalze mit Hilfe der vorderen Hubsäulen eingestellt.The current setpoint value for the milling depth of the milling drum is preferably set with the aid of the front lifting columns.

Der aktuelle Sollwert für die Frästiefe der Fräswalze kann mit Hilfe der vorderen Hubsäulen einstellbar sein.The current setpoint for the milling depth of the milling drum can be set using the front lifting columns.

Die Steuerung, die die Messsignale aller Messeinrichtungen Tasteinrichtungen, d.h. beispielsweise der Seitenschilder und/oder Abstreifeinrichtungen, und/oder des Bandschuhs und/oder aller Hubsäulen erhält, kann in Abhängigkeit von den Wegmesssignalen der Messeinrichtungen und/oder von der gewünschten ortsabhängigen Veränderung eines Sollwertes für die Frästiefe im Verlauf der bearbeiteten Wegstrecke die sich daraus ergebende Hubposition der Hubsäulen einstellen.The control, which receives the measurement signals of all measuring devices, sensing devices, i.e. for example the side plates and / or stripping devices, and / or the belt shoe and / or all lifting columns, can be dependent on the displacement measurement signals of the measuring devices and / or on the desired location-dependent change in a setpoint for set the milling depth in the course of the machined path, the lifting position of the lifting columns resulting therefrom.

Das Nullniveau der Messsignale der Messeinrichtungen (16) kann auf der ungefrästen Boden- oder Verkehrsfläche einstellbar sein.The zero level of the measuring signals of the measuring devices (16) can be adjustable on the unmilled ground or traffic area.

Jede Hubsäule kann an dem unteren Ende einen Träger für ein Rad oder ein Kettenlaufwerk aufweisen, und ein Abstandssensor kann den Abstand des Trägers zur Boden- und Verkehrsfläche messen und ein Messsignal an eine Steuerung für die Hubposition der Hubsäulen und/oder an eine Steuerung für die Frästiefe der Fräswalze senden.Each lifting column can have a carrier for a wheel or a track drive at the lower end, and a distance sensor can measure the distance of the carrier to the ground and traffic area and a measurement signal to a controller for the lifting position of the lifting columns and / or to a controller for the Send the milling depth of the milling drum.

Die Fräswalze kann sich im wesentlichen über die gesamte Arbeitsbreite des Maschinenrahmens erstrecken.The milling drum can extend essentially over the entire working width of the machine frame.

Die Fräswalze kann höhenverstellbar in dem Maschinenrahmen gelagert sein.The milling drum can be mounted in a height-adjustable manner in the machine frame.

Die Steuerung kann aus den erhaltenen Wegmesssignalen die aktuelle Frästiefe berechnen und ein Steuersignal für die Höhenverstellung der Fräswalze erzeugen.The control can calculate the current milling depth from the distance measurement signals received and generate a control signal for the height adjustment of the milling drum.

Bei einem Verfahren, dass nicht Teil der Erfindung darstellt, zum Messen der Frästiefe bei Straßenfräsmaschinen, bei denen mit Hilfe einer Fräswalze eine Boden- oder Verkehrsfläche gefräst wird, indem die Straßenfräsmaschine zum Fräsen entsprechend der vorgegebenen Frästiefe mit der Fräswalze abgesenkt wird, bei denen ein Seitenschild auf mindestens einer Seite neben der Frässpur auf der unbearbeiteten Boden- und Verkehrsfläche aufgesetzt wird und bei denen in die von der Fräswalze erzeugte Frässpur ein Abstreifschild abgesenkt wird, kann das Messen der Frästiefe der Frässpur durch Erfassen der Messwerte mindestens einer ersten, die Lage der unbearbeiteten Boden- und Verkehrsfläche abtastenden Tasteinrichtung in Relation zu den Messwerten einer die Lage des Grundes der Frässpur abtastenden zweiten Tasteinrichtung oder durch Messen der Messwerte beider Tasteinrichtungen in Relation zu dem Maschinenrahmen erfolgen.In a method that does not form part of the invention for measuring the milling depth in road milling machines in which a floor or traffic area is milled with the aid of a milling drum by lowering the road milling machine for milling according to the predetermined milling depth with the milling drum, in which a Side plate is placed on at least one side next to the milling track on the unprocessed ground and traffic area and in which a scraper plate is lowered into the milling track generated by the milling drum, the measurement of the milling depth of the milling track can be measured by recording the measured values of at least one first, the position of the unprocessed ground and traffic area scanning sensing device in relation to the measured values of a second sensing device scanning the position of the bottom of the milling track or by measuring the measured values of both sensing devices in relation to the machine frame.

Bei dem Verfahren können die Seitenkanten neben der Frässpur von Seitenschildern niedergehalten werden und dass mindestens eines der Seitenschilder als erste Tasteinrichtung verwendet werden, wobei das Abstreifschild zum Abziehen der gefrästen Oberfläche als zweite Tasteinrichtung verwendet wird.In the method, the side edges next to the milling track can be held down by side plates and that at least one of the side plates can be used as the first sensing device, the scraper plate being used as the second sensing device for peeling off the milled surface.

Bei dem Verfahren kann auch das Korrigieren des gemessenen Frästiefenwertes in Abhängigkeit von dem Abstand zwischen der zweiten Tasteinrichtung und der Drehachse der Fräswalze, wenn der Maschinenrahmen der Straßenfräsmaschine nicht parallel zu der Boden- oder Verkehrsfläche verläuft, erfolgen.The method can also correct the measured milling depth value as a function of the distance between the second sensing device and the The axis of rotation of the milling drum if the machine frame of the road milling machine does not run parallel to the ground or traffic area.

Im Folgenden werden unter Bezugnahme auf die Zeichnungen Ausführungsbeispiele der Erfindung näher erläutert. Es zeigen:

Fig. 1
eine Kaltfräse,
Fig. 2
eine an dem Abstreifschild befestigte erste Tasteinrichtung,
Fig. 3
zwei Kolbenzylindereinheiten zum Anheben oder Absenken des Abstreifschildes einer Abstreifeinrichtung,
Fig. 4
eine optische Vorrichtung zur Messung der Wegdifferenz zwischen den Seitenschildern und der Abstreifeinrichtung,
Fig. 5
eine Seilzugmesseinrichtung zwischen den Seitenschildern und der Abstreifeinrichtung,
Fig. 6
ein bevorzugtes Ausführungsbeispiel,
Fig. 7 a,b,c
eine schematische Darstellung des an dem Abstreifschild der Abstreifeinrichtung entstehenden Messfehlers bei fehlender Parallelität des Maschinenrahmens mit der Boden- und Verkehrsfläche.
Fig. 8
ein hydraulischer Schaltplan eines bevorzugten Ausführungsbeispiels,
Fig. 9
eine vergrößerte Darstellung des Bandschuhs, und
Fig. 10
eine Straßenfräsmaschine, bei der der Maschinenrahmen nicht parallel zur Bodenfläche verläuft.
In the following, exemplary embodiments of the invention are explained in more detail with reference to the drawings. Show it:
Fig. 1
a cold milling machine,
Fig. 2
a first sensing device attached to the scraper blade,
Fig. 3
two piston-cylinder units for raising or lowering the scraper blade of a scraper device,
Fig. 4
an optical device for measuring the path difference between the side plates and the scraper device,
Fig. 5
a cable tension measuring device between the side plates and the stripping device,
Fig. 6
a preferred embodiment,
Fig. 7 a, b, c
a schematic representation of the measurement error arising on the scraper blade of the scraper device in the absence of parallelism of the machine frame with the floor and traffic area.
Fig. 8
a hydraulic circuit diagram of a preferred embodiment,
Fig. 9
an enlarged view of the band shoe, and
Fig. 10
a road milling machine in which the machine frame is not parallel to the ground surface.

Die in Fig. 1 dargestellte Straßenfräsmaschine weist einen Maschinenrahmen 4 auf, der von einem Fahrwerk mit zwei vorderen Kettenlaufwerken 2 und mindestens einem hinteren Kettenlaufwerk 3 getragen wird. Die Kettenlaufwerke 2, 3 sind über Hubsäulen 12, 13 mit dem Maschinenrahmen 4 verbunden. Es versteht sich, dass anstelle der Kettenlaufwerke 2, 3 auch Räder verwendet werden können.In the Fig. 1 The road milling machine shown has a machine frame 4 which is supported by a running gear with two front track drives 2 and at least one rear track drive 3. The track drives 2, 3 are connected to the machine frame 4 via lifting columns 12, 13. It goes without saying that instead of the crawler tracks 2, 3, wheels can also be used.

Mit Hilfe der Hubsäulen 12, 13 kann der Maschinenrahmen 4 angehoben oder abgesenkt oder in eine vorgegebene Schräglage relativ zu der zu bearbeitenden Boden- oder Verkehrsfläche 8 gebracht werden. Die in dem Maschinenrahmen 4 gelagerte Fräswalze 6 ist von einem Walzenkasten 9 umgeben, der in Fahrtrichtung vorne zu einem ersten Transportband 11 offen ist, der das gefräste Material im vorderen Bereich des Maschinenrahmens 4 auf eine zweite Transporteinrichtung 13 überträgt. Die zweite Transporteinrichtung 13, mit der das abgefräste Material zum Beispiel auf einen Lastkraftwagen abwerfbar ist, ist in Fig. 1 wegen ihrer Länge nicht vollständig dargestellt. Hinter der Fräswalze 6 ist eine höhenverstellbare Abstreifeinrichtung 14 angeordnet, die im Betrieb mit einem Abstreifschild 15 in die von der Fräswalze 6 erzeugte Frässpur 17 eingreift und den Grund der Frässpur 17 abzieht, so dass sich hinter dem Abstreifschild kein abgefrästes Material mehr in der Frässpur 17 befindet.With the aid of the lifting columns 12, 13, the machine frame 4 can be raised or lowered or brought into a predetermined inclined position relative to the ground or traffic area 8 to be processed. The milling drum 6 mounted in the machine frame 4 is surrounded by a roll box 9, which is open at the front in the direction of travel to a first conveyor belt 11, which transfers the milled material in the front area of the machine frame 4 to a second conveyor 13. The second transport device 13, with which the milled material can be dropped onto a truck, for example, is shown in FIG Fig. 1 not shown in full because of its length. Behind the milling drum 6 there is a height-adjustable stripping device 14 which, during operation, engages with a scraper blade 15 in the milling track 17 generated by the milling drum 6 and pulls off the bottom of the milling track 17 so that there is no more milled material behind the scraper blade in the milling track 17 is located.

Oberhalb der Fräswalze 6 ist ein Fahrstand 5 mit einem Bedienpult für den Fahrzeugführer für alle Steuerfunktionen des Fahr- und des Fräsbetriebes angeordnet. Darin enthalten ist auch eine Steuereinrichtung 23 zum Steuern der Frästiefe der Fräswalze 6.Above the milling drum 6 there is a control stand 5 with a control panel for the vehicle driver for all control functions of the driving and milling operations. This also includes a control device 23 for controlling the milling depth of the milling drum 6.

Die beidseitig in Nähe der Stirnseite der Fräswalze 6 angeordneten Seitenschilder 10 und die Abstreifeinrichtung 14 sind mit Messeinrichtungen 16 versehen, die die Bestimmung der aktuellen Frästiefe in Höhe der Abstreifeinrichtung 14 bzw. die Berechnung der Frästiefe in Höhe der Drehachse der Fräswalze ermöglichen. Dabei wird die Frästiefe in einer zur Boden- oder Verkehrsfläche orthogonalen Ebene bestimmt, die parallel zur Drehachse der Fräswalze verläuft und in der die Drehachse liegt.The side plates 10, arranged on both sides near the end face of the milling drum 6, and the stripping device 14 are provided with measuring devices 16 which enable the determination of the current milling depth at the level of the stripping device 14 or the calculation of the milling depth at the level of the axis of rotation of the milling drum. The milling depth is determined in a plane orthogonal to the ground or traffic area, which runs parallel to the axis of rotation of the milling drum and in which the axis of rotation lies.

Dabei kann die Position einer ersten Tasteinrichtung, z.B. die Seitenschilder 10, auf der Boden- oder Verkehrsfläche 8 und/oder die Absenkung einer zweiten Tasteinrichtung, z.B. der Abstreifeinrichtung erfasst werden. Vorzugsweise aus Wegmesseinrichtungen bestehenden Messeinrichtungen 16 messen die Verlagerungen der Tasteinrichtungen z.B. der Seitenschilder 10 oder eines Balkens 20 oder des Abstreifschildes 15 in Relation zu dem Maschinenrahmen 4 oder relativ zueinander.The position of a first sensing device, for example the side signs 10, on the floor or traffic area 8 and / or the lowering of a second sensing device, for example the stripping device, can be detected. Measuring devices 16, preferably consisting of displacement measuring devices, measure the displacements the sensing devices, for example the side plates 10 or a bar 20 or the scraper plate 15 in relation to the machine frame 4 or in relation to one another.

Das Ausführungsbeispiel der Fig. 2 zeigt einen Balken 20 als Tasteinrichtung, der auf der Boden- oder Verkehrsfläche 8 aufliegt und der dem Abstreifschild 15 der Abstreifeinrichtung in einem linear und orthogonal zu der Unterkante 19 des Abstreifschildes 15 verlaufenden Schlitz 24 geführt ist. Es versteht sich, dass auch zwei zueinander parallele Schlitze 24 in dem Abstreifschild 15 vorgesehen sein können, oder dass der Balken 20 als Tasteinrichtung in anderer Weise an der Abstreifeinrichtung 14 höhenverstellbar geführt sein kann. Die Messeinrichtung 16 in Form einer Wegmesseinrichtung erfasst die Verschiebung des Balkens 20 in Relation zu der Abstreifeinrichtung 14. Im Falle von zwei mit horizontalem Abstand voneinander verlaufenden Schlitzen 24 besteht die Möglichkeit, sowohl die Frästiefe auf der linken Seite der Frässpur 17 als auch auf der rechten Seite der Frässpur 17 separat zu erfassen. Außerdem besteht dadurch die Möglichkeit, eine Schräglage des Maschinenrahmens 4 in Relation zu der Boden- oder Verkehrsfläche 8 festzustellen.The embodiment of the Fig. 2 shows a bar 20 as a sensing device which rests on the floor or traffic surface 8 and which is guided to the scraper blade 15 of the scraper device in a slot 24 running linearly and orthogonally to the lower edge 19 of the scraper blade 15. It goes without saying that two mutually parallel slots 24 can also be provided in the scraper blade 15, or that the bar 20 as a sensing device can be guided in a height-adjustable manner on the scraper device 14 in a different manner. The measuring device 16 in the form of a displacement measuring device detects the displacement of the bar 20 in relation to the stripping device 14. In the case of two horizontally spaced slots 24, it is possible to measure both the milling depth on the left side of the milling track 17 and on the right Side of the milling track 17 to be recorded separately. This also makes it possible to determine an inclined position of the machine frame 4 in relation to the floor or traffic area 8.

Fig. 3 zeigt ein weiteres Ausführungsbeispiel, bei dem das Abstreifschild 15 der Abstreifeinrichtung 14 mit Hilfe von hydraulischen Einrichtungen auf- und abbewegbar ist. Die hydraulischen Einrichtungen bestehen aus Kolbenzylindereinheiten 26, 28 mit integriertem Wegmesssystem. Dies bedeutet, dass die Kolbenzylindereinheiten 26, 28 nicht nur die Hubbewegung der Abstreifeinrichtung ermöglichen, sondern darüber hinaus auch ein Wegsignal erzeugen. Fig. 3 shows a further embodiment in which the scraper blade 15 of the scraper device 14 can be moved up and down with the aid of hydraulic devices. The hydraulic devices consist of piston-cylinder units 26, 28 with an integrated position measuring system. This means that the piston-cylinder units 26, 28 not only enable the lifting movement of the stripping device, but also generate a path signal.

Wie aus Fig. 3 ersichtlich ist, sind die Kolbenzylindereinheiten 26, 28 an einem Ende mit dem Maschinenrahmen 4 gekoppelt und an dem anderen Ende mit dem Abstreifschild 15.How out Fig. 3 As can be seen, the piston-cylinder units 26, 28 are coupled at one end to the machine frame 4 and at the other end to the scraper blade 15.

Fig. 4 zeigt ein Ausführungsbeispiel, bei dem die Relativbewegung zwischen den Seitenschildern 10 und dem Abstreifschild 15 unmittelbar gemessen wird, um die Frästiefe der Frässpur 17 zu erfassen. Hierzu sind beispielsweise an den Seitenschildern 10 und jeweils gegenüberliegend an dem Abstreifschild 15 Elemente 38,40 der Messeinrichtung 16 angeordnet, die die Erfassung der relativen Verlagerung des Abstreifschildes 15 in Relation zu den Seitenschildern 10 ermöglichen. Diese Verlagerung entspricht der Frästiefe s in Fig. 4. Beispielsweise kann eine derartige Messeinrichtung, die die relative Verlagerung misst, aus einem optischen System, z.B. durch Ablesen einer Skalierung mit einem optischen Sensor, oder einem elektromagnetischen oder induktivem System bestehen. Fig. 4 shows an embodiment in which the relative movement between the side plates 10 and the scraper plate 15 is measured directly in order to detect the milling depth of the milling track 17. For this purpose, elements 38, 40 of the measuring device 16 are arranged, for example, on the side plates 10 and in each case opposite on the scraper plate 15, which record the relative displacement of the scraper plate 15 in relation to the side plates 10 allow. This shift corresponds to the milling depth s in Fig. 4 . For example, such a measuring device, which measures the relative displacement, can consist of an optical system, for example by reading a scale with an optical sensor, or an electromagnetic or inductive system.

Alternativ kann wie in Fig. 5 gezeigt das relative Wegmesssystem zwischen den Seitenschildern 10 und dem Abstreifschild 15 auch aus einem Seilzug 22 in Kombination mit einem Seilzugsensor 21 bestehen. Der Seilzug 22 ist einerseits mit dem Abstreifschild 15 der Abstreifeinrichtung 14 und andererseits mit mindestens einem der Seitenschilder 10 über eine Umlenkrolle 35 gekoppelt, so dass das Signal des Seilzugsensors 21 unmittelbar den aktuellen Frästiefenwert anzeigen kann.Alternatively, as in Fig. 5 shown, the relative displacement measuring system between the side plates 10 and the scraper plate 15 also consist of a cable 22 in combination with a cable sensor 21. The cable 22 is coupled on the one hand to the stripping plate 15 of the stripping device 14 and on the other hand to at least one of the side plates 10 via a pulley 35 so that the signal from the cable sensor 21 can directly display the current milling depth value.

Die Seitenschilder 10 können selbst als erste Tasteinrichtung verwendet werden, indem ihre Lage mit Hilfe von einem Seilzug und einem Seilzugsensor oder mit Hilfe von Kolbenzylindereinheiten 30, 32 mit integrierten Wegmesseinrichtungen in Relation zu dem Maschinenrahmen 4 oder der zweiten Tasteinrichtung überwacht wird.The side plates 10 can themselves be used as a first sensing device by monitoring their position with the aid of a cable and a cable sensor or with the aid of piston-cylinder units 30, 32 with integrated displacement measuring devices in relation to the machine frame 4 or the second sensing device.

Beispielsweise können die Messeinrichtungen auch die Verlagerung der Seitenschilder 10 in Relation zu dem Maschinenrahmen 4 messen. Im Falle von zwei Messeinrichtungen in Fahrtrichtung vorne und hinten der Seitenschilder 10 besteht auch die Möglichkeit die Längsneigung des Maschinenrahmens 4 in Relation zur Boden- oder Verkehrsfläche 8 oder durch einen Vergleich der Messwerte beider Seitenschilder 10 auf beiden Seiten der Fräswalze 6 auch die Querneigung des Maschinenrahmens 4 zu ermitteln.For example, the measuring devices can also measure the displacement of the side plates 10 in relation to the machine frame 4. In the case of two measuring devices in the front and rear of the side plates 10 in the direction of travel, there is also the possibility of the longitudinal inclination of the machine frame 4 in relation to the ground or traffic area 8 or, by comparing the measured values of both side plates 10 on both sides of the milling drum 6, the transverse inclination of the machine frame 4 to be determined.

Fig. 6 zeigte eine bevorzugte Ausführungsform, bei der an beiden Seiten der Abstreifeinrichtung 15 Seilzüge 22 mit am Maschinenrahmen 4 befestigten Seilzugsensoren 21 angeordnet sind. Die Seitenschilder 10 sind ebenfalls mit Seilzügen 22 und an dem Maschinenrahmen 4 befestigten Seilzugsensoren 21 versehen, und zwar beiderseits der Maschine. Die Frästiefe s wird aus der Differenz der Messwerte der Seilzugsensoren 21 für die Seitenschilder 10 und der Seilzugsensoren 21 der Abstreifeinrichtung 15 ermittelt. Dabei soll die Messung vorzugsweise in der gleichen im wesentlichen vertikalen Ebene erfolgen, um Messfehler zu vermeiden. Fig. 6 showed a preferred embodiment in which on both sides of the stripping device 15 cable pulls 22 with cable pull sensors 21 attached to the machine frame 4 are arranged. The side plates 10 are also provided with cables 22 and cable sensors 21 attached to the machine frame 4, to be precise on both sides of the machine. The milling depth s is determined from the difference between the measured values of the cable sensors 21 for the side plates 10 and the cable sensors 21 of the stripping device 15. The measurement should preferably be take place in the same essentially vertical plane in order to avoid measurement errors.

In Fign. 7a bis 7c sind die Seilzugsensoren 21 für die Seitenschilder 10 und die Abstreifschilder 14 dargestellt, wobei in den Zeichnungen nur ein Seilzugsensor 21 angedeutet ist, weil die Seilzugsensoren im wesentlichen in der gleichen Ebene hintereinander liegen.In Figs. 7a to 7c the cable sensors 21 for the side plates 10 and the stripping plates 14 are shown, with only one cable sensor 21 being indicated in the drawings because the cable sensors are essentially one behind the other in the same plane.

Fig. 7a, b, c sollen den Fall verdeutlichen, bei dem die Boden- oder Verkehrsfläche 8 nicht parallel zum Maschinenrahmen 4 verläuft, wobei eine Korrektur des von den Messeinrichtungen angezeigten Frästiefenmesswertes aufgrund eines Winkelfehlers erfolgen muss, da durch eine Längsneigung des Maschinenrahmens 4 das Messsignal in Höhe des Abstreifschildes 15 oder einer zweiten Tasteinrichtung in der Nähe der Abstreifeinrichtung 15 verfälscht wird. Aufgrund der feststehenden geometrischen Verhältnisse, nämlich dem Abstand des Abstreifschildes 15 von der Drehachse der Fräswalze 6 lässt sich bei Kenntnis der Winkelabweichung zu der Horizontalen in Fahrtrichtung der gemessene Frästiefenwert korrigieren und die aktuelle Frästiefe in Höhe der Fräswalzenachse berechnen. Die Winkelabweichung in Fahrtrichtung lässt sich beispielsweise aus der Stellung der Hubsäulen 12,13 der Kettenlaufwerke 2,3 oder der Kolbenzylinder-Einheiten 30, 32 bestimmen. Figures 7a, b, c are intended to illustrate the case in which the floor or traffic area 8 does not run parallel to the machine frame 4, with the milling depth measurement value displayed by the measuring devices having to be corrected due to an angular error, since a longitudinal inclination of the machine frame 4 results in the measurement signal at the level of the scraper plate 15 or a second sensing device in the vicinity of the stripping device 15 is falsified. Due to the fixed geometric relationships, namely the distance of the scraper blade 15 from the axis of rotation of the milling drum 6, the measured milling depth value can be corrected and the current milling depth calculated at the height of the milling drum axis if the angular deviation from the horizontal in the direction of travel is known. The angular deviation in the direction of travel can be determined, for example, from the position of the lifting columns 12, 13 of the crawler tracks 2, 3 or of the piston-cylinder units 30, 32.

Aus den Figuren 7a bis 7c ist auch ersichtlich, in welchem Umfang die Seitenschilder 10 relativ zum Maschinenrahmen 4 schwenkbar sind. Da die Kolbenzylindereinheiten 30, 32 auch mit Wegmesssystemen versehen sind, können diese Messsignale zur Bestimmung des Abstandes der Seitenschilder 10 von dem Maschinenrahmen 4 alternativ zu Seilzugsensoren 21 verwendet werden.From the Figures 7a to 7c it can also be seen to what extent the side plates 10 can be pivoted relative to the machine frame 4. Since the piston-cylinder units 30, 32 are also provided with position measurement systems, these measurement signals can be used to determine the distance between the side plates 10 and the machine frame 4 as an alternative to the cable sensors 21.

Figur 7c zeigt die Position des mindestens einen Seitenschildes 10 bei bodenparalleler Position des Maschinenrahmens 4. Das in den Figuren 7a bis 7c gezeigte Abstreifschild 15 befindet sich an dem Walzenkasten 9, so dass der Abstand des Abstreifschildes 15 von der Drehachse der Fräswalze 6 eindeutig bestimmbar ist, um eine Berechnung der Frästiefenkorrektur zu ermöglichen, wenn der Maschinenrahmen 4 nicht bodenparallel ist. Figure 7c shows the position of the at least one side plate 10 with the machine frame 4 in a position parallel to the floor Figures 7a to 7c The scraper blade 15 shown is located on the roller box 9, so that the distance between the scraper blade 15 and the axis of rotation of the milling drum 6 can be clearly determined in order to enable the milling depth correction to be calculated when the machine frame 4 is not parallel to the ground.

Die Steuerung 23 kann aus den erhaltenen Wegmesssignalen die aktuelle Frästiefe in Höhe der Fräswalzenachse berechnen und gegebenenfalls auch ein Steuersignal für die Höhenverstellung der Fräswalze 6 erzeugen.The controller 23 can calculate the current milling depth at the height of the milling drum axis from the path measurement signals received and, if necessary, also generate a control signal for the height adjustment of the milling drum 6.

Vorzugsweise kann die Steuerung 23 den Hubzustand der in Fahrtrichtung vorderen und/oder hinteren, mindestens einen Hubsäule 13 automatisch zur Herstellung der Parallelität des Maschinenrahmens 4 zu der Boden- oder Verkehrsfläche 8 oder zur Horizontalen oder zu einer vorgegebenen gewünschten Fräsebene regeln.The controller 23 can preferably automatically regulate the lifting state of the at least one lifting column 13, which is front and / or rear in the direction of travel, to produce the parallelism of the machine frame 4 to the floor or traffic area 8 or to the horizontal or to a predetermined desired milling plane.

Hierzu sind alle bisher beschriebenen Messeinrichtungen auch zur Feststellung der Winkellage oder Längsneigung zur Regelung der Parallität des Maschinenrahmens 4 zur Bodenfläche einsetzbar.For this purpose, all of the previously described measuring devices can also be used to determine the angular position or longitudinal inclination to regulate the parallelism of the machine frame 4 to the floor surface.

Fig. 8 zeigt eine schematische Darstellung eines bevorzugten Ausführungsbeispiels eines hydraulischen Schaltplans einer Straßenbaumaschine 1. Den vier Hubsäulen 12, 13 sind jeweils Stellglieder zugeordnet, welche die Höhenverstellung der jeweiligen Hubsäule 12,13 ermöglicht. Die Stellglieder sind als Arbeitszylinder 40, 42, 44, 46 in den Hubsäulen ausgebildet. Jeder Arbeitszylinder 40, 42, 44, 46 weist jeweils eine erste Arbeitskammer 48, 52, 56, 60 und eine zweite Arbeitskammer 50, 54, 58, 62 auf. Die jeweilige erste Arbeitskammer 48, 52, 56, 60 ist von der jeweiligen zweiten Arbeitskammer 50, 54, 58, 62 durch jeweils einen Kolben getrennt. Eine Volumenvergrößerung der jeweiligen ersten Arbeitskammer 48, 52, 56, 60 und eine gleichzeitige Volumenverringerung der jeweiligen zweiten Arbeitskammer 50, 54, 58, 62 hat ein Ausfahren der jeweiligen Hubsäule 12,13 und damit verbunden ein Absinken des jeweiligen Fahrwerks zur Folge. Fig. 8 shows a schematic representation of a preferred embodiment of a hydraulic circuit diagram of a road construction machine 1. The four lifting columns 12, 13 are each assigned actuators, which enable the height adjustment of the respective lifting column 12, 13. The actuators are designed as working cylinders 40, 42, 44, 46 in the lifting columns. Each working cylinder 40, 42, 44, 46 has a first working chamber 48, 52, 56, 60 and a second working chamber 50, 54, 58, 62. The respective first working chamber 48, 52, 56, 60 is separated from the respective second working chamber 50, 54, 58, 62 by a respective piston. An increase in volume of the respective first working chamber 48, 52, 56, 60 and a simultaneous reduction in volume of the respective second working chamber 50, 54, 58, 62 result in an extension of the respective lifting column 12, 13 and, associated therewith, a lowering of the respective chassis.

Der erste Arbeitszylinder 40 ist das Stellglied für die Hubsäule vorne links, der zweite Arbeitszylinder 42 ist das Stellglied für die Hubsäule vorne rechts, der dritte Arbeitszylinder 44 ist das Stellglied für die Hubsäule hinten rechts und der vierte Arbeitszylinder 46 ist das Stellglied für die Hubsäule hinten links.The first working cylinder 40 is the actuator for the front left lifting column, the second working cylinder 42 is the adjusting element for the front right lifting column, the third working cylinder 44 is the adjusting element for the rear right lifting column and the fourth working cylinder 46 is the adjusting element for the rear lifting column Left.

Die erste Arbeitskammer 48 des ersten Arbeitszylinders 40 ist mit der ersten Arbeitskammer 60 des vierten Arbeitszylinders 46 über eine Verbindungsleitung 68 verbunden. Die zweite Arbeitskammer 50 des ersten Arbeitszylinders 40 ist über eine Verbindungsleitung 64 mit der zweiten Arbeitskammer 54 des zweiten Arbeitszylinders 42 verbunden. Die erste Arbeitskammer 52 des zweiten Arbeitszylinders 42 ist über die Verbindungsleitung 70 mit der ersten Arbeitskammer 56 des dritten Arbeitszylinders 44 verbunden. Die zweite Arbeitskammer 58 des dritten Arbeitszylinders 44 ist wiederum über die Verbindungsleitung 66 mit der zweiten Arbeitskammer des vierten Arbeitszylinders 46 verbunden. Die Arbeitszylinder 40, 42, 44, 46 bilden somit über die Verbindungsleitungen 64, 66, 68, 70 ein geschlossenes System, wodurch Fahrkomfort und Standsicherheit der Straßenbaumaschine 1 verbessert werden.The first working chamber 48 of the first working cylinder 40 is connected to the first working chamber 60 of the fourth working cylinder 46 via a connecting line 68 connected. The second working chamber 50 of the first working cylinder 40 is connected to the second working chamber 54 of the second working cylinder 42 via a connecting line 64. The first working chamber 52 of the second working cylinder 42 is connected to the first working chamber 56 of the third working cylinder 44 via the connecting line 70. The second working chamber 58 of the third working cylinder 44 is in turn connected to the second working chamber of the fourth working cylinder 46 via the connecting line 66. The working cylinders 40, 42, 44, 46 thus form a closed system via the connecting lines 64, 66, 68, 70, as a result of which driving comfort and stability of the road construction machine 1 are improved.

Die Verbindungsleitung 68 ist über eine weitere Verbindungsleitung 72 mit einem Anschluss B eines ersten 4/3-Wegeventils 84 verbunden. Ein 4/3-Wegeventil weist vier Anschlüsse und drei Schaltstellungen auf. Ein zweiter Anschluss T des ersten 4/3-Wegeventils 84 ist über eine Verbindungsleitung 76 mit einem Anschluss T eines zweiten 4/3-Wegventils 86 verbunden. Die Verbindungsleitung 76 ist über eine Arbeitsleitung 87 mit einem Druckmediumsumpf 80 verbunden. Ein dritter Anschluss P des ersten 4/3-Wegeventils ist über die Verbindungsleitung 78 mit einem zweiten Anschluss P des zweiten 4/3-Wegeventils 86 verbunden. Es ist ferner eine Arbeitsleitung 79 mit der Verbindungsleitung 78 verbunden, wobei in der Arbeitsleitung 79 eine Ölpumpe vorgesehen ist. Die Arbeitsleitung 79 mündet am anderen Ende ebenfalls in den Druckmediumsumpf 80.The connecting line 68 is connected to a connection B of a first 4/3 way valve 84 via a further connecting line 72. A 4/3-way valve has four connections and three switching positions. A second connection T of the first 4/3 way valve 84 is connected via a connecting line 76 to a connection T of a second 4/3 way valve 86. The connecting line 76 is connected to a pressure medium sump 80 via a working line 87. A third connection P of the first 4/3-way valve is connected to a second connection P of the second 4/3-way valve 86 via the connecting line 78. Furthermore, a working line 79 is connected to the connecting line 78, an oil pump being provided in the working line 79. The working line 79 also opens into the pressure medium sump 80 at the other end.

Ein dritter Anschluss B des zweiten 4/3-Wegventils 86 ist über eine Verbindungsleitung 77 mit der Verbindungsleitung 70 verbunden. Ein vierter Anschluss A des ersten 4/3-Wegeventils 84 ist über die Verbindungsleitung 96 mit einem vierten Anschluss A des zweiten 4/3-Wegeventils 86 verbunden.A third connection B of the second 4/3 way valve 86 is connected to the connecting line 70 via a connecting line 77. A fourth port A of the first 4/3 way valve 84 is connected to a fourth port A of the second 4/3 way valve 86 via the connecting line 96.

Ferner ist die Verbindungsleitung 64 über die Verbindungsleitung 75 mit einem Anschluss eines 2/2-Wegeventils 94 (zwei Anschlüsse, zwei Schaltstellungen) verbunden. Der zweite Anschluss des ersten 2/2-Wegeventils 94 ist für die Verbindungsleitung 98 mit einem Anschluss eines Rückschlagventils 92 verbunden. Der andere Anschluss des Rückschlagventils 92 ist über die Verbindungsleitung 81 mit der Verbindungsleitung 96 verbunden. Das Rückschlagventil 92 ist für Fluidströme von der Verbindungsleitung 81 zu der Verbindungsleitung 98 gesperrt.Furthermore, the connecting line 64 is connected via the connecting line 75 to a connection of a 2/2-way valve 94 (two connections, two switching positions). The second connection of the first 2/2-way valve 94 is connected to a connection of a check valve 92 for the connecting line 98. The other connection of the check valve 92 is connected to the connecting line 96 via the connecting line 81. The check valve 92 is for Fluid flows from the connecting line 81 to the connecting line 98 are blocked.

Die Verbindungsleitung 96 ist außerdem über die Verbindungsleitung 83 mit einem Anschluss eines weiteren Rückschlagventil 90 verbunden. Der andere Anschluss des Rückschlagventils 90 ist über die Verbindungsleitung 100 mit einem Anschluss eines weiteren 2/2-Wegeventils 88 verbunden. Der andere Anschluss des 2/2-Wegeventils 88 ist über die Verbindungsleitung 74 mit der Verbindungsleitung 66 verbunden. Das Rückschlagventil 90 sperrt Fluidströme von der Verbindungsleitung 100 zur Verbindungsleitung 83.The connecting line 96 is also connected to a connection of a further check valve 90 via the connecting line 83. The other connection of the check valve 90 is connected to a connection of a further 2/2-way valve 88 via the connecting line 100. The other connection of the 2/2-way valve 88 is connected to the connecting line 66 via the connecting line 74. The check valve 90 blocks fluid flows from the connecting line 100 to the connecting line 83.

Die Steuerung 23 regelt durch Stellen der zwei 4/3-Wegeventile das Verstellen der Arbeitszylinder 40, 42, 44, 46 und damit das Aus- bzw. Einfahren der Hubsäulen 12,13. Durch das Aus- bzw. Einfahren der Hubsäulen 12,13 wird die Frästiefe eingestellt. Bei einer Ausführungsform kann die Frästiefe der Fräswalze 6 in Fahrtrichtung gesehen auf beiden Seiten des Maschinenrahmens 4 unabhängig voneinander geregelt werden, da nur die linken Arbeitszylinder 40, 46 oder die rechten Arbeitszylinder 42, 44 verfahren werden können.By setting the two 4/3-way valves, the controller 23 regulates the adjustment of the working cylinders 40, 42, 44, 46 and thus the extension and retraction of the lifting columns 12, 13. The milling depth is set by extending and retracting the lifting columns 12, 13. In one embodiment, the milling depth of the milling drum 6, viewed in the direction of travel, can be regulated independently of one another on both sides of the machine frame 4, since only the left working cylinders 40, 46 or the right working cylinders 42, 44 can be moved.

Die Steuerung 23 regelt die Parallelität des Maschinenrahmens 4 zu der Boden-oder Verkehrsfläche 8 bei dem bevorzugten Ausführungsbeispiel gemäß Fig. 8 erst dann, wenn die Steuerung 23 eine Nachregelung der Frästiefe oder einer Einstellung einer vorgegebenen Frästiefe vornimmt. Die Steuerung 23 entscheidet durch entsprechendes Stellen der zwei 2/2-Wegeventile 94, 88, ob die vorderen Arbeitszylinder 40, 42 und damit die vorderen Hubsäulen 12 oder die hinteren Arbeitszylinder 44, 46 und damit die hinteren Hubsäulen 13 verstellt werden. Das Herstellen der Parallelität des Maschinenrahmens 4 zu der Boden - oder Verkehrsfläche 8 wird daher nicht aktiv durch die Steuerung 23 geregelt, sondern passiv, dadurch geregelt, dass bei einer aktuell erfolgenden Nachregelung der Frästiefe oder einer neuen Sollwert-Einstellung einer vorgegebenen Frästiefe entschieden wird, ob die dafür über die beiden 4/3-Wegeventile 84, 86 fließende Ölmenge in die vorderen Arbeitszylinder 40, 42 und damit die vorderen Hubsäulen 12 oder die hinteren Arbeitszylinder 44, 46 und damit die hinteren Hubsäulen 13 geleitet wird. Alternativ kann die Ölmenge sowohl in die vordere als auch in die hinteren Arbeitszylinder 40, 42, 44, 46 gleichzeitig geleitet werden, wodurch die vorderen und die hinteren Hubsäulen 12, 13 verstellt werden.The controller 23 regulates the parallelism of the machine frame 4 to the ground or traffic area 8 in the preferred exemplary embodiment according to Fig. 8 only when the controller 23 readjusts the milling depth or a setting of a predetermined milling depth. By appropriately setting the two 2/2-way valves 94, 88, the controller 23 decides whether the front working cylinders 40, 42 and thus the front lifting columns 12 or the rear working cylinders 44, 46 and thus the rear lifting columns 13 are to be adjusted. The production of the parallelism of the machine frame 4 to the floor or traffic area 8 is therefore not actively regulated by the controller 23, but rather passively, in that a decision is made when the milling depth is currently being readjusted or a new target value is set for a predetermined milling depth, whether the amount of oil flowing through the two 4/3-way valves 84, 86 is directed into the front working cylinders 40, 42 and thus the front lifting columns 12 or the rear working cylinders 44, 46 and thus the rear lifting columns 13. Alternatively, the amount of oil can be added to both the front and the the rear working cylinders 40, 42, 44, 46 are guided simultaneously, whereby the front and rear lifting columns 12, 13 are adjusted.

Fig. 9Fig. 9 zeigt die Anordnung eines Bandschuhs 122 in größerem Maßstab. Am Maschinenrahmen 4 ist ein Bandschuh 122 höhenverstellbar befestigt. Zur Höhenverstellung des Bandschuhs 122 ist eine an dem Maschinenrahmen 4 befestigte Kolben-Zylindereinheit 108 vorgesehen. Mit Hilfe dieser Kobenzylindereinheit kann der Bandschuh in Vertikalrichtung angehoben werden, um beispielsweise Hindernisse zu überwinden. Der Bandschuh 122 besitzt auf der Unterseite Bodenkontakt. Bei Erhöhung der Frästiefe stellt sich die Position des Bandschuhs 122 durch den Bodenkontakt selbständig ein.shows the arrangement of a belt shoe 122 on a larger scale. A belt shoe 122 is fastened to the machine frame 4 in a height-adjustable manner. A piston-cylinder unit 108 fastened to the machine frame 4 is provided for adjusting the height of the belt shoe 122. With the help of this piston cylinder unit, the belt shoe can be lifted in the vertical direction, for example to overcome obstacles. The band shoe 122 has ground contact on the underside. When the milling depth is increased, the position of the belt shoe 122 adjusts itself automatically through contact with the ground.

Der Bandschuh 122 nimmt das fräswalzenseitige Ende der Fördereinrichtung 102 auf. Die Lagerung des hinteren Endes der Fördereinrichtung 102 ist ein Fixpunkt zwischen Bandschuh 122 und Fördereinrichtung 102. Am vorderen Ende des Bandschuhs 122 sind beidseitig Verbindungsstreben 128 vorgesehen, die eine Schwenkbewegung des Bandschuhs 122 relativ zur Fördereinrichtung 102 verhindern. Die Fördereinrichtung besteht vorzugsweise aus einem Transportband 11.The belt shoe 122 receives the end of the conveyor device 102 on the milling drum side. The support of the rear end of the conveyor 102 is a fixed point between the belt shoe 122 and the conveyor 102. At the front end of the belt shoe 122, connecting struts 128 are provided on both sides, which prevent the belt shoe 122 from pivoting relative to the conveyor 102. The conveyor device preferably consists of a conveyor belt 11.

Der Bandschuh 122 besteht aus einem bodenparallelen Rost 120, der als Niederhalter und als Gleitschuh dient. Der Rost 120 besteht aus mehreren parallel zur Fahrtrichtung ausgerichteten Roststäben. Seitlich wird der Rost 120 durch vertikale Seitenwände 124 begrenzt. Am hinteren Ende des Bandschuhs 122 erstreckt sich ein Frontbereich 126 in etwa parallel zum Transportband 11 der Fördereinrichtung 102. Am hinteren Ende des Bandschuhs ist ein Schutzschild 121 zum Schutz des Transportbandes 11 angeordnet, das verhindert, dass das Transportband 11 durch scharfkantiges Material beschädigt wird. Ein geringfügig in Fahrtrichtung geneigtes Schild 118 ist im oberen Bereich U-förmig ausgespart, um eine Durchtrittsöffnung für das abgearbeitete Material zu bilden.The belt shoe 122 consists of a grate 120 parallel to the floor, which serves as a hold-down device and as a sliding shoe. The grate 120 consists of several grate bars aligned parallel to the direction of travel. The grate 120 is laterally bounded by vertical side walls 124. At the rear end of the belt shoe 122, a front area 126 extends approximately parallel to the conveyor belt 11 of the conveyor device 102. At the rear end of the belt shoe there is a protective shield 121 to protect the conveyor belt 11, which prevents the conveyor belt 11 from being damaged by sharp-edged material. A shield 118 inclined slightly in the direction of travel is recessed in the upper region in a U-shape in order to form a passage opening for the processed material.

Es können Wegmesssysteme, wie z.B. Ultraschallsensoren oder Seilzugsensoren an dem Bandschuh 122 direkt befestigt sein, oder in der Kolben-Zylindereinheit 108 integriert sein. Mit Hilfe der Wegmesssysteme an dem Bandschuh 122 können die Abstandswerte zwischen dem Maschinenrahmen 4 und dem unbearbeiteten Boden ermittelt werden.Distance measuring systems, such as ultrasonic sensors or draw-wire sensors, can be attached directly to the belt shoe 122 or integrated in the piston-cylinder unit 108. The distance values between the machine frame 4 and the unprocessed soil can be determined with the aid of the displacement measuring systems on the belt shoe 122.

In Fig. 10 ist eine Straßenfräsmaschine 1 dargestellt, deren Maschinenrahmen 4 nicht parallel zu der Bodenoberfläche 8 ausgerichtet ist. Die Hubsäulen 12,13 sind am unteren Ende in Gelenken 43 an den jeweiligen Kettenlaufwerken 2,3 gelagert. Zur Bestimmung der Längsneigung des Maschinenrahmens bezogen auf die Bodenoberfläche 8 können Drehwinkelsensoren an den Gelenken 43 vorgesehen sein, die den Relativwinkel zwischen den zu dem Maschinenrahmen 4 orthogonal verlaufenden Hubsäulen 12,13 und den parallel auf der Bodenoberfläche verlaufenden Kettenlaufwerken 12,13 erfassen. Alternativ kann auch eines der Seitenschilder 10 einen Drehwinkelsensor aufweisen, der den Relativwinkel zwischen dem parallel auf der Bodenoberfläche 8 aufliegenden Seitenschild 10 und dem Maschinenrahmen 4 erfasst.In Fig. 10 a road milling machine 1 is shown, the machine frame 4 of which is not aligned parallel to the ground surface 8. The lifting columns 12, 13 are mounted at the lower end in joints 43 on the respective chain drives 2, 3. To determine the longitudinal inclination of the machine frame in relation to the floor surface 8, rotation angle sensors can be provided on the joints 43, which detect the relative angle between the lifting columns 12, 13 running orthogonally to the machine frame 4 and the chain drives 12, 13 running parallel on the floor surface. Alternatively, one of the side plates 10 can also have an angle of rotation sensor which detects the relative angle between the side plate 10 lying parallel on the floor surface 8 and the machine frame 4.

Nach einer weiteren Ausführungsform kann auch vorgesehen sein, dass zwei mit Abstand voneinander in Längsrichtung der Straßenfräsmaschine angeordnete Messeinrichtung, z.B. mit den Kolben-Zylindereinheiten 30, 32 gekoppelte Messeinrichtungen die Längsneigung des Maschinenrahmens 4 erfassen.According to a further embodiment it can also be provided that two measuring devices arranged at a distance from one another in the longitudinal direction of the road milling machine, e.g., measuring devices coupled to the piston-cylinder units 30, 32, detect the longitudinal inclination of the machine frame 4.

Claims (14)

  1. A self-propelling road construction machine (1), particularly a cold-milling machine or recycler, comprising
    - a track assembly carrying the machine frame (4) via lifting columns (12, 13),
    - a milling roller (6) supported on the machine frame (4) for treatment of a ground or traffic surface (8),
    - height-adjustable side plates (10) on the front sides of the milling roller (6), arranged to rest on the ground or traffic surface (8) to be treated,
    - a height-adjustable stripping means (14) arranged in the traveling direction behind the milling roller (6) and adapted to be lowered, during operation, into the milling track (17) generated by the milling roller (6), and
    - a control means (23) for controlling the milling depth of the milling roller (6), the control means (23) detecting the milling depth of the milling roller (6) from the measurement values of at least one measuring means (16),
    characterized in that
    the control means (23) is operative to automatically control the lifting condition of at least one rear and/or front lifting column (12, 13) as seen in the traveling direction, for establishing the parallel orientation of the machine frame (4) relative to the treated or untreated ground or traffic surface (8) or to a predetermined milling plane, wherein automatically establishing the parallel orientation of the machine frame (4) relative to the treated or untreated ground or traffic surface (8) is performed by the control means (23) independently of the control of the milling depth.
  2. The road construction machine of claim 1, characterized in that the control means (23), for establishing the parallel orientation of the machine frame (4) relative to the ground or traffic surface (8), detects the longitudinal inclination of the machine frame (4) relative to the treated or untreated ground or traffic surface (8) or the predetermined milling plane.
  3. The road construction machine of claim 2, characterized in that said longitudinal inclination is detectable from at least two distance values between the machine frame (4) and the treated or untreated ground or traffic surface (8) or the predetermined milling plane, said distance values being displaced relative to each other in the traveling direction.
  4. The road construction machine of claim 2, characterized in that said longitudinal inclination is detectable from at least one first distance value between the machine frame (4) and the treated ground or traffic surface (8), and at least one second distance value, displaced relative to the first distance value in the traveling direction, between the machine frame (4) and the untreated ground or traffic surface (8), in connection with a measurement value of the milling depth.
  5. The road construction machine of claim 3 or 4, characterized in that the first or the second distance value between the machine frame (4) and the treated or untreated ground or traffic surface (8) is detectable from the position of one of the chain track assemblies running on the treated or untreated ground or traffic surface (8), relative to the machine frame (4).
  6. The road milling machine of claim 2 or 3, characterized in that the longitudinal inclination is detectable from a first distance value between the machine frame (4) and the treated ground or traffic surface (8), and a second distance value between the machine frame (4) and the treated ground or traffic surface (8), the second distance value being detectable from the position of the stripping means or from the position of at least one of the track assemblies running on the treated ground or traffic surface (8), relative to the machine frame (4).
  7. The road construction machine of one of claims 2 or 3, characterized in that a transport band (11) is mounted on the machine frame (4), a band shoe (122) taking up the roll-side end of the transport band (11) provided for discharge of the milled material, and that the longitudinal inclination is detectable from at least one first distance value between the machine frame (4) and the untreated ground surface (8) and a second distance value between the machine frame (4) and the untreated ground surface (8), the second distance value being detectable from the position of the band shoe (122) or from the position of at least one of the chain track assemblies (2) running on the untreated ground surface (8) or from the position of at least one of the side plates (10).
  8. The road construction machine of one of claims 3 to 7, characterized in that the distance values between the machine frame (4) and the treated or untreated ground or traffic surface (8) are detectable with the aid of path measurement systems, the path measurement systems being preferably integrable in the lifting columns (12, 13) or in the hydraulic cylinders of the lifting columns (12, 13) or consisting of hydraulic means for lifting or lowering the side plates (10) and/or the stripping means (14) and/or the band shoe, said hydraulic means being formed by piston/cylinder units (26, 28) with an integrated path sensing system.
  9. The road construction machine of claim 2, characterized in that the longitudinal inclination of the machine frame (4) relative to the untreated ground or traffic surface (8) is detectable from the relative angle, as seen in the traveling direction, between a side plate resting on the ground or traffic surface (8) and the machine frame (4), or that the longitudinal inclination of the machine frame (4) relative to the treated or untreated ground or traffic surface (8) is detectable from the relative angle between at least one lifting column (12, 13) extending orthogonally to the machine frame (4) and the track assembly (2) extending parallel to the ground surface (8) or traffic surface (8).
  10. The road construction machine of one of claims 1 to 9, characterized in that the automatic establishing of the parallel orientation of the machine frame (4) relative to the treated or untreated ground or traffic surface (8) or the predetermined milling plane can be performed by the control means (23) only when the control means (23) performs a readjustment of the milling depth or a setting of a predefinable milling depth.
  11. The road construction machine of claim 10, characterized in that the control means (23) is operative to decide whether the lifting condition of the front and/or the rear lifting columns (12, 13) will be controlled for adaptation to the milling depth.
  12. The road construction machine of one of claims 1 to 9, characterized in that the automatic establishing of the parallel orientation of the machine frame (4) relative to the treated or untreated ground surface (8) or to the predetermined milling plane is performed by the control means (23) independently of the control of the milling depth.
  13. The road construction machine of one of claims 1 to 12, characterized in that the side plates (10) resting on the ground or traffic surface (8) in a pivotable manner relative to the machine frame (4) are provided with two measuring means (16a, 16b) arranged at a mutual distance in the traveling direction, and that the control means (23) is operative to measure, from the difference between the measuring signals of the side plates (10), the longitudinal inclination of the machine frame (4) relative to the ground or traffic surface (8).
  14. The road construction machine of one of claims 1 to 13, characterized in that, for establishing the parallel orientation of the machine frame (4) relative to the ground surface (8) or traffic surface (8) or to the predetermined milling plane, the lifting condition of the rear and/or front lifting columns (13), as seen in the traveling direction, can be adapted to be changed to the effect that the machine frame (4) is pivotable about the milling roller axis.
EP13154680.6A 2006-12-22 2007-12-21 Road milling machine with control means for producing parallelism of the machine frame with the ground Active EP2650443B1 (en)

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DE202006019509 2006-12-22
EP07858125A EP2104768B1 (en) 2006-12-22 2007-12-21 Road milling machine, and method for positioning the machine frame parallel to the ground
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RU2008148825A (en) 2010-06-20
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US20090108663A1 (en) 2009-04-30
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WO2008077963A1 (en) 2008-07-03
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