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EP4190973B1 - Machine à fraiser le sol, en particulier machine à fraiser ou à recycler, et procédé de fonctionnement d'une machine à fraiser le sol - Google Patents

Machine à fraiser le sol, en particulier machine à fraiser ou à recycler, et procédé de fonctionnement d'une machine à fraiser le sol Download PDF

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Publication number
EP4190973B1
EP4190973B1 EP22210922.5A EP22210922A EP4190973B1 EP 4190973 B1 EP4190973 B1 EP 4190973B1 EP 22210922 A EP22210922 A EP 22210922A EP 4190973 B1 EP4190973 B1 EP 4190973B1
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EP
European Patent Office
Prior art keywords
roller flap
roller
flap
milling
milling machine
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP22210922.5A
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German (de)
English (en)
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EP4190973A1 (fr
EP4190973C0 (fr
Inventor
Christoph Menzenbach
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wirtgen GmbH
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Wirtgen GmbH
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Publication of EP4190973A1 publication Critical patent/EP4190973A1/fr
Application granted granted Critical
Publication of EP4190973C0 publication Critical patent/EP4190973C0/fr
Publication of EP4190973B1 publication Critical patent/EP4190973B1/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
    • 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
    • E01C23/065—Recycling in place or on the road, i.e. hot or cold reprocessing of paving in situ or on the traffic surface, with or without adding virgin material or lifting of salvaged material; Repairs or resurfacing involving at least partial reprocessing of the existing paving

Definitions

  • the invention relates to a ground milling machine, in particular a stabilizer or recycler, which has a machine frame supported by drives on which a milling/mixing roller is arranged, which is arranged in a roller housing which is open at the bottom and which has a roller flap at the rear in the working direction which can be pivoted about a pivot axis running transversely to the longitudinal direction of the ground milling machine.
  • the invention relates to a method for operating such a ground milling machine.
  • Stabilizers are known for stabilizing soils that do not have sufficient bearing capacity. These are used to introduce a powdered or liquid binding agent into the soil to increase its bearing capacity. There are self-propelled and non-self-propelled stabilizers that are attached to a towing vehicle or towed by a towing vehicle.
  • the known recyclers differ from stabilizers in that the recyclers are not only used to improve or consolidate soils, but also to repair damaged surface layers of roads or paths.
  • Stabilizers or recyclers have a machine frame on which a milling/mixing roller is arranged for milling the soil to be stabilized or the surface layer to be rehabilitated, which is located in a roller housing that is open at the bottom.
  • the roller housing has a roller flap at the front in the working direction and a roller flap at the rear in the working direction, which can be pivoted about a pivot axis that runs transversely to the longitudinal direction of the machine frame.
  • the roller housing is closed at the sides by side parts that extend in the longitudinal direction.
  • the volume enclosed by the roller housing forms a mixing space for the milled material and the binding agent.
  • a roller flap adjustment device which has at least one actuator for pivoting the front or rear roller flap and a control device for actuating the at least one actuator, so that the lower edge of the front or rear roller flap can be adjusted in height relative to the ground.
  • the control device of the rear roller flap is designed such that the at least one actuator is controlled during milling operation such that the rear roller flap rests on the ground in a floating position with a predetermined contact force.
  • the known stabilizers or recyclers have a milling/mixing roller adjustment device, which is designed such that the height of the milling/mixing roller can be adjusted relative to the machine frame, so that the milling depth can be changed.
  • Such a stabilizer or recycler is from the US 2021/317621 known.
  • the rear roller flap exerts a considerable counterpressure on the material in the roller housing, even in the floating position.
  • this counterpressure can lead to a material jam in the mixing chamber. If there is a material jam, the mixing ratio of material and binding agent may no longer meet the specifications.
  • Another disadvantage is that a higher power is required to operate the milling/mixing roller, or the milling process can only be carried out at a lower working speed.
  • Raising the lower edge of the rear roller flap after attaching the milling/mixing roller or increasing the milling depth can prevent the accumulated material from the roller housing when the soil milling machine is fed forward.
  • the rear roller flap is opened too far, there is a risk that material will be thrown backwards out of the roller housing.
  • the invention is based on the object of improving the operation of a soil milling machine or its working results, in particular when the milling/mixing roller is set up to start milling or when the milling depth is increased during milling.
  • One object of the invention is in particular to avoid a material jam when the milling/mixing roller is set up or when the milling depth is increased or to ensure an optimal mixing ratio of milled material and binding agent.
  • a further object of the invention is to avoid an increase in the power required to operate the milling/mixing roller or a reduction in the working speed when the milling/mixing roller is set up or when the milling depth is increased.
  • the soil milling machine according to the invention in particular a stabilizer or recycler, and the method according to the invention are characterized by a roller flap position correction mode, which can be activated manually or automatically after the milling/mixing roller has been attached and the soil milling machine has started or during the actual milling operation after the milling depth has been increased.
  • the roller flap position correction mode includes at least one roller flap position correction cycle to optimize the position of the rear roller flap so that material accumulation and the resulting problems are largely avoided.
  • the roller flap position correction mode can be activated manually by the machine operator or can be started fully automatically so that manual intervention is not necessary. Manual intervention is not required while the floor milling machine is operating in the roller flap position correction mode. After the roller flap position has been corrected, the roller flap position correction mode can be automatically deactivated again.
  • the control device of the roller flap adjustment device is designed such that in the at least one roller flap correction cycle, in a first step the floating position of the rear roller flap is canceled and the rear roller flap is pivoted upwards from a first pivot position into a second pivot position so that the lower edge of the rear roller flap is raised. Consequently, the material accumulated in the roller housing can flow out.
  • the pivot angle by which the roller flap is pivoted upwards can be specified by the control device.
  • the roller housing should be opened wide enough so that accumulated material can flow out of the roller housing unhindered on the one hand, but on the other hand should not be opened so wide that there is a greater risk of material being thrown out.
  • the floating position is reset so that the rear roller flap assumes a third pivot position in which the lower edge of the rear roller flap rests on the ground.
  • the at least one roller flap position correction cycle includes a checking routine.
  • the basic principle of the checking routine is to monitor the movement of the roller flap after the floating position has been reset.
  • the checking routine provides for comparing a variable correlating with the third pivot position with a threshold value or comparing a variable correlating with the third pivot position with the value of a variable correlating with the first pivot position, wherein the roller flap position correction mode is deactivated on the basis of a comparison of the value of a variable correlating with the third pivot position with a threshold value or on the basis of a comparison of the value of a variable correlating with the third pivot position with the value of a variable correlating with the first pivot position.
  • the raised roller flap falls back to a lower position after the floating position has been reset, i.e. does not remain in the raised position, it is assumed that a continuous material flow has been established in which the milled material accumulating in the mixing chamber and the material flowing out of the mixing chamber under the roller flap are in a state of equilibrium so that a material jam does not occur.
  • it can be checked whether the roller flap sinks back to the position from which it was raised. In this case, the roller flap position correction mode can be deactivated.
  • a threshold value can be defined for the movement of the roller flap. If the movement of the roller flap after resetting the floating position is less than or equal to the threshold value, i.e. the roller flap has not fallen back by a specified amount, another roller flap position correction cycle is carried out. If, on the other hand, the movement of the roller flap is greater than the threshold value, i.e. the roller flap has fallen back by a specified amount, the roller flap position correction mode is deactivated.
  • the quantity correlating with the swivel positions can be a quantity that can be easily measured with little technical effort.
  • the evaluation of the values of this quantity depends on whether the quantity increases or decreases when the roller flap is raised. For example, if the quantity is a swivel angle, the evaluation depends on which angle is defined as the swivel angle. Different mathematical methods can be used to compare the quantities correlating with the swivel positions before and after the milling flap is raised.
  • the quantity correlating with the first and third pivot positions is a quantity correlating with the height of the lower edge of the rear roller flap. The value of this quantity increases when the roller flap is opened.
  • the roller flap position correction cycles are carried out until it is determined at least once that the height of the lower edge of the rear roller flap in the third pivot position is equal to or less than the height of the lower edge of the rear roller flap in the first pivot position.
  • a further roller flap position correction cycle is carried out if the height of the lower edge of the rear roller flap in the third pivot position is greater than the height of the lower edge of the rear roller flap in the first pivot position. Consequently, the roller flap position correction mode can be terminated after only one or more roller flap position correction cycles.
  • the roller flap position correction mode can therefore only include one roller flap position correction cycle if it is only to be checked once that the lower edge of the rear roller flap in the third swivel position is equal to or less than the height of the lower edge of the rear roller flap in the first swivel position and this is also the case.
  • the repeated determination of these conditions has the advantage that the roller flap position correction mode is only deactivated when a state of equilibrium has been permanently established.
  • the height of the lower edge of the roller flap is a value related to a reference plane, which can be the unmilled floor. If the height of the floor relative to the machine frame or the roller housing is known, the height of the lower edge of the roller flap can be determined from the height of the roller flap relative to the machine frame or the roller housing.
  • the at least one actuator of the roller flap adjustment device can be a piston-cylinder arrangement acting on the roller flap, wherein a measuring unit that detects the position of the piston of the piston-cylinder arrangement, in particular a distance sensor, can be provided to detect the variable correlating with the first and/or third pivot position.
  • the piston of the piston-cylinder arrangement can be pivotally attached to the machine frame and its cylinder to the roller flap, or vice versa.
  • This embodiment can be easily implemented without major technical effort.
  • the comparison of the pivot positions can be carried out simply by comparing the stroke of the piston when raising with the stroke of the piston when lowering. If the piston is extended by a smaller distance when lowering than the piston was retracted when raising the roller flap, i.e. the roller flap maintains its upper position or is raised even further by the material flow, another roller flap position correction cycle is carried out. However, if the roller flap falls back to a lower position after being raised due to the lack of material flow, the test is terminated.
  • the control device of the roller flap adjustment device is preferably designed such that the floating position is reset in the second step after a predetermined time interval has elapsed or after a predetermined distance has been covered after the floating position has been removed or the roller flap has been pivoted into the second pivot position.
  • the time interval or the distance can be measured taking into account the dynamic conditions with regard to the material flow during milling operation.
  • the swivel angle by which the roller flap is swiveled upwards depends on the volume of the milled material.
  • a further preferred embodiment provides a memory in which a swivel angle or a value correlating with the swivel angle is stored for different milling depths, by which the rear roller flap is swiveled from the first to the second swivel position, wherein the control device of the roller flap adjustment device is designed such that the swivel angle or a value correlating with the swivel angle is read from the memory depending on the set milling depth.
  • the control device of the roller flap adjustment device can have an operating element, for example a knob or switch or a button on a touch-sensitive screen (touch screen), wherein the control device is designed such that the roller flap position correction mode is activated by actuating the operating element.
  • an operating element for example a knob or switch or a button on a touch-sensitive screen (touch screen)
  • touch screen touch-sensitive screen
  • the control device of the roller flap adjustment device can also be designed in such a way that the roller flap position correction mode is activated fully automatically when a predetermined time interval has elapsed after the ground milling machine has started to start milling or the ground milling machine has covered a predetermined distance.
  • the point in time at which the ground milling machine starts can be determined by monitoring control signals that can be made available by the central control and computing device of the ground milling machine or by recording measured values from suitable sensors, for example distance sensors.
  • a soil milling machine generally has a milling/mixing roller adjustment device which is designed such that the height of the milling/mixing roller can be adjusted relative to the machine frame so that the milling depth can be changed
  • the control device of the roller flap adjustment device can be designed such that the roller flap position correction mode is activated when the milling/mixing roller adjustment device has increased the milling depth by a predetermined value during milling operation and a predetermined time interval has elapsed after the milling depth has been increased or the milling/mixing roller adjustment device has increased the milling depth by a predetermined value during milling operation and the soil milling machine has covered a predetermined distance after the milling depth has been increased.
  • the time interval or the distance can be measured taking into account the dynamic conditions during milling operation.
  • the milling/mixing drum can be adjusted in height relative to the machine frame, whereby the machine frame is supported by lifting columns attached to undercarriages so that the machine frame can be adjusted in height relative to the ground.
  • Fig. 1 shows a floor milling machine according to the invention in side view, which in the EP 2 977 514 B1 is described in detail.
  • the ground milling machine has a chassis 1 which comprises two front drives 2 and two rear drives 3.
  • the drives 2, 3 are wheels.
  • Lifting columns 4 are attached to the drives 2, 3, which support a machine frame 5 so that the machine frame can be adjusted in height relative to the ground 6.
  • the driver's cab 7 is located on the machine frame 5 in front of the front drives 2 in the working direction 11.
  • a roller housing 8 which is open at the bottom and in which a milling/mixing roller 9 is located is arranged on the machine frame 5 between the drives. The direction of rotation of the milling/mixing roller is marked with an arrow 10.
  • the roller housing 8 has a front roller flap 12 in the working direction 11 and a rear roller flap 13 in the working direction, which can each be pivoted about a pivot axis 14' or 14 running transversely to the longitudinal direction of the machine frame.
  • the roller housing is closed at the sides by side parts 15 extending in the longitudinal direction, which Fig. 1 are only vaguely represented.
  • the floor milling machine has a milling/mixing roller adjustment device 16, which in the present embodiment comprises a piston-cylinder arrangement 17 with a piston 17A and a cylinder 17B.
  • a milling/mixing roller adjustment device 16 By actuating the piston 17A of the piston-cylinder arrangements 17, the milling/mixing roller 9 can be adjusted in height relative to the machine frame 5 or the floor 6, with the axis of the milling/mixing roller moving on a circular path.
  • the height of the milling/mixing roller 9 relative to the floor 6 is also possible by retracting or extending the lifting columns 4.
  • a Fig. 1 A control device 18 (not shown) is provided, which provides a control and Computing unit 18A, which can form a separate control and computing unit or can be part of a central control and computing device of the ground milling machine (not shown) ( Fig. 2 ).
  • a front and rear roller flap adjustment device 19 is provided for adjusting the position of the front and rear roller flaps 12, 13 in the working direction. In the embodiments described below, only the rear roller flap is considered.
  • the roller flap adjustment device 19 of the rear roller flap 13 has at least one actuator 20 acting on the roller flap.
  • the actuator is a piston-cylinder arrangement 20, the piston 20A of which is pivotally attached to the machine frame 5 and the cylinder 20B of which is pivotally attached to the rear roller flap 13.
  • the rear roller flap 13 can be pivoted up or down about the pivot axis 14 running transversely to the working direction into a predetermined pivot position ⁇ or by a predetermined pivot angle ⁇ , which correlates with the distance ⁇ a, so that the lower edge 13A of the roller flap 13 can be raised or lowered relative to the floor 6 ( Fig. 3A ).
  • the roller flap adjustment device 19 has a Fig. 1 not shown control device 21, which comprises a control and computing unit 21A, which can form a separate control and computing unit or can be part of the central control and computing device of the ground milling machine ( Fig. 2 ).
  • the control and computing unit 21A of the control device 21 of the roller flap adjustment device 19 can, for example, have a general processor, a digital signal processor (DSP) for continuously processing digital signals, a microprocessor, an application-specific integrated circuit (ASIC), an integrated circuit consisting of logic elements (FPGA) or other integrated circuits (IC) or hardware components in order to carry out the control of the actuators.
  • DSP digital signal processor
  • ASIC application-specific integrated circuit
  • FPGA logic elements
  • IC integrated circuits
  • a data processing program software can run on the hardware components.
  • a combination of the various components is also possible.
  • the roller flap adjustment device 19 comprises further components known to the person skilled in the art, in particular hydraulic components, for example hydraulic pumps, hydraulic valves, hydraulic lines.
  • the ground milling machine has a drive device (not shown) for hydraulic components, such as hydraulic pumps or hydraulic motors, for example to drive the undercarriages.
  • the operator moves the soil milling machine into the desired position with the milling/mixing roller 9 raised.
  • the lifting columns 4 are largely extended and the milling/mixing roller 9 is moved to an upper position ( Fig. 3A ).
  • the lifting columns 4 are then largely retracted and the milling/mixing roller 9 is brought into a position in which it can 6. This process is also called scratching.
  • the piston 20A of the piston-cylinder arrangement 20 is in the position "a 0 " and the roller flap 13 is in the swivel position " ⁇ 0 " ( Fig. 3B ).
  • a zero adjustment takes place for the milling/mixing roller adjustment device 16, so that a further lowering of the milling/mixing roller or a movement of the piston 17A of the piston-cylinder arrangement 17 of the milling/mixing roller adjustment device 16 by a predetermined distance corresponds to the milling depth. It must be taken into account that the change in length of the piston-cylinder arrangement does not necessarily have to correspond to a change in milling depth in a ratio of 1:1. The change in milling depth can be calculated from the stroke of the piston 17A, taking the geometric conditions into account.
  • the zero adjustment establishes a reference plane which corresponds to the surface of the unmilled ground 6.
  • the milling depth can thus be set via the distance to be covered by which the milling/mixing roller 9 is lowered relative to the machine frame 5 or the ground surface or the piston 17A is extended or retracted, or the milling depth can be determined from the distance covered when the milling/mixing roller is lowered or the piston is moved.
  • the distance can be recorded using the known distance sensors.
  • the milling/mixing roller 9 is now lowered to the desired milling depth so that the milling process begins ( Fig. 3C ).
  • Fig. 2 shows a simplified hydraulic circuit diagram of an embodiment for realizing a floating position for the piston-cylinder arrangement 20 of the roller flap adjustment device 19.
  • a hydraulic valve 22 connects the upper and lower cylinder chambers of the piston-cylinder arrangement via the hydraulic lines 23, 24 connected to the cylinder connections 20 for raising and lowering the rear roller flap 13 with a hydraulic tank (not shown) so that the chambers are not subjected to system pressure.
  • the hydraulic valve 22 is a 4/3 way valve.
  • the hydraulic lines leading to the hydraulic valve 22 are in Fig. 2 not shown for the sake of simplicity. Since no specific hydraulic force acts on the cylinder, the piston 20A can move in the cylinder 20B so that the roller flap 13 moves downwards due to its weight.
  • one or the other hydraulic line 23, 24 can be subjected to the system pressure (pressure line) or connected to the tank (tank line) so that the piston 20A is moved up or down.
  • the roller flap adjustment device 19 can also be designed in such a way that the roller flap 13 does not rest on the ground with its own weight, but is loaded or relieved with an additional contact force. If both chambers are subjected to a pressure in the floating position, but this pressure preferably does not correspond to the system pressure, the downward movement of the roller flap can be supported by a corresponding design of the effective contact surfaces of the cylinder, for example if the pressure in both cylinder chambers is the same.
  • the invention can also be implemented by a roller flap adjustment device 19 with a single-acting piston-cylinder arrangement.
  • a single-acting piston-cylinder arrangement is characterized by the fact that it can only be operated in one direction.
  • the roller flap adjustment device 19 only needs to be able to raise the roller flap.
  • the floating position is achieved by the fact that, when no hydraulic pressure is applied to the piston-cylinder arrangement, the roller flap sinks in the direction of gravity due to its own weight.
  • the mixing chamber of the roller housing 8 fills with the milled material, which is deposited behind the milling/mixing roller 9 in the working direction.
  • FIGS 3C and 3D show the roller housing 8 when attaching the milling/mixing roller 9 ( Fig. 3C ) and after starting the soil milling machine ( Fig. 3D ).
  • the mixing chamber is increasingly filled with milled material 25, whereby a certain angle of repose is established depending on the feed rate and the material properties.
  • Fig. 3D shows the time at which the material 25 has reached the rear roller flap 13.
  • the rear roller flap 13 Since the rear roller flap 13 is in the floating position, the rear roller flap can move away, which in Fig. 3E is indicated when the mixing chamber continues to fill with material as the milling machine advances (a 1 , ⁇ 1 or ⁇ a 1 , ⁇ 1 ).
  • the aim is that the Fig. 3F shown equilibrium state between milled and deposited material is established, in which the lower edge 13A of the rear roller flap 13 in the floating position rests on the material 25 thrown up to the rear and closes the roller housing 8 at the rear, whereby the material is pulled off the rear roller flap.
  • the control device 21 of the roller flap adjustment device 19 or the central control and computing device of the ground milling machine, which can comprise the control and computing unit of the control device of the roller flap adjustment device, is configured such that the following method steps are carried out.
  • the roller flap adjustment device 19 provides a manually or automatically activatable roller flap position correction mode, which comprises at least one roller flap position correction cycle.
  • the control device 21 of the roller flap adjustment device 19 has a control element 26 ( Fig. 2 ) which the machine operator can operate after starting the soil milling machine or setting a greater milling depth during milling operation.
  • a control signal is generated which is received by the control and computing unit 21A of the control device 21 of the roller flap adjustment device 19.
  • the roller flap position correction mode After receiving the control signal, the roller flap position correction mode is switched on so that a first roller flap position correction cycle is carried out.
  • the control device switches off the floating position of the rear roller flap 13 and controls the piston-cylinder arrangement 20 of the roller flap adjustment device in such a way that the rear roller flap 13 is moved from a first pivot position (floating position) with a first pivot angle ⁇ 1 ( Fig.
  • the distance a 2 or ⁇ a 2 which is a value correlating with the swivel position, in particular the height of the lower edge 13A of the roller flap 13, can be read from a memory 27 ( Fig. 2 ) can be read out, in which a swivel angle or a path correlated with the swivel angle is stored for different milling depths to be set.
  • the piston 20A moves from the position "a 2 " to the position "a 3 " or the piston is extended by ⁇ as.
  • Fig. 3G shows the time at which the rear roller flap 13 is moved from the first swivel position (h 11 ) ( Fig. 3E ) has been raised to the second swivel position (h 21 ) after the floating position has been removed
  • Fig. 3H shows the time at which the rear roller flap 13 has taken the third swivel position (h 31 ) after resetting the floating position. Since milled material has flowed in in the meantime, it can be seen that the third swivel position ( Fig. 3H ) largely the second swivel position ( Fig. 3G ), ie in the present embodiment h 31 ⁇ h 21.
  • h 31 is greater than h 11 .
  • the drive device When the soil milling machine is started and the milling depth is greater than zero, the drive device generates a control signal which is received by the control and computing unit 21A of the control device 21 of the roller flap adjustment device 19. After receiving the control signal, a timer 21AA or an odometer 21AB is started. set.
  • the timer and/or odometer can be part of the roller flap adjustment device 19, in particular its control and computing unit 21A, or other components of the ground milling machine.
  • the control device 21 switches off the floating position in a first step and pivots the rear roller flap 13 from the first pivot position ( Fig.
  • the roller flap position correction mode is also automatically activated when the milling/mixing roller adjustment device 16 generates a control signal which signals to the control and computing unit 21A of the control device 21 of the roller flap adjustment device 19 that the milling/mixing roller adjustment device has increased the milling depth by a predetermined value during the milling operation.
  • the rear roller flap 13 still exerts a considerable counterpressure on the material, so that material can continue to build up. This applies both to the case of starting up and to the case of increasing the milling depth.
  • another roller flap position correction cycle is carried out.
  • the roller flap position correction cycles are carried out until it is determined that the Fig. 3F shown equilibrium state has been established.
  • the roller flap position correction cycle of the roller flap position correction mode includes a check routine.
  • control device 21 of the roller flap adjustment device 19 is in one embodiment such configured such that a state of equilibrium is concluded on the basis of a comparison of the value of the variable correlating with the third pivot position, which in the present embodiment is the distance ⁇ a, with a threshold value. Taking the dynamic conditions into account, different threshold values can be set, which can be stored in the memory 27 and read out by the control and computing unit 21A of the control device 21 of the roller flap adjustment device 19.
  • the control device records the distance ⁇ a 3 that the piston 20A of the piston-cylinder arrangement 20 of the roller flap adjustment device 19 has moved when pivoting from the second to the third pivot position ( Fig. 3G , Fig. 3H ).
  • the distance ⁇ as is measured when a specified time interval has elapsed after the floating position has been reset or the soil milling machine has covered a specified distance.
  • the timer 21AA which specifies a specified time interval, or the distance counter 21AB is started.
  • other timers or distance counters can also be provided.
  • the time interval or distance for the check can be different from the time interval or distance for the automatic activation of the roller flap position correction mode.
  • the control device 21 of the roller flap adjustment device 19 controls its piston-cylinder arrangement 20 again in such a way that the first and second steps described above are carried out.
  • the floating position is switched off and the rear roller flap 13 is moved from a first pivot position ( Fig. 3I ), in which the rear roller flap floats on the milled material 25 rests (h 12 ), upwards into a second swivel position ( Fig. 3J ) is pivoted (h 22 ).
  • the piston 20A of the piston-cylinder arrangement 20 of the roller flap adjustment device 19 is retracted by a predetermined distance ⁇ a.
  • the floating position is then switched on again so that the rear roller flap 13 drops into a third pivot position (h 32 ) ( Fig. 3K ).
  • the control device again records the distance ⁇ a that the piston 20A of the piston-cylinder arrangement 20 of the roller flap adjustment device 19 has moved when pivoting from the second to the third pivot position.
  • the check routine described above is then carried out again.
  • the roller flap 13 If the distance ⁇ a is less than or equal to the threshold value, ie the roller flap 13, such as the Figures 3I to 3K show, has not fallen back by a minimum amount from the second pivot position, it is not concluded that an equilibrium state has been reached and the checking cycle is repeated. If, however, the distance ⁇ a is greater than the threshold value, ie the roller flap has fallen back, it is concluded that an equilibrium state has been reached. The checking cycle is repeated until the Fig. 3F shown equilibrium state has been established, ie it is determined that the distance ⁇ a is greater than the threshold value.
  • Fig. 3L shows the first swivel position (h 13 ), Fig. 3M the second swivel position (h 23 ) and Fig. 3N the third swivel position (h 33 ) of a further roller flap position correction cycle.
  • the roller flap 13 drops by a relatively large amount, with the distance ⁇ a being greater than the threshold value, so that a state of equilibrium can be concluded (h 33 ⁇ h 23 ).
  • the roller flap position correction mode is then deactivated.
  • the roller flap position correction mode is not yet deactivated if it is only determined once that the distance ⁇ a is greater than the threshold value. Instead, a further check cycle is carried out to check whether the roller flap falls back again by an amount that is greater than the threshold value.
  • a state of equilibrium is determined on the basis of a comparison of the value of the third pivot position ( Fig. 3H ) correlating quantity, which in the present embodiment is the distance a 3 or ⁇ as, with the value of the value associated with the first swivel position ( Fig. 3E ) correlating quantity, which in the present embodiment is the distance a 1 or ⁇ a 1. If an equilibrium state has been determined at least once, the checking routine is terminated and the roller flap position correction mode is deactivated. Otherwise, another checking cycle is carried out.
  • control device 21 of the roller flap adjusting device 19 is configured such that the distance ⁇ a (hereinafter referred to as ⁇ A) by which the piston 20A of the piston-cylinder arrangement 20 of the roller flap adjusting device 19 is retracted to raise the rear roller flap 13 is compared with the distance ⁇ a (hereinafter referred to as ⁇ B) by which the piston of the piston-cylinder arrangement is extended when the rear roller flap falls back, ie the amount by which the roller flap is raised is compared with the amount by which the milling/mixing roller falls back.
  • the control device carries out another roller flap position correction mode when the distance ⁇ B is smaller than the distance ⁇ A.
  • the roller flap position correction mode is deactivated when it is determined that the distance ⁇ B is equal to the distance ⁇ A or greater than the distance ⁇ A.
  • the roller flap thus remains in the floating position and is pulled floating over the surface of the milled soil.
  • the roller flap position correction mode is only deactivated when the distance ⁇ B is equal to the distance ⁇ A or greater than the distance ⁇ A in at least two consecutive roller flap position correction cycles.
  • the Fig. 3G or Fig. 3J shows the rear roller flap 13 in the second swivel position and Fig. 3H or Fig. 3K shows that the roller flap has pivoted upwards into the third pivot position (h 31 >h 11 or h 32 >h 12 ) compared to the first pivot position, since material has flowed in in the meantime, ie the roller flap has lowered itself after a predetermined time interval or after covering a predetermined distance by an amount that is smaller than the amount by which the roller flap was raised, which is determined by comparing the recorded distances ⁇ A and ⁇ B.
  • the height of the lower edge 13A of the roller flap 13 is in the third pivot position ( Fig. 3H or Fig. 3K ) higher than before lifting (3E or Fig.
  • the control device 21 of the roller flap adjustment device 19 can also be configured in such a way that the roller flap position correction mode can only be automatically activated again when the milling/mixing roller has been returned to the zero position. This prevents the roller flap position correction mode from being automatically activated after a temporary standstill of the soil milling machine.

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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)
  • Crushing And Grinding (AREA)

Claims (15)

  1. Engin de fraisage de sol, en particulier stabilisateur ou recycleur, qui présente un châssis (5) sur lequel est disposé un tambour de fraisage/mélangeur (9) disposé dans un carter de tambour (8) ouvert vers le bas, lequel présente un volet de tambour (13) arrière dans le sens de travail, qui peut pivoter autour d'un axe de pivotement (14) s'étendant transversalement au sens longitudinal du châssis, dans lequel
    il est prévu un dispositif de réglage de volet de tambour (19) qui présente au moins un actionneur (20) pour faire pivoter le volet de tambour arrière et un dispositif de commande (21) pour commander ledit au moins un actionneur, de sorte que le bord inférieur (13A) du volet de tambour (13) arrière est réglable en hauteur par rapport au sol (6),
    le dispositif de commande (21) du dispositif de réglage de volet de tambour (19) est conçu de telle sorte que ledit au moins un actionneur (20) est commandé de telle sorte que dans une position flottante le volet de tambour arrière repose sur le sol avec une force d'appui prédéfinie,
    caractérisé en ce que
    le dispositif de réglage de volet de tambour (19) permet d'activer un mode de correction de la position du volet de tambour qui inclut au moins un cycle de correction de la position du volet de tambour, le dispositif de commande (21) du dispositif de réglage de volet de tambour (19) étant conçu de telle sorte que, dans ledit au moins un cycle de correction de la position du volet de tambour, dans une première étape, la position flottante du volet de tambour (13) arrière est supprimée et le volet de tambour arrière est pivoté vers le haut d'une première position de pivotement à une deuxième position de pivotement, de sorte que le bord inférieur (13A) du volet de tambour (13) arrière est soulevé, et dans une deuxième étape, une fois que le volet de tambour arrière a pris la deuxième position de pivotement, la position flottante est rétablie de sorte que le volet de tambour arrière prend une troisième position de pivotement dans laquelle le bord inférieur du volet de tambour arrière repose sur le sol (6).
  2. Engin de fraisage de sol selon la revendication 1,
    caractérisé en ce que ledit au moins un cycle de correction de la position du volet de tambour inclut une routine de vérification, le dispositif de commande (21) du dispositif de réglage de volet de tambour (19) étant conçu pour comparer une grandeur, en corrélation avec la troisième position de pivotement, à une valeur de seuil ou une grandeur, en corrélation avec la troisième position de pivotement, à la valeur d'une grandeur en corrélation avec la première position de pivotement, le mode de correction de la position du volet de tambour étant désactivé sur la base de la comparaison de la valeur de la grandeur, en corrélation avec la troisième position de pivotement, à la valeur de seuil ou sur la base de la comparaison de la valeur de la grandeur, en corrélation avec la troisième position de pivotement, à la valeur de la grandeur en corrélation avec la première position de pivotement.
  3. Engin de fraisage de sol selon la revendication 2,
    caractérisé en ce que la grandeur en corrélation avec la première et la troisième position de pivotement est une grandeur en corrélation avec la hauteur (h) du bord inférieur (13A) du volet de tambour (13) arrière, le dispositif de commande (21) du dispositif de réglage de volet de tambour (19) étant conçu de telle sorte que les cycles de correction de la position du volet de tambour sont effectués jusqu'à ce qu'il soit déterminé au moins une fois que la hauteur (h) du bord inférieur (13A) du volet de tambour (13) arrière dans la troisième position de pivotement est égale ou inférieure à la hauteur du bord inférieur du volet de tambour arrière dans la première position de pivotement.
  4. Engin de fraisage de sol selon l'une des revendications 1 à 3,
    caractérisé en ce que ledit au moins un actionneur du dispositif de réglage de volet de tambour (19) est un ensemble piston-cylindre (20) agissant sur le volet de tambour, et
    il est prévu une unité de mesure (26), en particulier un capteur de distance, détectant la position du piston (20A) de l'ensemble piston-cylindre (20), pour détecter la grandeur en corrélation avec la première et/ou la troisième position de pivotement.
  5. Engin de fraisage de sol selon l'une des revendications 1 à 4,
    caractérisée en ce que le dispositif de commande (21) du dispositif de réglage de volet de tambour (19) est conçu de telle sorte que la position flottante est rétablie dans la deuxième étape après écoulement d'un intervalle de temps prédéfini ou après avoir parcouru une distance prédéfinie après la suppression de la position flottante.
  6. Engin de fraisage de sol selon l'une des revendications 1 à 5,
    caractérisé en ce qu'il est prévu une mémoire (27) dans laquelle est mémorisé, pour différentes profondeurs de fraisage, un angle de pivotement selon lequel le volet de tambour (13) arrière est pivoté de la première à la deuxième position de pivotement, le dispositif de commande (21) du dispositif de réglage de volet de tambour (19) étant conçu de telle sorte que l'angle de pivotement est lu dans la mémoire (27) en fonction de la profondeur de fraisage réglée.
  7. Engin de fraisage de sol selon l'une des revendications 1 à 6,
    caractérisé en ce que le dispositif de commande (21) du dispositif de réglage de volet de tambour (19) comporte un élément de manipulation (26), le dispositif de commande (21) étant conçu de telle sorte que le mode de correction de la position du volet de tambour est activé par actionnement de l'élément de manipulation (26).
  8. Engin de fraisage de sol selon l'une des revendications 1 à 6,
    caractérisé en ce que le dispositif de commande (21) du dispositif de réglage de volet de tambour (19) est conçu de telle sorte que le mode de correction de la position du volet de tambour est activé lorsque l'engin de fraisage de sol a parcouru une distance prédéterminée après le démarrage ou lorsqu'un intervalle de temps prédéterminé s'est écoulé après le démarrage de l'engin de fraisage de sol.
  9. Engin de fraisage de sol selon l'une des revendications 1 à 6,
    caractérisé en ce que l'engin de fraisage de sol présente un dispositif de réglage du tambour de fraisage/mélangeur (16) qui est conçu de telle sorte que la hauteur du tambour de fraisage/mélangeur (9) est réglable par rapport au châssis (5), de sorte que la profondeur de fraisage est modifiable, le dispositif de commande (21) du dispositif de réglage de volet de tambour (19) étant conçu de telle sorte que le mode de correction de la position du volet de tambour est activé lorsque le dispositif de réglage du tambour de fraisage/mélangeur (16) a augmenté la profondeur de fraisage d'une valeur prédéterminée pendant l'opération de fraisage et qu'un intervalle de temps prédéterminé s'est écoulé après l'augmentation de la profondeur de fraisage ou que l'engin de fraisage de sol a parcouru une distance prédéterminée.
  10. Procédé d'exploitation d'un engin de fraisage de sol, en particulier d'un stabilisateur ou d'un recycleur, qui présente un châssis sur lequel est disposé un tambour de fraisage/mélangeur disposé dans un carter de tambour ouvert vers le bas, qui présente un volet de tambour arrière dans le sens de travail qui peut pivoter autour d'un axe de pivotement s'étendant transversalement au sens longitudinal du châssis, de sorte que le bord inférieur du volet de tambour arrière est réglable en hauteur par rapport au sol, l'engin de fraisage de sol étant exploité de telle sorte que dans une position flottante, le volet de tambour arrière repose sur le sol avec une force d'appui prédéterminée,
    caractérisé en ce que
    un mode de correction du volet de tambour est activé, lequel inclut au moins un cycle de correction de la position du volet de tambour, et, dans ledit au moins un cycle de correction de la position du volet de tambour, dans une première étape, la position flottante du volet de tambour arrière est supprimée et le volet de tambour arrière est pivoté vers le haut d'une première position de pivotement à une deuxième position de pivotement, de sorte que le bord inférieur du volet de tambour arrière est soulevé, et dans une deuxième étape, après que le volet de tambour arrière a pris la deuxième position de pivotement, la position flottante est rétablie de sorte que le volet de tambour arrière prend une troisième position de pivotement dans laquelle le bord inférieur du volet de tambour arrière repose sur le sol.
  11. Procédé d'exploitation d'un engin de fraisage de sol selon la revendication 10, caractérisé en ce que ledit au moins un cycle de correction de la position du volet de tambour inclut une routine de vérification dans laquelle une grandeur en corrélation avec la troisième position de pivotement est comparée à une valeur seuil ou une grandeur en corrélation avec la troisième position de pivotement est comparée à la valeur d'une grandeur en corrélation avec la première position de pivotement, et le mode de correction de la position du volet de tambour est désactivé sur la base de la comparaison de la valeur de la grandeur, en corrélation avec la troisième position de pivotement, à la valeur de seuil ou sur la base de la comparaison de la valeur de la grandeur, en corrélation avec la troisième position de pivotement, à la valeur de la grandeur en corrélation avec la première position de pivotement.
  12. Procédé d'exploitation d'un engin de fraisage de sol selon la revendication 11, caractérisé en ce que la grandeur en corrélation avec la première et la troisième position de pivotement est une grandeur en corrélation avec la hauteur du bord inférieur du volet de tambour arrière, et
    en ce que les cycles de correction de la position du volet de tambour sont effectués jusqu'à ce qu'il soit déterminé au moins une fois que la hauteur (H) du bord inférieur (13A) du volet de tambour (13) arrière dans la troisième position de pivotement est égale ou inférieure à la hauteur du bord inférieur du volet de tambour arrière dans la première position de pivotement.
  13. Procédé d'exploitation d'un engin de fraisage de sol selon l'une des revendications 10 à 12,
    caractérisé en ce que la position flottante est rétablie lors de la deuxième étape après écoulement d'un intervalle de temps prédéterminé ou après avoir parcouru une distance prédéterminée après la suppression de la position flottante.
  14. Procédé d'exploitation d'un engin de fraisage de sol selon l'une des revendications 10 à 13,
    caractérisé en ce que, en fonction de la profondeur de fraisage réglée, l'angle de pivotement selon lequel le volet de tambour arrière est pivoté de la première à la deuxième position de pivotement est lu dans une mémoire dans laquelle un angle de pivotement respectif est enregistré pour différentes profondeurs de fraisage.
  15. Procédé d'exploitation d'un engin de fraisage de sol selon l'une des revendications 10 à 14,
    caractérisé en ce que le mode de correction de la position du volet de tambour est activé lorsque l'engin de fraisage de sol a parcouru une distance prédéterminée après le démarrage ou lorsqu'un intervalle de temps prédéterminé s'est écoulé après le démarrage, ou
    le mode de correction de la position du volet de tambour est activé lorsque, pendant l'opération de fraisage, la profondeur de fraisage a été augmentée d'une valeur prédéterminée et qu'un intervalle de temps prédéterminé s'est écoulé après l'augmentation de la profondeur de fraisage ou que l'engin de fraisage de sol a parcouru une distance prédéterminée.
EP22210922.5A 2021-12-03 2022-12-01 Machine à fraiser le sol, en particulier machine à fraiser ou à recycler, et procédé de fonctionnement d'une machine à fraiser le sol Active EP4190973B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102021131906.4A DE102021131906A1 (de) 2021-12-03 2021-12-03 Bodenfräsmaschine, insbesondere Stablisierer oder Recycler, und Verfahren zum Betreiben einer Bodenfräsmaschine

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EP4190973A1 EP4190973A1 (fr) 2023-06-07
EP4190973C0 EP4190973C0 (fr) 2024-11-06
EP4190973B1 true EP4190973B1 (fr) 2024-11-06

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Country Status (4)

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US (1) US12410567B2 (fr)
EP (1) EP4190973B1 (fr)
CN (2) CN219793570U (fr)
DE (1) DE102021131906A1 (fr)

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DE102021131906A1 (de) * 2021-12-03 2023-06-07 Wirtgen Gmbh Bodenfräsmaschine, insbesondere Stablisierer oder Recycler, und Verfahren zum Betreiben einer Bodenfräsmaschine

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5354147A (en) 1993-07-08 1994-10-11 Swisher Jr George W Pulverizing machine having a cutter assembly towed in both forward and reverse directions
DE102004012382B4 (de) 2004-03-13 2014-03-13 Deere & Company Hydraulische Anordnung
DE102012012397A1 (de) * 2012-06-25 2014-04-24 Wirtgen Gmbh Selbstfahrende Baumaschine
DE102013013967A1 (de) 2013-08-23 2015-03-12 Wirtgen Gmbh Selbstfahrende Baumaschine und Verfahren zum Betreiben einer selbstfahrenden Baumaschine
DE102014214436A1 (de) 2014-07-23 2016-01-28 Wirtgen Gmbh Bodenbearbeitungsmaschine, sowie Verfahren zum Fräsen von Boden- oder Verkehrsflächen
US9797100B1 (en) 2016-05-23 2017-10-24 Caterpillar Paving Products Inc. Milling machine
DE102017010919B4 (de) * 2017-11-24 2023-08-03 Bomag Gmbh Verfahren zum Steuern einer Höhenverstellung eines Abstreifschildes einer Bodenfräsmaschine und Bodenfräsmaschine
DE102018010151A1 (de) * 2018-12-28 2020-07-02 Bomag Gmbh Verfahren zur Höhenregulierung eines Seitenschilds einer Bodenfräsmaschine und Bodenfräsmaschine
US11613856B2 (en) 2020-04-14 2023-03-28 Caterpillar Paving Products Inc. Machine, system, and method for work cycle automation
US11453984B2 (en) 2020-11-24 2022-09-27 Caterpillar Paving Products Inc. Reclaimer having a drum chamber door control system
DE102021108367A1 (de) 2021-04-01 2022-10-06 Wirtgen Gmbh Selbstfahrende Baumaschine und Verfahren zum Betrieb einer selbstfahrenden Baumaschine
DE102021131906A1 (de) * 2021-12-03 2023-06-07 Wirtgen Gmbh Bodenfräsmaschine, insbesondere Stablisierer oder Recycler, und Verfahren zum Betreiben einer Bodenfräsmaschine

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Publication number Publication date
US20230175213A1 (en) 2023-06-08
EP4190973A1 (fr) 2023-06-07
EP4190973C0 (fr) 2024-11-06
CN219793570U (zh) 2023-10-03
DE102021131906A1 (de) 2023-06-07
CN116219848A (zh) 2023-06-06
US12410567B2 (en) 2025-09-09

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