Patent Grant
9365985
The present application claims priority under 35 U.S.C. §119 of German Patent Application No. 10 2013 008 939.5, filed May 24, 2013, the disclosure of which is hereby incorporated herein by reference in its entirety.
The present invention relates to a self-propelled ground milling machine for processing ground surfaces. A generic ground milling machine comprises a transportation means, a milling device, and a drive device for the propulsion of the transportation means and the milling device. The milling device is directly or indirectly mounted on a chassis of the ground milling machine and can be switched between a working position, in which the milling device is in operative contact with the ground surface, and a maneuvering position, in which the milling device is not in operative contact with the ground surface. The maneuvering position is necessary, for example, when maneuvering of the ground milling machine is required, for example, when traveling to, or when at, the operating site. More particularly, the milling device comprises at least one milling drum, mounted directly or indirectly on the chassis, with its horizontal axis of rotation being transverse to the direction of advance, a milling drum enclosure, for example, in the form of a milling drum box or a milling drum hood, and a drive train, the purpose of which is to convey the drive energy required to operate the milling drum to the milling drum. The transportation means likewise disposed on the chassis comprises, in particular, traveling means, for example, wheels and/or crawler tracks, enabling the ground milling machine to travel on the ground.
Such a ground milling machine is known, for example, from DE 10 2010 014 893 A1, to which reference is expressly made herein. A sensor device is disclosed therein for such a ground milling machine, for the purpose of detecting the maneuvering position and/or at least one working parameter of the milling device, that is to say, its energy consumption, working speed, speed of rotation, inclination, and/or at least one loading parameter of the transportation means. Furthermore, a control device is provided, which is adapted to reduce the flow of force between the drive device and the milling device in the maneuvering position and/or upon detection of a discrepancy of the at least one detected working parameter or loading parameter from a setpoint value, or decrease the drive energy per unit of time (the driving power) conveyed to the milling device by means of a dynamic torque converter.
Thus, the driving power of the drive device itself can be maintained at a high and virtually consistent level in all positions of the milling device, thus enabling rapid switching from the operating phase to the maneuvering phase, and vice versa. To this effect, the driving device is generally operated steadily and under maximum power. A reduction of the drive energy transferred to the milling device is achieved by way of friction losses occurring in the dynamic torque converter in the form of, for example, a multi-disc clutch exhibiting adjustable slippage caused by varying the pressure on the disc pack, by means of which the drive energy ultimately applied to the milling device, as compared with the drive device running under high driving power, is reduced due to friction losses.
It is an object of the present invention to create a self-propelled ground milling machine having a milling device and showing improved regulation of the driving power over the prior art.
A generic ground milling machine comprises a transportation means, a milling device, and a drive device for the propulsion of the transportation means and the milling device. The milling device is disposed on a ground milling machine chassis and can be switched between a working position, in which the milling device is in operative contact with the ground surface, and a maneuvering position, in which the milling device is not in operative contact with the ground surface. The drive device, more particularly, a combustion engine, comprises a drive control unit adapted to control the driving power of the drive device. By “driving power” is meant the drive energy per unit of time available on the output shaft of the combustion engine. In particular, the drive control unit is thus an engine control unit adapted, in particular, to control solely the processes relating to the drive device. According to the present invention, provision is made for a ground milling machine control unit to be present in addition to the drive control unit. The ground milling machine control unit controls the cooperation between the drive device, the transportation means, and the milling device in such a way that the driving power of the drive device in the maneuvering position of the milling device is automatically reduced in relation to the driving power of the drive device in the working position of the milling device, whilst maintaining at least sufficient power for the transportation means. According to the present invention, the driving power provided by the drive device for the maneuvering mode, during which the milling device is in maneuvering position, is lower than the driving power provided for the operational mode, during which the milling device is in the working position, this power reduction being such that at least a reliable traveling operation is still possible. At the same time, however, the driving power should ideally be decreased to a point at which propulsion of the milling device with the milling drum touching the ground is no longer possible, as would result, for example, in a combustion engine shutdown. Due to the comparatively low driving power available during a maneuvering operation, the present invention thus provides for the ground resistance acting against the milling drum if touching the ground to be sufficient to stop rotary movement of the milling drum. This reliably ensures, for example, that the ground milling machine is not, when the milling drum touches the ground, undesirably moved due to the rotation of the milling drum. In particular, unlike the variants previously described in the prior art, the present invention provides power reduction for the maneuvering operation at a central point of the overall drive system, that is to say, directly at the drive device, more particularly, the drive engine, and not by force or power transmitting means, for example, a clutch. The basic concept of the present invention thus provides for the drive energy per unit of time, as is basically available for the entire ground milling machine, or, more particularly, the driving power developed by the drive device, to be wholly reduced for the maneuvering operation, for example, by reducing the fuel input.
This self-propelled ground milling machine incorporating a milling device has the advantage that rapid switching between operating phase and maneuvering phase is possible when milling ground surfaces, with the result, for example, that a road surface can be milled quickly along adjacent strips having the width of a milling tool. The advantages of the present invention become most apparent when fine milling is carried out, during which the milling drum operates at a particularly high speed, with the result that the present invention is particularly suitable for use in road milling machines. The present invention can, however, fundamentally also be utilized in ground milling machines designed as recyclers and/or stabilizers. The force flow between the drive device and milling device is, according to the present invention, not broken in any of the operational phases or separately reduced. Instead, the driving power of the drive device is reduced, that is to say, control intervention occurs directly at the drive device, more particularly, by appropriately controlling the engine control unit by means of the ground milling machine control unit. This can specifically take place, for example, by regulating the fuel injection rate, which is accordingly reduced for the purpose of reducing the driving power of the drive device and vice versa. In all, according to the present invention, the driving power of the drive device is restricted or, more particularly, its output power is restricted in such a way, that it is essentially limited to at least the traveling performance required for the maneuvering operation. The drive device needs to apply only that driving power that is absolutely necessary for rapid operation, both in the maneuvering phase and in the operating phase, or, more specifically, according to whether the milling device is in the working position or in the maneuvering position.
For faultless functioning of the present ground milling machine, a device is thus also required by means of which the ground milling machine control unit can distinguish between the maneuvering phase, or, more particularly, the phase in which the milling device is located in a maneuvering position, and the working/milling phase, or, more particularly, the phase in which the milling device is located in a working position. In the simplest case, this can be effected, for example, by means of a direction sensor. In addition, or alternatively, provision may be made for the adjustment position of the milling drum and/or other relevant parameters to be ascertained and relayed to the ground milling machine control unit. Furthermore, it is possible for the reduction in driving power to be determined manually by the driver, for example, by means of a switching device enabling switching between working or milling operation and maneuvering operation.
The drive device preferably applies maximum driving power in the working position of the milling device, for example, controlled by means of the ground milling machine control unit. Furthermore, provision is made for the drive device in the maneuvering position of the milling device to apply a fraction of the maximum driving power, which fraction is at least sufficient to provide driving power for the transportation means and for any implements that may have to be driven during a maneuvering phase. Thus, it can advantageously be assumed that the driving power for the transportation means and for implements that have to be driven during the maneuvering phase is less than one half, or, more particularly, less than one third, of the maximum driving power, with the effect that, on reduction of the maximum driving power to one third, the milling tool remains in rotation and does therefore not stop when changing from the working position to the maneuvering position and while in the maneuvering operation. The fraction of driving power applied by the drive device when the milling device is in the maneuvering position is thus equal to preferably less than 50%, more particularly, less than 40% and, most particularly, less than 30% of the maximum driving power of 100%. The driving power required for the transportation means defines that percentage of the maximum driving power of 100% that is required for driving the ground milling machine, especially with a milling device in maneuvering position. This is, in other words, equivalent to the driving power required for moving the ground milling machine through propulsion of the transportation means under normal maneuvering conditions. Accordingly, the percentages as given above imply that a substantial percentage of the maximum driving power of the drive device is required, in the operational mode, for the propulsion of the milling device.
Since it is not necessary to convey any material on a conveyor for milled material during the maneuvering phase, the driving power for the conveyor for milled material can also be conserved in the maneuvering phase. This fundamentally applies to all implements required only in the operational mode of the ground milling machine, with the milling device in the working position. Other implements are, however, also required during the maneuvering operation, for example, the lifting devices between the ground milling machine frame and the chassis, as well as between the ground milling machine frame and the milling device. In this regard, care must be taken to ensure that sufficient driving power is available to guarantee that, in the maneuvering phase, too, leakages are compensated for and that lifting maneuvers can be carried out, as may be required, for example, in the transition regions between the unmilled ground surface to the milled ground surface, or in the case of the ground being uneven.
It is generally possible and, furthermore, preferable for the ground milling machine control unit to control power reduction solely by means of a control parameter of the engine control unit, for example, by reducing the fuel injection rate. Thus, as soon as maneuvering commences, the ground milling machine control unit begins to regulate the engine control unit, for example, by controlling it in a suitable manner. Additionally, or alternatively, provision may, however, also be made for the milling device to comprise a speed sensor for cooperation with the ground milling machine control unit. The ground milling machine control unit controls the reduction of driving power of the drive device in the maneuvering position of the milling device to such extent, that the milling device speed drops to a fraction of the speed of the milling device used in the working position, without, however, dropping below a driving power suitable for the transportation means and for any implements to be powered. This embodiment of the present invention ensures that the milling device or, more particularly, the milling tool is not fully deactivated, even though in the maneuvering position, with the effect that, on commencement of the operating phase, it is merely necessary to accelerate to the working speed of the milling tool. In this regard, complete deactivation of the milling tool is prevented, thus avoiding time consuming coupling procedures when switching between the operating and maneuvering phases, and vice versa, when milling ground surfaces.
A preferred embodiment of the present invention is designed such that a dynamic torque converter is disposed in the drive train between the drive device and the milling device, cooperating with the ground milling machine control unit and reducing the drive torque for the milling device from maximum torque to minimum torque when switching from the working position to the maneuvering position. However, such a dynamic torque converter is not intended to replace the reduction in driving power of the drive device in the self propelled ground milling machine according to the present invention. The purpose of the dynamic torque converter is rather to protect the milling tool from any damage that might occur when, in a maneuvering phase, the milling tool, with its driving power already reduced, should unexpectedly be prevented from rotating by an unforeseeable obstruction.
During the operating phase, the direction of rotation of the milling tool is contrary to the direction of rotation of the chassis of the transportation means. In the maneuvering phase, during which the ground milling machine is returned to a starting point for the purpose of milling a further section of the ground surface, the direction of rotation of the milling tool and the direction of rotation of the transportation means are generally the same, posing the risk of the milling tool unexpectedly coming in contact with the ground, which could result in uncontrolled movement of the ground milling machine in the event of unexpected engagement of the milling tool with the ground surface, for example, on an extremely uneven ground surface or when moving from milled to unmilled ground surfaces. This is prevented by the reduction of the driving power of the drive device in the ground milling machine, which controls and reduces the driving power of the drive device in such a way, that it is not sufficient to cause rotation of the milling drum contrary to the resistance offered by the ground surface. For the purpose of making it possible to stop rotation of the milling drum as reliably and quickly as possible, a further development of the ground milling machine has proven to be advantageous in this regard, in which the drive device is provided with an emergency clutch throw-out means, and the milling device with a load torque sensor and/or rotary speed sensor. To this end, the ground milling machine control unit cooperates with the emergency clutch throw-out means of the drive device and the load torque sensor and/or the rotary speed sensor in such a way that when the load torque limit is exceeded and/or the rotary speed of the milling drum, ideally abruptly, drops below the threshold value in a maneuvering phase with the milling device in the maneuvering position, the ground milling machine control unit activates an actuator for the emergency clutch throw-out means. This embodiment is characterized in that the milling tool is further decoupled from the drive train, as a precaution, in the event of mechanical overloading and/or an abrupt drop in rotary speed, for example, when the milling drum unintentionally contacts the ground surface. Furthermore, in addition, or as an alternative, deactivation of the drive device can be provided for in the event of the load torque sensor of the milling device exceeding a load torque limit and/or the rotary speed sensor dropping below a rotary speed threshold. In such an emergency, the entire ground milling machine comes to a standstill. Furthermore, provision can also be made for the emergency clutch throw-out means to be actuated manually when the drive device needs to be switched off in an emergency situation, independently of an operating phase, so as to stop the ground milling machine.
It is preferred for the ground milling machine control unit to comprise a power control unit in cooperation with the drive control unit, such that the reduced driving power available in the maneuvering position of the milling device can be distributed over the powered implements of the ground milling machine required in a maneuvering operation, while the maneuvering operation is maintained.
According to a further aspect, the present invention relates to a method for operating a self-propelled ground milling machine comprising a transportation means, a milling device, and a drive device for propulsion of the transportation means and the milling device, for the purpose of treating ground surfaces by means of the milling device. In a working position, the milling device is in operative contact with the ground surface, and in a maneuvering position the milling device is not in operative contact with the ground surface. This method comprises the following method steps.
Method step a) consists of lowering the milling device in the starting position of an operating phase from a maneuvering position. In the operational mode that follows, milling of the ground surface takes place by means of the drive device applying maximum driving power to propel the ground milling machine, while at the same time milling a first section of the ground surface to the width of a milling tool of the milling device, to a final position of a first road section. In this phase, the drive device is usually operated at maximum driving power to achieve maximum milling power.
Since the width of the ground surface in a first road section often exceeds the width of the milling tool, this operating phase is followed by a maneuvering phase. In method step b) that follows, provision is therefore made for the milling device to be raised to a maneuvering position whilst the driving power of the drive device is also significantly reduced for the maneuvering operation in this maneuvering phase, in particular to a driving power of less than 50%, more particularly, of less than 40% and, ideally, of less than 30% of the maximum driving power of 100%. In the course of this operation, the self-propelled ground milling machine is moved back with the aid of the transportation means to the starting position under reduced driving power of the drive device while at the same time being laterally shifted into position for milling along a second, adjacent milling strip.
Steps a) and b) are then repeated until the desired width of the road section has been reached, possibly alternating between steps a) and b) a number of times.
Such a method has the advantage that the driving power of the drive device is reduced to a necessary minimum in each maneuvering phase for the purpose of driving the transportation means and supplying driving power to the implements required during the reverse movement of the ground milling machine. At the same time, power is reduced preferably to at least such a degree that the milling drum interlocking with the ground surface during this maneuvering phase will not, or only minimally, cause milling of the ground, but is instead arrested thereby. Consequently, regular milling operation is not possible under these conditions. For this reason, on the one hand, switching between the operating phase and the maneuvering phase is always possible without delay, since decoupling of the milling tool in the maneuvering phase and recoupling when shifting into the working phase are no longer required, and, on the other hand, the energy efficiency of the ground milling machine can be increased due to the drive device applying reduced, but sufficient, driving power during a maneuvering operation.
In a further exemplary implementation of the method, the fuel supply to the drive device comprising an internal combustion engine is automatically restricted to lower the driving power to at least that required by the transportation means, more particularly, by activation of an engine control unit by means of a ground milling machine control unit.
In a further exemplary implementation of the method, the milled material is simultaneously discharged during the operating phase via a front mounted and/or rear mounted discharge conveyor that can be switched off during the maneuvering phase to save energy, for the purpose of further favorably reducing the generation of driving power by the drive device. In addition, or as an alternative, this of course also applies to further implements requiring a supply of operating energy to some extent during the maneuvering and/or operational modes.
A further exemplary implementation of the method makes provision for registration of the rotary speed of the milling device and for regulation of the reduction of driving power in the maneuvering position of the milling device by means of a drive control unit, such that the rotary speed of the milling device is lowered to a fraction of the rotary speed of the milling device used in the working position without dropping below the maximally required driving power for the transportation means. Such maximally required driving power for the transportation means is significantly lower than the maximum driving power of the drive device and gains relevance when switching from the operating phase to the maneuvering phase. In such a switching operation, the self-propelled ground milling machine must be accelerated, as described above, from a forward movement to a rearward movement and conversely from a rearward movement to a forward movement. Although such accelerating operations demand a maximal driving power for the transportation means, this is significantly lower than the maximum possible driving power of the drive device.
A preferred development of the method according to the present invention makes provision for a dynamic torque converter positioned between the drive device and the milling device to be controlled by the ground milling machine control unit, which dynamic torque converter reduces the drive torque transmission for the milling device from a maximum torque transmission to a minimum torque transmission when changing from the working position to the maneuvering position. The purpose of such reduction of the torque transmission is, however, not to replace the reduction in driving power of the drive device when changing from the operating phase to the maneuvering phase, but is instead to provide an additional guarantee that the milling tool will not be damaged when accidental resistance acting against the rotating milling tool in the maneuvering position occurs, since the torque transmission to the milling tool is minimized to such extent, that the milling tool can come to a standstill without being damaged.
A further exemplary implementation of the method makes provision for the registration of a load torque on the milling device and/or of the rotary speed of the milling drum of the milling device (or, additionally or alternatively, of some other rotating element in the drive train towards the milling drum), and that, when the load torque limit of the milling device is exceeded and/or when the rotary speed limit falls below the threshold value in the maneuvering position, the ground milling machine control unit activates an actuator for an emergency clutch throw-out means of the drive device by way of the engine control unit. This method has the advantage that not only does the milling tool come to a standstill, as described above with the use of a dynamic torque converter, but also the entire self-propelled ground milling machine comes to a standstill. Such emergency clutch throw-out means for the drive device can also be actuated by a manual emergency shut-down switch connected in series for the purpose of enabling the operator to bring the ground milling machine to a halt in an emergency situation.
The present invention is described below with reference to the exemplary embodiments explained in detail with reference to the figures, in which:
In this embodiment of the present invention, the drive shaft is a crankshaft of a drive device 5, in this case designed as a combustion engine 12. The drive device 5 is controlled by a drive control unit 6 in cooperation with a ground milling machine control unit 7. The ground milling machine control unit 7 coordinates propulsion by means of the transportation means 4 relative to the rotation speed or angular speed of the rotating milling tool 9, the direction of rotation of the transportation means 4 in the direction of the arrow B being contrary to the direction of rotation of the milling tool 9 in the direction of the arrow C. During a milling operation, the angular speed of the milling tool 9 is a multiple of the angular speed of the transportation means, the latter serving only for advancement in the direction of the arrow A.
The driving power applied by the drive device 5 in the operational phase, for the purpose of achieving maximum milling advance, is equivalent to a maximum driving power of 100%.
As
The driving power will be reduced down to a point at which the milling tool 9 will not continue to rotate when the milling device disposed in the maneuvering position is accidentally obstructed, for example, in case of ground unevenness or the presence of obstacles, thus preventing the ground milling machine 1 from jumping forward uncontrollably in the direction of the arrow D under the driving force of the milling drum. This consequently ensures safe guidance of the ground milling machine 1 despite continued rotation of the milling tool 9 during the maneuvering phase.
Hydraulic lifting columns 19 are disposed between the ground milling machine frame 13 and the transportation means 4, more particularly, to facilitate height adjustment in the event of one or more of the rearward crawler tracks 20 or forward crawler tracks 20′ riding on different levels on the ground surface, for example, on the milled surface 14 and on the original ground surface 2. Furthermore, the ground milling machine frame 13 can be vertically adjusted with the aid of the lifting columns 19, consequently adjusting the milling depth Ft.
On account of the fact that in the maneuvering phase, as shown in
Connected to the transfer gearbox 21 are the transmission 23 and a plurality of pumps 31, 32, and 33. For the purpose of monitoring the pumps 31, 32, and 33, a number of pressure sensors 37 can be disposed within the transfer gearbox 21 and connected to the ground milling machine control unit 7 via signal conductors 38.
A large proportion of the driving power is transmitted through the transfer gearbox 21, a clutch device 30 and a belt transmission 35 to the milling tool 9 of the milling device 3. More particularly, the clutch device 30 comprises a multi-disc clutch, the pressure plate 34 of which is capable of applying variable degrees of pressure to the friction discs. The pressure plate 34 is appropriately actuated by the ground milling machine control unit 7 via a control line 36.
Rotation of the milling tool 9 is monitored by three sensors 8, 42, and 43, that is to say, by a rotary speed sensor 8 on the input shaft 39 of a milling tool transmission 40, a load sensor 43 on the axle 41 of the milling tool 9, and an angular speed sensor 42 for detection of the angular speed of the milling tool 9.
Connected to the ground milling machine control unit 7 are the rotary speed sensor 8 via a signal line 44, the load sensor 43 via a signal line 45, and the angular speed sensor 42 via a signal line 46.
In order to actuate the emergency clutch throw-out means 22, the ground milling machine control unit 7 comprises a control line 47 for the purpose of exchanging control data. In particular, for the purpose of lowering the driving power of the drive device 5, the ground milling machine control unit 7 is connected to a drive control unit 6, more particularly, an engine control unit, via a control line 48, which drive control unit 6 is in turn connected to the drive device 5 via a control line 49 and is solely responsible for controlling the operation of the drive device.
With the aid of the components of the ground milling machine 1, as illustrated in
At a starting time tA1, this maximum power splits during the operational phase ΔtA into a propulsion power FA, a pump driving power PU, a conveyor driving power TR, and a milling driving power FRmax. Accordingly,
During the operational phase ΔtA, the ground surface is milled and the milled material is concurrently dispatched via the conveyor 11 as shown in
Once the operational phase ΔtA is completed for the first time at the time tR, and milling and the dispatch of the ground surface for a road section 17 is complete, the driving power in the subsequent maneuvering phase ΔtR can be significantly reduced, as indicated in
Here again, in this maneuvering phase ΔtR, the areas below the driving power curves represent the energy consumption, as designated by ΔEFA for the transportation means, by ΔEPU for the pumps, and by ΔEFR for the significantly reduced energy consumption of the milling tool. Since, as described above, the dispatch of milled material can be discontinued during the maneuvering phase ΔtR, the energy consumption therefore tends towards zero. Moreover, the energy consumption ΔEFA of the transportation means can decrease marginally, as the transportation means is not required to advance the contra-rotating milling tool. Nonetheless, despite a reduction in the driving power of the drive device, there remains sufficient energy to cause an idling milling tool to rotate at a reduced speed during the maneuvering phase ΔtR.
This diagram clearly demonstrates the amount of energy that can be saved by reducing the driving power of the drive device during the maneuvering operation ΔtR. It should be noted that the driving power curves, as shown here, merely serve to illustrate the concept of the present invention, and do not represent absolute energy conservation values. This is further illustrated by the fact that, in reality, the timespan covering the operational phase ΔtA is significantly longer than the timespan covering the maneuvering phase ΔtR, particularly because the speed of advance during the operational phase ΔtA is significantly lower than the speed of return during the maneuvering phase ΔtR.
Although an exemplary embodiment has been described above, it is still possible to carry out a number of changes and modifications. The said embodiment is merely an exemplary embodiment and is not intended to restrict the scope, the applicability, or the configuration in any way. Instead, the above description provides the person skilled in the art with a scheme for implementation of the exemplary embodiment, and numerous alterations can be made to the function of the said exemplary embodiment, without departing from the scope of the appended claims and their legal equivalents.
Finally,
Alternatively, at the time ΔtR2, the milling drum 9 unintentionally engages the ground while maneuvering, for example, while driving over an obstacle. Due to the low driving power applied during the maneuvering operation, the rotational speed of the milling drum 9 drops abruptly to zero, as is shown in the present exemplary embodiment, due to the milling drum being, in effect, locked by the ground and there not being sufficient driving power available to drive the milling drum into the ground. Any possible damage caused to the milling drum is therefore minimal. Furthermore, no movement of the ground milling machine occurs due to the milling drum engaging the ground in the direction of rotation of the milling drum.
While the present invention has been illustrated by description of various embodiments and while those embodiments have been described in considerable detail, it is not the intention of Applicant to restrict or in any way limit the scope of the appended claims to such details. Additional advantages and modifications will readily appear to those skilled in the art. The present invention in its broader aspects is therefore not limited to the specific details and illustrative examples shown and described. Accordingly, departures may be made from such details without departing from the spirit or scope of Applicants' invention.
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| 10 2013 008 939 | May 2013 | DE | national |
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| 10 2010 014 893 | Oct 2011 | DE |
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| Number | Date | Country | |
|---|---|---|---|
| 20140348585 A1 | Nov 2014 | US |
