EP0935024A2 - Soil compacting machine and method of controlling the same - Google Patents
Soil compacting machine and method of controlling the same Download PDFInfo
- Publication number
- EP0935024A2 EP0935024A2 EP99102195A EP99102195A EP0935024A2 EP 0935024 A2 EP0935024 A2 EP 0935024A2 EP 99102195 A EP99102195 A EP 99102195A EP 99102195 A EP99102195 A EP 99102195A EP 0935024 A2 EP0935024 A2 EP 0935024A2
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- EP
- European Patent Office
- Prior art keywords
- steering
- roller
- control device
- stop
- drum
- 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.)
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 239000002689 soil Substances 0.000 title claims description 12
- 238000005056 compaction Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 abstract 1
- 230000007704 transition Effects 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
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Classifications
-
- 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
- E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
- E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
- E01C19/26—Rollers therefor; Such rollers usable also for compacting soil self-propelled or fitted to road vehicles
Definitions
- the invention relates to a two-band soil compacting device with double steering, in particular a road roller with double bolster steering, and a method for controlling the steering drive of the soil compacting device, wherein the steering drive of both separately controllable roller drums is controlled by a control device depending on the steering specifications selected by the roller operator and / or a control program that can be selected by the roller operator is controlled, and when preselecting a control program Hundegang "both steering drives are controlled in such a way that the two drums move one behind the other with a mutual track offset that can be adjusted by the roller operator.
- This mutual track offset makes it possible to have a work area to compact an operation that is wider than the road roller itself or as the roller bandages and in extreme cases almost double the road roller width is.
- Disadvantage of driving in Hundegang is that the available steering angle is around Track offset angle reduced, i.e. by the angle by which the chassis compared to the respective bandage compared to the alignment is pivoted without track offset.
- the reduced steering angle leads to that on the one hand the maneuverability and maneuverability of the machine is severely restricted in accordance with the reduced steering angle, and that on the other hand, in extreme cases, the ability to steer is completely eliminated becomes, namely when the road roller in maximum dog walking works with the greatest possible track offset, which means both drums rest on the steering stop.
- the roller operator must First reduce the track misalignment of the crab before it hits the road roller can convert from straight ahead to cornering.
- the present invention is based on the object of working a soil compaction device of the type mentioned at the outset in the control program Dog walking "further improve.
- control device in a control program in a control program Hundegang "with preset track offset due to a selected steering set cornering controls the steering drive of both drums when a steering stop is reached in such a way that only the free bandage not attached to the steering stop is actuated at least until, as a result of the corresponding steering set by the free drum
- the advantage of this control method now lies in the fact that the road roller remains steerable when the steering stop is reached and thus even at maximum track offset by only the drum moving away from the steering stop being actuated by the control device The roller operator can concentrate fully on this cornering and does not have to simultaneously try to reduce the track offset beforehand or adapt it during this.
- the control device expediently controls accordingly the steering set both drums on it until it turns again one of the two bandages on the steering stop ensures that that the free mobility of both bandages is used as long as until in the course of further cornering and due to this in each case existing track offset again a bandage on the steering stop creates.
- the control device then expediently controls only the free bandage that is not at the ready, and this again at least until the system at the steering stop is lifted is.
- control device ensures cornering with the maximum possible track offset, the track offset - if it is necessary for the steering maneuver - until it is reduced until either cornering is finished or until cornering in the desired way by controlling both bandages can be.
- control device for maintaining the set Track offset controlling the steering drive of the two drums an additional control signal superimposed such that at least after according to the guidance given by the course of the cure and at Transition to straight ahead, the preset track offset automatically is restored. So here the reduction of Track misalignment automatically by the control device during cornering undone again so that the roller driver himself can fully focus on steering the road roller during the Track offset is changed solely by the control device.
- the superimposed activation for restoration takes place the preset track offset already when cornering, so that whenever none of the roller drums on Steering stop is applied, the control device, the two steering drives in the sense of increasing the track offset.
- the present invention also extends to the soil compaction device itself, in particular to a road roller with double-steer steering, which each separate via a control device depending on the steering specifications selected by the roller operator and / or a control program that can be selected by the roller operator has a steering drive controllable drum, the steering drive of each drum can be controlled by the control device such that when a control program is selected Hundegang "move both drums one behind the other with a track offset that can be adjusted by the roller operator.
- Figure 1 is a road roller 1 in a perspective side view shown, which has a double-frame steering and here two includes individually steerable drum bandages 2, 3.
- the roller bandages are connected to each other via a chassis 4 on which a driver's cabin 5 is arranged for the roller guide.
- this road roller 1 The operation of this road roller 1 is shown schematically in Figure 2, the road roller 1 with its front drum 2 and its rear bandage 3 passes through six stations I to VI and this performs a steering maneuver despite maximum dog walking by by the left edge of the work area in the direction of travel to the direction of travel right edge changed.
- the track offset that the two bandages have against each other is indicated in Section I with c and is calculated from the perpendicular 12, 13 to the axes of the bandages 2, 3 in the center of the associated Steering axle. If a bandage width is added to this track offset c b, you get the total width d of the road roller covered work area.
- the two track offset angles are also ⁇ 1 of the bandage 2 and ⁇ 1 of the bandage 3 indicated by those mentioned Vertical 12, 13 to the drum axes on the one hand and the longitudinal axis 14 of the chassis 4 are enclosed on the other hand.
- Sections II to VI show the track offset angles so that they together with the respective steering angle a total angle form between the vertical supports 12, 13 and the longitudinal axis 14.
- the total angle ⁇ 2 corresponds to the track offset angle ⁇ 1
- the front drum 2 is in the steering stop and not the one selected by the roller operator according to the steering specification Can perform right-hand drive.
- the rear bandage 3 has one Total angle - ⁇ 2 on, since the rear bandage 3 to achieve a Right-hand steering has been swung to the left away from its stop is, which of course also greatly reduces the mutual track offset has been.
- control device controls in sections I to IV only the steering drive of the free roller drum 3, while in Transition from section V to section VI only the steering drive the - in sections I to IV still blocked and now - free roller drum 2 is controlled.
- FIG. 2 shows cornering at maximum Track misalignment with both drums on their steering stop.
- the steering drives are naturally activated even if there is no maximum lane offset when driving straight ahead is present and both bandages have a certain remaining Have steering angle and only one of the two when cornering Bandages to the steering stop is moved.
- FIG 3 it is indicated how the road roller the respective drum position when controlling the associated steering drives can.
- a control device 21 on steering angle sensors 22, 23 connected as a detection device for one Roller drum 2, 3 serve and the respective total angle detect and transmit to the control device 21.
- the control device then controls the roller operator accordingly on his steering wheel or steering joystick 27 selected steering specifications and taking into account the results of the angle sensors 22, 23 Steering drives 24, 25, which each control the steering angle of a drum.
- the angle sensors 22, 23 each take into account the actual steering angle, that is to say the total angle between the verticals 12, 13 and the longitudinal axis 14 of the roller, regardless of whether the road roller is now running in a crab or not.
- the control mode Crab "and the size of the track offset can be set by the roller operator using a separate input device 26 and is taken into account accordingly by the control device 21.
- Figure 3 finally shows the other components of the overall control the road roller, namely an emergency stop switch 32 Solenoid valve 34 for the brake, a solenoid valve 35 for switching off of the motor, a solenoid valve 36 for controlling the forward drives Magnetic valve 37 for controlling the reverse travel and a magnetic valve 38 for the drive pump. Finally, there is an input device 39 intended for selection of drive gear or speed.
- the present invention offers the advantage that the preset track offset in the control program Dog gear "is automatically reduced to such an extent that it is necessary to carry out the cornering corresponding to the steering specifications. This greatly simplifies the work of the roller operator and improves the work result accordingly.
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Road Paving Machines (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
Abstract
Description
Die Erfindung betrifft eine zweibandagige Bodenverdichtungsvorrichtung
mit Doppellenkung, insbesondere eine Straßenwalze mit Doppelschemellenkung,
und ein Verfahren zur Steuerung des Lenkantriebs der Bodenverdichtungsvorrichtung,
wobei der Lenkantrieb beider getrennt ansteuerbaren
Walzenbandagen von einer Steuerungsvorrichtung in Abhängigkeit
der vom Walzenführer ausgewählten Lenkvorgaben und/oder
eines vom Walzenführer vorwählbaren Steuerungsprogramms gesteuert
wird, und wobei bei Vorwahl eines Steuerungsprogramms
Dieser gegenseitige Spurversatz ermöglicht es, einen Arbeitsbereich mit einem Arbeitsgang zu verdichten, der breiter als die Straßenwalze selbst bzw. als die Walzenbandagen ist und im Extremfall fast das Doppelte der Straßenwalzenbreite beträgt. Nachteilig an dem Fahren im Hundegang ist jedoch, daß sich der verfügbare Lenkwinkel um den Spurversatzwinkel reduziert, also um den Winkel, um den das Fahrgestell gegenüber der jeweiligen Bandage im Vergleich zur Ausrichtung ohne Spurversatz verschwenkt wird. Der reduzierte Lenkwinkel führt dazu, daß zum einen die Wendigkeit und Manövrierfähigkeit der Maschine entsprechend dem reduzierten Lenkwinkel stark eingeschränkt wird, und daß zum anderen im Extremfall sogar die Lenkfähigkeit ganz aufgehoben wird, nämlich dann, wenn die Straßenwalze im maximalen Hundegang mit dem größtmöglichen Spurversatz arbeitet, wodurch beide Bandagen am Lenkanschlag anliegen. Der Walzenführer muß in diesem Fall erst den Spurversatz des Hundeganges reduzieren, bevor er die Straßenwalze aus der Geradeausfahrt in eine Kurvenfahrt überführen kann.This mutual track offset makes it possible to have a work area to compact an operation that is wider than the road roller itself or as the roller bandages and in extreme cases almost double the road roller width is. Disadvantage of driving in Hundegang is that the available steering angle is around Track offset angle reduced, i.e. by the angle by which the chassis compared to the respective bandage compared to the alignment is pivoted without track offset. The reduced steering angle leads to that on the one hand the maneuverability and maneuverability of the machine is severely restricted in accordance with the reduced steering angle, and that on the other hand, in extreme cases, the ability to steer is completely eliminated becomes, namely when the road roller in maximum dog walking works with the greatest possible track offset, which means both drums rest on the steering stop. In this case, the roller operator must First reduce the track misalignment of the crab before it hits the road roller can convert from straight ahead to cornering.
Es liegt auf der Hand, daß hierdurch das Arbeiten im Steuerungsprogramm
Hiervon ausgehend liegt der vorliegenden Erfindung die Aufgabe zugrunde,
das Arbeiten einer Bodenverdichtungsvorrichtung der eingangs
genannten Art im Steuerungsprogramm
Diese Aufgabe wird erfindungsgemäß dadurch gelöst, daß die Steuerungsvorrichtung
bei einer im Steuerungsprogramm
Zweckmäßigerweise steuert die Steuerungsvorrichtung entsprechend der Lenkvorgabe beide Bandagen hierauf so lange an, bis sich wieder eine der beiden Bandagen am Lenkanschlag befindet, sorgt also dafür, daß die freie Beweglichkeit beider Bandagen solange ausgenutzt wird, bis sich im Zuge der weiteren Kurvenfahrt und aufgrund des hierbei jeweils vorliegenden Spurversatzes wieder eine Bandage an den Lenkanschlag anlegt.The control device expediently controls accordingly the steering set both drums on it until it turns again one of the two bandages on the steering stop ensures that that the free mobility of both bandages is used as long as until in the course of further cornering and due to this in each case existing track offset again a bandage on the steering stop creates.
Anschließend steuert die Steuerungsvorrichtung zweckmäßigerweise nur die freie Bandage an, die sich nicht im Anschlag befindet, und dies wiederum zumindest so lange, bis die Anlage am Lenkanschlag aufgehoben ist.The control device then expediently controls only the free bandage that is not at the ready, and this again at least until the system at the steering stop is lifted is.
Hierdurch sorgt die Steuerungsvorrichtung für eine Kurvenfahrt mit dem jeweils maximal möglichen Spurversatz, wobei der Spurversatz - sofern es für das Lenkmanöver erforderlich ist - solange reduziert wird, bis entweder die Kurvenfahrt beendet ist oder bis die Kurvenfahrt in der gewünschten Art und Weise durch Ansteuern beider Bandagen durchgeführt werden kann.As a result, the control device ensures cornering with the maximum possible track offset, the track offset - if it is necessary for the steering maneuver - until it is reduced until either cornering is finished or until cornering in the desired way by controlling both bandages can be.
Damit nicht nur das Arbeiten mit der Straßenwalze im Hinblick auf die Manövrierfähigkeit verbessert wird, sondern darüber hinaus auch noch das Arbeitsverhalten optimiert wird, ist es besonders vorteilhaft, wenn die Steuerungsvorrichtung zur Aufrechterhaltung des eingestellten Spurversatzes dem Ansteuern des Lenkantriebs der beiden Bandagen ein zusätzliches Ansteuersignal derart überlagert, daß zumindest nach entsprechend der Lenkvorgabe durchgeführter Kurverfahrt und beim Übergang in Geradeausfahrt der voreingestellte Spurversatz automatisch wieder hergestellt wird. Hierbei wird also die Reduzierung des Spurversatzes während der Kurvenfahrt selbsttätig von der Steuerungsvorrichtung wieder rückgängig gemacht, so daß der Walzenführer sich voll auf das Lenken der Straßenwalze konzentrieren kann, während der Spurversatz allein durch die Steuerungsvorrichtung verändert wird.So that not only working with the road roller in terms of Maneuverability is improved, but also beyond the working behavior is optimized, it is particularly advantageous if the control device for maintaining the set Track offset controlling the steering drive of the two drums an additional control signal superimposed such that at least after according to the guidance given by the course of the cure and at Transition to straight ahead, the preset track offset automatically is restored. So here the reduction of Track misalignment automatically by the control device during cornering undone again so that the roller driver himself can fully focus on steering the road roller during the Track offset is changed solely by the control device.
Zweckmäßigerweise erfolgt das überlagerte Ansteuern zur Wiederherstellung des voreingestellten Spurversatzes bereits während der Kurvenfahrt, so daß jeweils dann, wenn keine der Walzenbandagen am Lenkanschlag anliegt, die Steuerungsvorrichtung die beiden Lenkantriebe im Sinne einer Vergrößerung des Spurversatzes ansteuert.Expediently, the superimposed activation for restoration takes place the preset track offset already when cornering, so that whenever none of the roller drums on Steering stop is applied, the control device, the two steering drives in the sense of increasing the track offset.
Neben dem Verfahren zur Steuerung des Lenkantriebes einer Bodenverdichtungsvorrichtung
erstreckt sich die vorliegende Erfindung auch
auf die Bodenverdichtungsvorrichtung selbst, insbesondere auf eine
Straßenwalze mit Doppelschemellenkung, die zwei getrennt durch eine
Steuerungsvorrichtung in Abhängigkeit der vom Walzenführer ausgewählten
Lenkvorgaben und/oder eines vom Walzenführer vorwählbaren
Steuerungsprogramms über jeweils einen Lenkantrieb ansteuerbare
Walzenbandagen aufweist, wobei der Lenkantrieb jeder Bandage durch
die Steuerungsvorrichtung derart ansteuerbar ist, daß bei Vorwahl eines
Steuerungsprogramms
Die erwähnten erfindungsgemäßen Vorteile lassen sich bei der Bodenverdichtungsvorrichtung
dadurch erreichen, daß der Lenkantrieb der
Bandagen durch die Steuerungsvorrichtung im Steuerungsprogramm
Gegenüber den bereits bezüglich des Steuerungsverfahrens aufgeführten Merkmalen zeichnet sich die Bodenverdichtungsvorrichtung in vorteilhafter Weise noch dadurch aus, daß die Steuerungsvorrichtung an jeweils den Walzenbandagen zugeordnete, insbesondere zur Anzeige des Erreichens des Lenkanschlags dienende Winkelerfassungsvorrichtungen angeschlossen ist, und daß die Steuerungsvorrichtung derart steuerbar ist, daß sie zumindest solange nur den Lenkantrieb der nicht am Lenkanschlag anliegenden, freien Bandage ansteuert, wie die Winkelerfassungsvorrichtung der anderen, sich am Lenkanschlag befindenden, blockierten Bandage ein Anliegen am Lenkanschlag anzeigt. Weitere Merkmale und Vorteile der vorliegenden Erfindung ergeben sich aus der nachfolgenden Beschreibung eines Ausführungsbeispieles anhand der Zeichnung; hierbei zeigen
- Figur 1
- eine Straßenwalze in perspektivischer Seitenansicht;
- Figur 2
- eine schematische Darstellung der Arbeitsweise einer erfindungsgemäßen Straßenwalze; und
Figur 3- ein schematisches Schaltbild einer erfindungsgemäßen Straßenwalze.
- Figure 1
- a road roller in perspective side view;
- Figure 2
- a schematic representation of the operation of a road roller according to the invention; and
- Figure 3
- a schematic diagram of a road roller according to the invention.
In Figur 1 ist eine Straßenwalze 1 in perspektivischer Seitenansicht
dargestellt, die eine Doppelschemellenkung aufweist und hierbei zwei
einzeln lenkbare Walzenbandagen 2, 3 umfaßt. Die Walzenbandagen
sind über ein Fahrgestell 4 miteinander verbunden, auf dem eine Fahrerkabine
5 für den Walzenführer angeordnet ist.In Figure 1 is a road roller 1 in a perspective side view
shown, which has a double-frame steering and here two
includes individually
Die Arbeitsweise dieser Straßenwalze 1 ist in Figur 2 schematisch dargestellt,
wobei die Straßenwalze 1 mit ihrer vorderen Bandage 2 und ihrer
hinteren Bandage 3 sechs Stationen I bis VI durchläuft und hierbei
ein Lenkmanöver trotz maximalen Hundegangs durchführt, indem es von
der in Fahrtrichtung linken Kante des Arbeitsbereichs zur in Fahrtrichtung
rechten Kante überwechselt. The operation of this road roller 1 is shown schematically in Figure 2,
the road roller 1 with its front drum 2 and its
Der Spurversatz, den die beiden Bandagen gegeneinander aufweisen,
ist in Abschnitt I mit c angedeutet und errechnet sich aus den Senkrechten
12, 13 zu den Achsen der Bandagen 2, 3 im Mittelpunkt der zugehörigen
Lenkachse. Addiert man zu diesem Spurversatz c eine Bandagenbreite
b, so erhält man die Gesamtbreite d des von der Straßenwalze
abgedeckten Arbeitsbereiches.The track offset that the two bandages have against each other
is indicated in Section I with c and is calculated from the perpendicular
12, 13 to the axes of the
In Abschnitt I aus Figur 2 sind auch die beiden Spurversatzwinkel α1
der Bandage 2 und β1 der Bandage 3 angedeutet, die von den angesprochenen
Senkrechten 12, 13 zu den Bandagenachsen einerseits und
der Längsachse 14 des Fahrgestells 4 andererseits umschlossen werden.In section I from FIG. 2, the two track offset angles are also α1
of the bandage 2 and β1 of the
In den Abschnitten II bis VI sind die Spurversatzwinkel so dargestellt,
daß sie zusammen mit dem jeweiligen Lenkwinkel einen Gesamtwinkel
zwischen den Bandagensenkrechten 12, 13 und der Längsachse 14 bilden.
In Abschnitt II entspricht der Gesamtwinkel α2 dem Spurversatzwinkel
α1, da sich die vordere Bandage 2 im Lenkanschlag befindet und
nicht die vom Walzenführer entsprechend der Lenkvorgabe ausgewählte
Rechtslenkung durchführen kann. Die hintere Bandage 3 weist einen
Gesamtwinkel -β2 auf, da die hintere Bandage 3 zur Erzielung eines
Rechtslenkens nach links von ihrem Anschlag weg verschwenkt worden
ist, wodurch natürlich auch der gegenseitige Spurversatz stark reduziert
wurde.Sections II to VI show the track offset angles so
that they together with the respective steering angle a total angle
form between the vertical supports 12, 13 and the longitudinal axis 14.
In section II, the total angle α2 corresponds to the track offset angle
α1, since the front drum 2 is in the steering stop and
not the one selected by the roller operator according to the steering specification
Can perform right-hand drive. The
Es sei in diesem Zusammenhang erwähnt, daß bei Doppelschemellenkungen das Lenken in eine bestimmte Richtung dazu führt, daß nur die vordere Bandage in diese Richtung verschwenkt wird, während die hintere Bandage in entgegengesetzter Richtung verschwenkt wird, wodurch sich der Kurvenradius erheblich reduzieren läßt. It should be mentioned in this connection that with double-frame steering steering in a certain direction means that only the front bandage is pivoted in this direction, while the rear Bandage is pivoted in the opposite direction, whereby the curve radius can be significantly reduced.
In den Abschnitten III und IV entsprechen die Gesamtwinkel α3 und α4
jeweils noch dem Spurversatzwinkel α1, die Kurvenfahrt wird immer
noch durch die Walzenbandage 3 durchgeführt, indem die Gesamtwinkel
β3 und β4 entsprechend variiert werden.In sections III and IV the total angles correspond to α3 and α4
still the track offset angle α1, cornering is always
still performed by the
Erst in Abschnitt V wird der Gesamtwinkel α5 der vorderen Bandage 2
kleiner, wobei sich die vordere Bandage 2 von ihrem Lenkanschlag
entfernt hat und sich nun die hintere Walzenbandage 3 an ihrem
Lenkanschlag befindet mit einem Gesamtwinkel β5, der dem Stufenversatzwinkel
β1 entspricht.Only in section V is the total angle α5 of the front bandage 2
smaller, with the front drum 2 from its steering stop
has removed and now the
Die weitere Kurvenfahrt wird folglich durch die vordere Bandage 2 durchgeführt, wobei dann in Abschnitt VI der maximale Spurversatz c wiederhergestellt ist und der Gesamtwinkel α6 dem Spurversatzwinkel α1 und der Gesamtwinkel β6 dem Spurversatzwinkel β1 entspricht.The further cornering is consequently caused by the front drum 2 carried out, in section VI then the maximum track offset c is restored and the total angle α6 is the track offset angle α1 and the total angle β6 corresponds to the track offset angle β1.
Folglich steuert die Steuerungsvorrichtung in den Abschnitten I bis IV
lediglich den Lenkantrieb der freien Walzenbandage 3 an, während im
Übergang vom Abschnitt V zum Abschnitt VI nur der Lenkantrieb der - in
den Abschnitten I bis IV noch blockierten und nun - freien Walzenbandage
2 angesteuert wird.Consequently, the control device controls in sections I to IV
only the steering drive of the
Das in Figur 2 dargestellte Beispiel zeigt die Kurvenfahrt bei maximalem Spurversatz, bei dem sich beide Bandagen an ihrem Lenkanschlag befinden. In ähnlicher Weise erfolgt das Ansteuern der Lenkantriebe natürlich auch dann, wenn in Geradeausfahrt noch kein maximaler Spurversatz vorliegt und beide Bandagen einen gewissen verbleibenden Lenkwinkel aufweisen und erst im Zuge der Kurvenfahrt eine der beiden Bandagen an den Lenkanschlag bewegt wird.The example shown in Figure 2 shows cornering at maximum Track misalignment with both drums on their steering stop. In a similar way, the steering drives are naturally activated even if there is no maximum lane offset when driving straight ahead is present and both bandages have a certain remaining Have steering angle and only one of the two when cornering Bandages to the steering stop is moved.
In Figur 3 ist angedeutet, wie die Straßenwalze die jeweilige Bandagenposition
beim Ansteuern der zugehörigen Lenkantriebe berücksichtigen
kann. Hierzu ist eine Steuerungsvorrichtung 21 an Lenkwinkelsensoren
22, 23 angeschlossen, die als Erfassungsvorrichtung für jeweils eine
Walzenbandage 2, 3 dienen und hierbei den jeweiligen Gesamtwinkel
erfassen und an die Steuerungsvorrichtung 21 übermitteln. Die Steuerungsvorrichtung
steuert hierauf entsprechend den vom Walzenführer
an seinem Lenkrad oder Lenkjoystick 27 ausgewählten Lenkvorgaben
und unter Berücksichtigung der Ergebnisse der Winkelsensoren 22, 23
Lenkantriebe 24, 25, die den Lenkeinschlag jeweils einer Bandage steuern.In Figure 3 it is indicated how the road roller the respective drum position
when controlling the associated steering drives
can. For this purpose, there is a
Die Winkelsensoren 22, 23 berücksichtigen hierbei jeweils den tatsächlichen
Lenkeinschlag, also den Gesamtwinkel zwischen den angesprochenen
Senkrechten 12, 13 und der Walzenlängsachse 14, unabhängig
davon, ob die Straßenwalze nun im Hundegang fährt oder nicht. Der
Steuerungsmodus
Figur 3 zeigt schließlich noch die weiteren Komponenten der Gesamtsteuerung
der Straßenwalze, nämlich einen Notausschalter 32, ein
Magnetventil 34 für die Bremse, ein Magnetventil 35 zum Ausschalten
des Motors, ein Magnetventil 36 zur Steuerung der Vorwärtsfahrten, ein
Magentventil 37 zur Steuerung der Rückwärtsfahrten und ein Magentventil
38 für die Fahrpumpe. Schließlich ist noch eine Eingabevorrichtung
39 zur Auswahl von Antriebsgang oder -geschwin-digkeit vorgesehen.Figure 3 finally shows the other components of the overall control
the road roller, namely an emergency stop switch 32
Zusammenfassend bietet die vorliegende Erfindung den Vorteil, daß der
voreingestellte Spurversatz beim Steuerungsprogramm
Claims (7)
dadurch gekennzeichnet,
daß die Steuerungsvorrichtung bei einer im Steuerungsprogramm
characterized,
that the control device at a in the control program
daß die Steuerungsvorrichtung entsprechend der Lenkvorgabe beide Bandagen hierauf so lange ansteuert, bis sich wieder eine der beiden Bandagen am Lenkanschlag befindet.A method according to claim 1, characterized in
that the control device controls both drums thereon until one of the two drums is again at the steering stop in accordance with the steering specification.
dadurch gekennzeichnet,
daß hierauf die Steuerungsvorrichtung nur die freie Bandage ansteuert, die sich nicht am Lenkanschlag befindet.Method according to at least one of the preceding claims,
characterized,
that the control device only controls the free drum that is not on the steering stop.
daß die Steuerungsvorrichtung zur Aufrechterhaltung des maximalen Spurversatzes dem Ansteuern des Lenkantriebs der beiden Bandagen ein zusätzliches Ansteuern derart überlagert, daß zumindest nach entsprechend der Lenkvorgabe durchgeführter Kurvenfahrt und beim Übergang in Geradeausfahrt der voreingestellte Spurversatz automatisch wiederhergestellt wird.Method according to at least one of the preceding claims, characterized in that
that the control device for maintaining the maximum track offset, the control of the steering drive of the two drums, an additional control is superimposed such that the preset track offset is automatically restored at least after cornering carried out according to the steering requirements and when changing to straight travel.
dadurch gekennzeichnet,
daß das überlagerte Ansteuern zur Wiederherstellung des voreingestelten Spurversatzes bereits während der Kurvenfahrt erfolgt.Method according to claim 4,
characterized,
that the superimposed control to restore the preset track offset already takes place during cornering.
daß der Lenkantrieb (24, 25) der Bandagen (2, 3) durch die Steuerungsvorrichtung (21) im Steuerungsprogramm
that the steering drive (24, 25) of the bandages (2, 3) by the control device (21) in the control program
dadurch gekennzeichnet,
daß die Steuerungsvorrichtung (21) an jeweils den Walzenbandagen (2, 3) zugeordnete, insbesondere zur Anzeige des Erreichens des Lenkanschlags dienende Winkelerfassungsvorrichtungen (22, 23) angeschlossen ist, und daß die Steuerungsvorrichtung (21) derart steuerbar ist, daß sie zumindest so lange nur den Lenkantrieb (24, 25) der nicht am Lenkanschlag anliegenden freien Bandage (2, 3) ansteuert, wie die Winkelerfassungsvorrichtung (22, 23) der anderen, sich am Lenkanschlag befindenden, blockierten Bandage (3, 2) ein Anliegen am Lenkanschlag anzeigt.Soil compacting device according to claim 6,
characterized,
that the control device (21) is connected to each of the roller bandages (2, 3) associated, in particular for indicating the reaching of the steering stop angle detection devices (22, 23), and that the control device (21) is controllable in such a way that it is at least as long only controls the steering drive (24, 25) of the free drum (2, 3) not in contact with the steering stop, as the angle detection device (22, 23) of the other blocked drum (3, 2) located on the steering stop indicates that the steering stop is present .
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE19804886A DE19804886A1 (en) | 1998-02-09 | 1998-02-09 | Soil compaction device and method for controlling it |
| DE19804886 | 1998-02-09 |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| EP0935024A2 true EP0935024A2 (en) | 1999-08-11 |
| EP0935024A3 EP0935024A3 (en) | 2000-10-04 |
| EP0935024B1 EP0935024B1 (en) | 2003-12-17 |
Family
ID=7856936
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP99102195A Expired - Lifetime EP0935024B1 (en) | 1998-02-09 | 1999-02-04 | Soil compacting machine and method of controlling the same |
Country Status (2)
| Country | Link |
|---|---|
| EP (1) | EP0935024B1 (en) |
| DE (2) | DE19804886A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2002042563A1 (en) * | 2000-11-27 | 2002-05-30 | Vibromax Bodenverdichtungsmaschinen Gmbh | Soil compacting machine |
| CZ303105B6 (en) * | 2009-06-26 | 2012-04-04 | Ammann Czech Republic A.S. | Tandem-type compaction roller |
| EP4177401A1 (en) | 2021-11-08 | 2023-05-10 | BOMAG GmbH | Tandem roller for compacting a ground |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20240034403A1 (en) * | 2022-07-28 | 2024-02-01 | Wacker Neuson America Corporation | Compaction Machine Steering System |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CH552101A (en) * | 1972-12-19 | 1974-07-31 | Domenighetti Domenico | MULTIPLE THICKENER OPERATING MACHINE MADE OF THREE OR MORE ARTICULATED GROUPS FOR THE COMPACTION OF THE SOIL. |
| US4109742A (en) * | 1977-02-24 | 1978-08-29 | Iowa Manufacturing Company | Steering and width controls for expandable tandem rollers |
| FR2434072A1 (en) * | 1978-08-25 | 1980-03-21 | Albaret Sa | DEVICE FOR STEERING AND SPEED CONTROL OF A MOTOR VEHICLE |
| DE19536987A1 (en) * | 1995-03-31 | 1996-10-02 | Ammann Verdichtung Ag | Method for steering a two-band soil compaction device and soil compaction device |
| DE29620847U1 (en) * | 1996-11-30 | 1997-01-23 | Bomag GmbH, 56154 Boppard | Motorized soil compactor |
-
1998
- 1998-02-09 DE DE19804886A patent/DE19804886A1/en not_active Withdrawn
-
1999
- 1999-02-04 EP EP99102195A patent/EP0935024B1/en not_active Expired - Lifetime
- 1999-02-04 DE DE59908044T patent/DE59908044D1/en not_active Expired - Lifetime
Non-Patent Citations (1)
| Title |
|---|
| None |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2002042563A1 (en) * | 2000-11-27 | 2002-05-30 | Vibromax Bodenverdichtungsmaschinen Gmbh | Soil compacting machine |
| CZ303105B6 (en) * | 2009-06-26 | 2012-04-04 | Ammann Czech Republic A.S. | Tandem-type compaction roller |
| EP4177401A1 (en) | 2021-11-08 | 2023-05-10 | BOMAG GmbH | Tandem roller for compacting a ground |
| DE102021212546A1 (en) | 2021-11-08 | 2023-05-11 | Bomag Gmbh | Tandem roller for compacting a subsoil |
Also Published As
| Publication number | Publication date |
|---|---|
| DE59908044D1 (en) | 2004-01-29 |
| DE19804886A1 (en) | 1999-08-12 |
| EP0935024B1 (en) | 2003-12-17 |
| EP0935024A3 (en) | 2000-10-04 |
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