EP2722441B1 - Engin automoteur et procédé de fonctionnement d'un engin automoteur - Google Patents

Engin automoteur et procédé de fonctionnement d'un engin automoteur Download PDF

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Publication number
EP2722441B1
EP2722441B1 EP13186534.7A EP13186534A EP2722441B1 EP 2722441 B1 EP2722441 B1 EP 2722441B1 EP 13186534 A EP13186534 A EP 13186534A EP 2722441 B1 EP2722441 B1 EP 2722441B1
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EP
European Patent Office
Prior art keywords
running gear
hand
height
lowered
raised
Prior art date
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EP13186534.7A
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German (de)
English (en)
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EP2722441A1 (fr
Inventor
Christian Berning
Dirk Franzmann
René Müller
Dr. Cyrus Barimani
Dr. Günter Hähn
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Wirtgen GmbH
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Wirtgen GmbH
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Publication of EP2722441A1 publication Critical patent/EP2722441A1/fr
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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
    • 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
    • E01C23/12—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 taking-up, tearing-up, or full-depth breaking-up paving, e.g. sett extractor
    • E01C23/122—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 taking-up, tearing-up, or full-depth breaking-up paving, e.g. sett extractor with power-driven tools, e.g. oscillated hammer apparatus
    • E01C23/127—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 taking-up, tearing-up, or full-depth breaking-up paving, e.g. sett extractor with power-driven tools, e.g. oscillated hammer apparatus rotary, e.g. rotary hammers
    • 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
    • E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/004—Devices for guiding or controlling the machines along a predetermined path

Definitions

  • the invention relates to a self-propelled construction machine, in particular road milling machine, which has a machine frame and a chassis that has at least one steerable front drive, at least one left rear drive in the working direction and at least one rear drive in the right direction. Moreover, the invention relates to a method for operating such a construction machine.
  • the above-mentioned construction machines have a working device which has a work roll, which may be a milling or cutting roll.
  • a work roll which may be a milling or cutting roll.
  • To adjust the working depth of the work roll at least the rear in the working direction on the floor upstanding drives against the machine frame in height are adjustable in the known construction machines.
  • a road milling machine For milling the soil material, a road milling machine is generally operated with drives raised relative to the machine frame, so that the milling roller penetrates into the soil material with a predetermined position of the milling drum axis in relation to a reference plane.
  • the reference plane is formed by the still unground floor surface.
  • Known construction machines therefore have facilities for controlling the depth of cut as a function of the surface currently being traveled by the machine.
  • the described framework conditions may result in an operating condition in which the left drive is lowered relative to the machine frame, as it stands up on an already milled portion of the floor while the right drive is raised as it stands up on the ground not yet milled that the machine frame is further aligned substantially parallel to the ground surface and the Fräswalzenachse according to the predetermined position in relation to a reference plane.
  • the not yet milled section of the substrate is adjusted to the desired covering height, while the already milled surface is not further processed.
  • operating conditions may occur in which the right drive is lowered relative to the machine frame while the left drive is raised relative to the machine frame.
  • operating conditions may occur in which both drives are lowered relative to the machine frame, so that the milling drum is not in engagement with the ground, since the milling drum is already completely above the milled surface.
  • the WO 2007/031531 A1 describes a self-propelled construction machine that has a machine frame that is supported by a chassis.
  • the chassis includes beams to which wheels or drives are attached.
  • the individual carriers are fastened to the machine frame by means of piston / cylinder arrangements, so that the machine frame and the drives can be moved relative to one another.
  • the object is to enable the driver to select a specific operating position for the piston / cylinder arrangements in which the machine frame is in a certain position with respect to the ground.
  • the control of the construction machine should be able to regulate the lateral and longitudinal inclination.
  • the measuring signals are generated by a measuring device with which the position of the piston / cylinder arrangements is detected.
  • the position of the lifting columns should be measured in particular with a cable pull sensor.
  • a distance sensor is described, but only measures the distance of the carrier to the ground surface, which does not change when driving on a sloping surface or when driving over a bump.
  • the WO 2007/031531 A1 also proposes using the distance sensor to make a distance measurement before or next to the wheel or track drive and to use the measurement signal of the distance sensor to control the height adjustment of the lifting columns so that it can be reacted to a bump immediately.
  • the invention has for its object to provide a construction machine that allows user-friendly and ergonomic operation even with sudden changes in the lining height in front of the drives.
  • an object of the invention is to provide a method that allows the operation of a construction machine even with sudden changes in the lining height while maintaining the position of the Fräswalzenachse relative to a reference plane.
  • the construction machine according to the invention in particular a road milling machine, has a device for raising or lowering the drives standing on the ground relative to the machine frame and a control unit for activating the device for raising or lowering the drives in order to be able to adjust the height of the drives relative to the machine frame ,
  • the construction machine is characterized in that the control unit has means for detecting a change in the height of the cover to be traveled by the drives against the machine frame, wherein the control unit provides a control mode for making an intervention in the control for height adjustment of the drives.
  • the control unit is configured such that upon detection of a change in pad height, the device for raising or lowering the drives is driven to raise or lower the respective drive or drives to prevent tilting movement of the machine and thus Milling roller to be able to counteract as a result of the change in the lining height.
  • the construction machine can be operated with a constant position of the milling drum axis relative to a reference plane even if the height of the pad on which the drives stand up changes with respect to the machine frame.
  • the change in the lining height may be due to a paragraph or a depression on the left or right side of the construction machine in the working direction.
  • the control according to the invention is particularly advantageous when the height of the lining changes abruptly, which is the case when changing from a milled to an ungrastet section. As a result, a treatment of the soil is achieved, in which the work result is a uniform surface without height differences.
  • a change in the lining height is detected by the fact that the response of the construction machine is detected on the change in the lining height.
  • the change in the lining height is detected with the detection of a tilting movement of the construction machine.
  • the means for detecting a change in the lining height means for detecting the inclination of the machine frame in the direction of travel and / or transversely to the direction of travel.
  • An embodiment with a longitudinal and lateral sensor also allows the detection of edges that are orthogonal to the
  • the means for detecting a change in the lining height comprise means for detecting a lateral inclination of the construction machine.
  • the means for detecting a lateral inclination of the construction machine have an inclination sensor arranged on the machine frame.
  • a particularly preferred embodiment of the invention provides that the means for detecting the lining height not only can recognize that the lining height changes, but also can detect whether the height of the lining relative to the machine frame increases or decreases in the working direction, d. H. drives the relevant drive of the construction machine on a paragraph or in a depression. This makes it possible to provide a backlash of the construction machine for all possible cases to counteract tilting movements due to changes in the lining height.
  • the position and / or movement of the left and / or right edge protection of the construction machine is detected to detect the increase or decrease of the lining height in the working direction.
  • the means for detecting an increase or decrease in the lining height therefore, in the particularly preferred embodiment, a sensor which detects the height of the left and / or right edge protection relative to the machine frame.
  • the pitch sensor when the rear, left and right drives travel into a depression, the pitch sensor detects a tilt change rearward and at the same time the edge protection on the left and right sides is raised, so that an engagement with the engine control is made such that the left and right drives are lowered.
  • the pitch sensor detects a tilt change to the front, and at the same time, the left and right edge protectors are lowered so that the machine control is made to raise the left and right drives ,
  • the height of the edge protector relative to the machine frame in principle the height of a stripper arranged behind the working device in the working direction or also the height of a downholder of the construction machine arranged in the working direction in front of the working device can be detected.
  • the detection of an increase or decrease in the lining height can be effected via a sensor for detecting the longitudinal inclination on the machine frame.
  • control unit provides different operating states, each associated with a specific reaction, wherein the reaction of the construction machine is in the raising or lowering of at least one left and / or at least one right drive of the construction machine. Since the respective state changes the relevant reactions of the construction machine are clearly assigned, the control commands required for this purpose can be fixed in a memory of the control unit. Consequently, only the respective state changes need to be detected and the drives raised or lowered according to a predetermined program.
  • the means for detecting an increase or decrease in the height of the covering may have at least one non-contact sensor with which the distance between a reference point related to the machine frame and the ground surface is detected. Basically, it is sufficient to provide only one distance sensor with which both can be seen that the height of the drives to changes as it can also be recognized whether the construction machine is driving on a heel or in a depression.
  • Fig. 1 shows in side view an embodiment of a road milling machine, which is a small milling machine.
  • the road milling machine has a machine frame 1, which is supported by a chassis 2.
  • the chassis 2 has a centrally arranged front drive 3 and a rear right in the working direction A drive 4R and a rear, left drive (4L). It is understood that instead of a centrally located front drive, a left and a right front drive may be present.
  • the drives are wheels.
  • the drives can also be chain drives.
  • the road milling machine has a working device with a work roll, which is a milling drum.
  • the milling drum (5) is arranged in a milling drum housing 6 which is closed on the right and left side in the working direction A by an edge protector 7R (7L).
  • Above the Fräswalzengepuruses 6 is the control station 8 with the driver's seat. 9
  • the road milling machine further has means 10 for raising or lowering the floor-standing rear right and left drives 4R, 4L relative to the machine frame 1.
  • the device 10 for raising or lowering the drives has a lifting device 10R and 10 associated with the right drive a lifting device (10L) associated with the left drive (4L).
  • the milling roller (5) and the left drive (4L), the left edge protector (7L) and the left lifting device (10L) are in Fig. 1 not visible.
  • the rear drives of the road milling machine are adjusted in height relative to the machine frame, so that the milling drum can penetrate into the soil material.
  • FIGS. 2A and 2 B describes the movement of the construction machine within a terrain 13 having an unmilled portion 13A and a milled portion 13B.
  • the milled portion is a stripe extending from top left to bottom right while in Fig. 2B the milled section extends from lower left to upper right.
  • the height of the lining relative to the machine frame 1 changes abruptly.
  • the lining height suddenly decreases as the lining height increases abruptly as the road milling machine moves from the milled portion 13B to the roughed portion 13A.
  • FIGS. 2A and 2 B the road milling machine with the machine frame 1 and the rear drives 4R and 4L and the milling drum 5 is only hinted at.
  • the road milling machine moves on a track, which is shown in dashed lines.
  • the individual positions of the construction machine are marked with the numbers I to IV.
  • the position I is marked as the position of the road milling machine on the rough section, while III marks the position at which the road milling machine moves on the milled section.
  • the locations where the pad levels for the left and right drives are different are labeled II and IV, respectively.
  • Fig. 3A to 3D show the positions that can be taken by the drives 4R and 4L.
  • the corresponding components of the construction machine are again provided with the same reference numerals.
  • Fig. 3A shows the position in which the rear left and right drives 4L and 4R standing on the surface 11 of the floor 12 in the still ungreased area 13A are in the raised position relative to the machine frame 1, so that the work roll 5 is in relation to the bottom surface 11 of the ungrounded portion 13A predetermined working depth T penetrates into the soil material.
  • the axis 5A of the work roll 5 has a defined position in relation to the bottom surface of the non-roughed area.
  • the Fig. 3A to 3D show the left edge protection 7L in the working direction and the right edge protection 7R of the construction machine.
  • the left and the right edge protectors 7L, 7R are floatingly mounted on the machine frame 1, so that the edge protector rests on the ground and follows the height of the lining during advancement of the road milling machine.
  • FIG. 3A shown position of the drives 4 corresponds to the position in which the drives are when the road milling machine in the in the FIGS. 2A and 2 B shown position I is located.
  • the FIGS. 3B . 3C and 3D show the position of the drives in positions II, III and IV of the FIGS. 2A and 2 B ,
  • both drives 4L, 4R are in the raised position (FIG. Fig. 3A).
  • Fig. 3B shows the corrected position of the drives 4L, 4R in position II, but with the left drive 4L still on the higher deck of the rough section 13A and the right drive 4R already on the lower deck of the milled section 13B.
  • the position of the work roll corresponds to the predetermined working depth T in Relation to the ground surface 11 of the roughed area 13A with the left drive 4L raised relative to the machine frame 1 and the right drive 4R lowered.
  • the machine frame 1 is aligned horizontally.
  • Fig. 4A and 4B show the points A, B, C, D, E, F, G and H, where the left and right drive 4L, 4R is located exactly at the transition between the ungrooved and the milled section or vice versa.
  • the right-hand drive 4R loses position A (FIG. Fig. 4A ) make contact with the ground so that the machine frame 1 of the road milling machine begins to tilt to the right.
  • the height of the left drive 4L remains unchanged.
  • the machine frame remains aligned horizontally, and the position of the milling drum axis relative to the surface 11 of the rough portion 13A is maintained.
  • the left drive 4L loses ground contact with further advancement of the machine, so that the machine frame 1 begins to tilt to the left.
  • the left drive 4L is now also lowered relative to the machine frame ( Fig. 3C ).
  • the movements of the drives in the other positions arise in an analogous manner, the tilting movements of the machine frame and the movements of the Drives are done accordingly. For example, if the left-hand drive 4L is in the position G (see FIG. Fig. 4B ) passes over. Consequently, the left drive 4L is retracted to restore the machine level.
  • the control unit 14 has means 15 for detecting a change in the height of the covering to be traveled by the drives 4L, 4R, which comprise means 16 for detecting a lateral inclination.
  • the tilting movement is detected in the embodiment according to the invention with a tilt sensor 18, which is provided on the machine frame 1. As the decking height changes, the machine frame tilts to the right or left, which is detected by the tilt sensor 18 (positions A to H).
  • the means 15 for detecting the change in height of the covering means 17 may have, with which it is detected whether the height of the lining in the working direction increases or decreases.
  • These means 17 have a sensor 19 detecting the position or movement of the left and / or right edge protection 7L, 7R.
  • the means 15 for detecting a change in the height of the cover to be traveled by the drives or the means 17 for detecting an increase or decrease in the height of the cover at least one non-contact sensor 18A for detecting the distance between a related to the machine frame 1 Reference point and the ground surface, which also in Fig. 5 is hinted at.
  • the tiller lateral tilt detection means 16 generates a first control signal N L when the tiller tilts to the left side and a second control signal N R when the tiller tilts to the right side.
  • the means 17 for detecting an increase or decrease in the height of the covering produce a third control signal when the lining height increases in the working direction, ie the drive travels to a paragraph, and a fourth control signal when the lining height decreases in the working direction, ie the drive moves into a depression.
  • the control unit 14 controls the elevators 10R and 10L in the control mode for engaging in the height-adjustment control in response to the first, second, third or fourth control signals so as to make the settings shown in the figures immediately before or after or during the tilting movements of the construction machine, the drives 4L and 4R relative to the machine frame 1 to raise or lower so that the position of the Fräswalzenachse is maintained or adjusted in relation to the bottom surface 11 of the ungrastened area 13A.
  • the following operating states result.
  • control unit 14 controls the means 10L, 10R for raising and lowering the drives 4L, 4R so that the at least one left drive 4L is lowered when the control unit receives the first control signal, or the control unit controls the means for lifting and Lowering the drives so that the at least one right drive is lowered when the control unit receives the second control signal.
  • the control unit drives the means for raising and lowering the drives such that the at least one right drive is raised when the control unit receives the first control signal or the at least one left drive is raised when the control unit receives the second control signal.
  • the control unit controls the means for raising and lowering the drives such that the at least one left drive is lowered when the control unit receives the first and fourth control signals, or at least one right drive is raised when the control unit receives the first and third control signals.
  • the at least one right drive is lowered when the control unit receives the second and fourth control signals, or the at least one left drive is raised when the control unit receives the second and third control signals.
  • Fig. 6 illustrates in the form of a left and right table, the individual operating states that may occur (left table) and the resulting control interventions within the height adjustment correction control mode (right table), which are performed by the control unit 14.
  • the sensor system supplies corresponding control signals, which are processed by the control unit 14.
  • the control unit 14 has a memory 20, in which each possible operating state is assigned a specific control intervention. This assignment results from the two tables of Fig. 6 ,
  • FIG. 6 is the position of the left drive with Fw L and the right drive with Fw R designated, wherein the raised relative to the machine frame 1 position of the drive with the reference numeral 1, which corresponds to a set milling depth of T, and the lowered position with the reference numeral 0 , which corresponds to a set milling depth of 0, is designated ( FIGS. 3A to 3D ).
  • N L tilt left
  • N R tilt right
  • the signals of the tilt sensor 18 are indicated.
  • the signals are generated by the means 19 for monitoring the position of the left and right edge protectors 7L and 7R.
  • an upward pointing arrow is an upward movement and with a downward arrow, a downward movement of the left and right edge protection 7L, 7R indicated relative to the machine frame 1 when the road milling machine moves over the positions A to H.
  • the control unit 14 controls the left lift 10L such that the left drive 4L is lifted from the opposite of the machine frame 1 Position 1 is moved to the lowered position 0 ( Fig. 3D ).
  • the tilt sensor generates the rightward tilt signal (line 2)
  • the right drive 4R is moved from the raised position 1 to the lowered position 0 (FIG. Fig. 3B ).
  • a clear assignment is the detection of the position or movement of the left and right edge protection 7L, 7R at the moment of tilting movement at the positions B, D, F and H ( FIGS. 4A and 4B ) possible, ie on an upward or downward movement of the edge protection relative to the machine frame.
  • the edge protection reacts differently when driving over the individual jump points A to H.
  • the left drive 4L is raised and the right drive 4R is lowered (lines 3 and 4), which is shown in FIG Fig. 3B is shown.
  • this case occurs when the tiller is moving to positions B and H, ie, the left drive 4L is in a recess (position B) or the right drive 4R is riding on a ledge (position H).
  • the road tiller tilts to the left, which in the positions B and H the case is.
  • the means 17 for detecting an increase or decrease in the lining height, d. H. for detecting a recess or a heel, have a the left and / or one of the right edge protection 7L, 7R associated sensor 19 in order to detect the height of the left and / or right edge protection, from the position and / or movement of the Edge protection can be seen.
  • a first embodiment of the control unit provides that the left and right edge protectors 7L, 7R are each assigned a sensor. In this case, it only needs to be determined with the sensors whether the left or right edge protector moves relative to the machine frame. The direction of movement up or down relative to the machine frame, however, need not be detected. This simplifies the structure of the sensor system. Nevertheless, a clear assignment is possible, resulting in Fig. 6 results.
  • a sensor is associated with either only the left or only the right edge guard.
  • the left and right sensor detected in this embodiment but also the direction of movement up or down, with the additional detection of the direction of movement again a clear assignment to the operating conditions is possible in Fig. 6 are shown.
  • a tilting movement leads to a movement of the edge protection on both sides due to the tilting point at the contact point of the drive, on which no change in the height of the floor covering takes place, but the movement of the opposite edge protection is significantly greater.
  • both movements are detected and made plausible in the controller in order to achieve the greatest possible redundancy in the interpretation of the operating conditions.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Road Repair (AREA)

Claims (14)

  1. Engin automoteur, en particulier fraiseuse de route avec
    un bâti de machine (1) et un mécanisme de roulement (2) qui présente au moins un train de roulement gauche (4L) dans le sens de travail (A) et au moins un train de roulement droit (4R) dans le sens de travail,
    au moins un dispositif de travail prévu sur le bâti de machine qui présente un rouleau de travail (5) qui est amené en contact avec le sol,
    un dispositif (10L, 10R) pour le levage ou l'abaissement des trains de roulement se trouvant sur le sol par rapport au bâti de machine et
    une unité de commande (14) pour la commande du dispositif pour le levage ou l'abaissement des trains de roulement pour le réglage en hauteur des trains de roulement, dans lequel
    l'unité de commande (14) présente des moyens (15) pour la détection d'une modification de la hauteur du revêtement sur lequel doivent rouler les trains de roulement (4L, 4R) par rapport au bâti de machine (1), dans lequel l'unité de commande (14) prévoit un mode de commande pour entreprendre une intervention dans la commande pour le réglage en hauteur des trains de roulement, dans lequel l'unité de commande est configurée de telle manière que lors de la détection d'une modification de la hauteur du revêtement sur lequel doivent rouler les trains de roulement, le dispositif pour le levage ou l'abaissement des trains de roulement soit commandé de telle manière que
    l'au moins un train de roulement gauche (4L) soit abaissé d'une position relevée ou est relevé d'une position abaissée et/ou
    l'au moins un train de roulement droit (4R) soit abaissé d'une position relevée ou soit relevé d'une position abaissée de sorte
    à agir contre un mouvement de basculement suite à la modification de la hauteur du revêtement,
    caractérisé en ce que
    les moyens (15) pour la détection d'une modification de la hauteur du revêtement sur lequel doivent rouler les trains de roulement (16) comportent des moyens (16) pour la détection d'une inclinaison latérale de l'engin, dans lequel les moyens (16) pour la détection d'une inclinaison latérale de l'engin présentent un capteur d'inclinaison (18) agencé sur le bâti de machine.
  2. Engin selon la revendication 1, caractérisé en ce que les moyens (15) pour la détection d'une modification de la hauteur du revêtement sur lequel doivent rouler les trains de roulement comportent des moyens (17) pour la détection d'une augmentation de la hauteur du revêtement lors d'une transition d'un niveau plus bas à un niveau plus haut ou d'une diminution de la hauteur du revêtement lors d'une transition d'un niveau plus haut à un niveau plus bas.
  3. Engin selon la revendication 2, caractérisé en ce que l'engin présente une protection d'arête gauche et/ou droite (7L, 7R) dans le sens de travail, dans lequel les moyens (17) pour la détection de l'augmentation ou la diminution de la hauteur du revêtement présentent un capteur (19) détectant la hauteur de la protection d'arête gauche et/ou droite par rapport au bâti de machine.
  4. Engin selon la revendication 2 ou 3, caractérisé en ce que les moyens (16) pour la détection d'une inclinaison latérale de l'engin sont réalisés de telle manière que les moyens pour la détection d'une inclinaison latérale génèrent un premier signal de commande lorsque l'engin bascule sur le côté gauche et génèrent un deuxième signal de commande lorsque l'engin bascule sur le côté droit et les moyens (17) pour la détection d'une augmentation ou diminution de la hauteur du revêtement sont réalisés de telle manière que les moyens pour la détection d'une augmentation ou diminution de la hauteur du revêtement génèrent un troisième signal de commande lorsque la hauteur de revêtement augmente et génèrent un quatrième signal de commande lorsque la hauteur de revêtement diminue.
  5. Engin selon la revendication 4, caractérisé en ce que l'unité de commande (14) est configurée de telle manière que l'unité de commande commande le dispositif (10L, 10R) pour le levage et l'abaissement des trains de roulement en fonction du premier, deuxième, troisième ou quatrième signal de commande.
  6. Engin selon la revendication 4 ou 5, caractérisé en ce que l'unité de commande (14) est configurée de telle manière que
    dans un état de fonctionnement, dans lequel l'au moins un train de roulement gauche et droit (4L, 4R) est relevé, l'unité de commande commande le dispositif (10L, 10R) pour le levage et l'abaissement des trains de roulement de telle manière que l'au moins un train de roulement gauche soit abaissé lorsque l'unité de commande reçoit le premier signal de commande et/ou
    dans l'état de fonctionnement, dans lequel l'au moins un train de roulement gauche et droit est relevé, l'unité de commande commande le dispositif pour le levage et l'abaissement des trains de roulement de telle manière que l'au moins un train de roulement droit soit abaissé lorsque l'unité de commande reçoit le deuxième signal de commande et/ou dans un état de fonctionnement, dans lequel l'au moins un train de roulement gauche et droit est abaissé, l'unité de commande commande le dispositif pour le levage et l'abaissement des trains de roulement de telle manière que l'au moins un train de roulement droit soit relevé lorsque l'unité de commande reçoit le premier signal de commande et/ou
    dans l'état de fonctionnement, dans lequel l'au moins un train de roulement gauche et droit est abaissé, l'unité de commande commande le dispositif pour le levage et l'abaissement des trains de roulement de telle manière que l'au moins un train de roulement gauche soit relevé lorsque l'unité de commande reçoit le deuxième signal de commande.
  7. Engin selon l'une quelconque des revendications 4 à 6, caractérisé en ce que l'unité de commande (14) est configurée de telle manière que
    dans un état de fonctionnement, dans lequel l'au moins un train de roulement gauche (4L) est relevé et au moins un train de roulement droit (4R) est abaissé, l'unité de commande commande le dispositif (10L, 10R) pour le levage et l'abaissement des trains de roulement de telle manière que l'au moins un train de roulement gauche soit abaissé lorsque l'unité de commande reçoit le premier et quatrième signal de commande et/ou dans l'état de fonctionnement, dans lequel l'au moins un train de roulement gauche est relevé et l'au moins un train de roulement droit est abaissé, l'unité de commande commande le dispositif pour le levage et l'abaissement des trains de roulement de telle manière que l'au moins un train de roulement droit soit relevé lorsque l'unité de commande reçoit le premier et troisième signal de commande et/ou dans un état de fonctionnement, dans lequel l'au moins un train de roulement gauche est abaissé et au moins un train de roulement droit est relevé, l'unité de commande commande le dispositif pour le levage et l'abaissement des trains de roulement de telle manière que l'au moins un train de roulement droit soit abaissé lorsque l'unité de commande reçoit le deuxième et quatrième signal de commande et/ou
    dans l'état de fonctionnement, dans lequel l'au moins un train de roulement gauche est abaissé et au moins un train de roulement droit est relevé, l'unité de commande commande le dispositif pour le levage et l'abaissement des trains de roulement de telle manière que l'au moins un train de roulement gauche soit relevé lorsque l'unité de commande reçoit le deuxième et troisième signal de commande.
  8. Engin selon la revendication 2, caractérisé en ce que les moyens (17) pour la détection d'une augmentation ou diminution de la hauteur du revêtement présentent au moins un capteur sans contact (18A) pour la détection de la distance entre un point de référence relatif au bâti de machine (1) et la surface de sol.
  9. Procédé de fonctionnement d'un engin automoteur, en particulier fraiseuse de route avec un bâti de machine et un mécanisme de roulement qui présente au moins un train de roulement gauche dans le sens de travail et au moins un train de roulement droit dans le sens de travail qui peuvent être relevés ou abaissés par rapport au bâti de machine, dans lequel
    une modification de la hauteur du revêtement sur lequel doivent rouler les trains de roulement par rapport au bâti de machine est détectée et lors de la détection d'une modification de la hauteur du revêtement sur lequel doivent rouler les trains de roulement, l'au moins un train de roulement gauche est abaissé d'une position relevée ou relevé d'une position abaissée ou l'au moins un train de roulement droit est abaissé d'une position relevée ou levée d'une position abaissée de sorte à agir contre un mouvement de basculement latéral suite à la modification de la hauteur du revêtement,
    caractérisé en ce que pour la détection d'une modification de la hauteur du revêtement sur lequel doivent rouler les trains de roulement, l'inclinaison latérale de l'engin est détectée avec un capteur d'inclinaison (18).
  10. Procédé selon la revendication 9, caractérisé en ce que pour la détection d'une modification de la hauteur du revêtement sur lequel doivent rouler les trains de roulement, une augmentation de la hauteur du revêtement lors d'une transition d'un niveau plus bas à un niveau plus haut ou une diminution de la hauteur du revêtement lors d'une transition d'un niveau plus haut à un niveau plus bas est détectée.
  11. Procédé selon la revendication 10, caractérisé en ce que l'engin présente une protection d'arête gauche et/ou droite dans le sens de travail, dans lequel la hauteur de la protection d'arête gauche et/ou droite par rapport au bâti de machine est détectée pour la détection d'une augmentation ou diminution de la hauteur du revêtement dans le sens de travail.
  12. Procédé selon la revendication 10 ou 11, caractérisé en ce que
    dans un premier état de fonctionnement, dans lequel l'au moins un train de roulement gauche et droit est relevé, l'au moins un train de roulement gauche est abaissé lorsque l'engin bascule sur le côté gauche et/ou
    dans un premier état de fonctionnement, dans lequel l'au moins un train de roulement gauche et droit est relevé, l'au moins un train de roulement droit est abaissé lorsque l'engin bascule sur le côté droit et/ou
    dans un deuxième état de fonctionnement, dans lequel l'au moins un train de roulement gauche et droit est abaissé, l'au moins un train de roulement droit est relevé lorsque l'engin bascule sur le côté gauche et/ou
    dans un deuxième état de fonctionnement, dans lequel l'au moins un train de roulement gauche et droit est abaissé, l'au moins un train de roulement gauche est relevé lorsque l'engin bascule sur le côté droit.
  13. Procédé selon la revendication 12, caractérisé en ce que dans un troisième état de fonctionnement, dans lequel l'au moins un train de roulement gauche est relevé et l'au moins un train de roulement droit est abaissé, l'au moins un train de roulement gauche est abaissé, lorsque l'engin bascule sur le côté gauche et la hauteur de revêtement diminue dans le sens de travail et/ou
    dans un troisième état de fonctionnement, dans lequel l'au moins un train de roulement gauche est relevé et l'au moins un train de roulement droit est abaissé, l'au moins un train de roulement droit est relevé, lorsque l'engin bascule sur le côté gauche et la hauteur de revêtement augmente et/ou
    dans un quatrième état de fonctionnement, dans lequel l'au moins un train de roulement gauche est abaissé et au moins un train de roulement droit est relevé, l'au moins un train de roulement droit est abaissé, lorsque l'engin bascule sur le côté droit et la hauteur de revêtement diminue et/ou
    dans un quatrième état de fonctionnement, dans lequel l'au moins un train de roulement gauche est abaissé et au moins un train de roulement droit est relevé, l'au moins un train de roulement gauche est relevé, lorsque l'engin bascule sur le côté droit et la hauteur de revêtement augmente.
  14. Procédé selon la revendication 10, caractérisé en ce que pour la détection d'une augmentation ou diminution de la hauteur du revêtement, la distance entre un point de référence relatif au bâti de machine et la surface de sol est détectée.
EP13186534.7A 2012-10-19 2013-09-27 Engin automoteur et procédé de fonctionnement d'un engin automoteur Active EP2722441B1 (fr)

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DE102012020655.0A DE102012020655A1 (de) 2012-10-19 2012-10-19 Selbstfahrende Baumaschine

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CN103774540B (zh) 2016-08-17
CN103774540A (zh) 2014-05-07
US9670630B2 (en) 2017-06-06
US20150252539A1 (en) 2015-09-10
DE102012020655A1 (de) 2014-04-24
EP2722441A1 (fr) 2014-04-23
US8998344B2 (en) 2015-04-07
US20140110990A1 (en) 2014-04-24

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