DEVICE FOR DECOUPLING VIBRATIONS BETWEEN TWO SYSTEMS AND THE WORKING MACHINE

Abstract

1. A device for decoupling vibrations between two systems and a working machine

2. A device together with an assigned working machine for decoupling vibrations between two systems (2, 4) in the form of spring-mass oscillators, of which one system (2) is assigned to a motion machine and the other system (4) is assigned to an operator operating the motion machine, which other system (4) at least partially performs motions about a transverse axis (Q) during driving motions of the motion machine and in doing so is subject to vertical motions in the direction of a vertical axis (z) at an absolute vertical speed (.sub.z1,1), which serves as an input variable of control devices and/or regulating devices, which control a damping system (8) of the one (2) and/or the other (4) system to compensate for the vibrations, is characterized in that the respective pitch motion of the other system (4) is detected by at least one rotation rate sensor, the respective measured value (.sub.1) of which, preferably amplified by only a predeterminable factor (L.sub.1), results in the absolute vertical speed (.sub.z1,1) as input variable.

Claims

1. A device for decoupling vibrations between two systems (2, 4) in the form of spring-mass oscillators, of which one system (2) is assigned to a motion machine and the other system (4) is assigned to an operator operating the motion machine, which other system (4) at least partially performs motions about a transverse axis (Q) during driving motions of the motion machine and in doing so is subject to vertical motions in the direction of a vertical axis (z) at an absolute vertical speed (.sub.z1,1), which serves as an input variable of control devices and/or regulating devices, which actuate a damping system (8) of the one (2) and/or the other (4) system to compensate for the vibrations, characterized in that the respective pitch motion of the other system (4) is detected by at least one rotation rate sensor, the respective measured value (.sub.1) of which, preferably amplified by only a predeterminable factor (L.sub.1), results in the absolute vertical speed (.sub.z1,1) as input variable.

2. The device according to claim 1, characterized in that the other system (4) can perform rolling motions around its longitudinal axis when the motion machine is moving and in doing so be subject to further vertical motions in the direction of the vertical axis (z) at a further absolute vertical speed (.sub.z2,1), which serves as a further input variable for the control and/or regulating devices.

3. The device according to claim 1, characterized in that the predeterminable factor can be derived from the minimum distance (L.sub.1) of the transverse axis (Q) to a point (P.sub.1) of the other system (4), the absolute vertical speed (.sub.z1,1) of which is determined, and/or from the minimum distance (L.sub.2) of the longitudinal axis to a further point (P.sub.2) of the other system (4), the further absolute vertical speed (.sub.z2,1) of which is determined.

4. The device according to claim 1, characterized in that the point (P.sub.1) of the other system (4), the absolute vertical speed (.sub.z1,1) of which is determined, and/or the further point (P.sub.2) of the other system (4), the further absolute vertical speed (.sub.z2,1) of which is determined, may be located at a respective end of the other system (4) movable in the direction of the vertical axis (z).

5. The device according to claim 1, characterized in that the other system (4), in particular one end thereof, is pivotably articulated at articulation points (6) on the one system (2) about the transverse axis (Q) or the longitudinal axis, and the damping system (8) is provided between the other system (4) and the one system (2).

6. The device according to claim 1, characterized in that at least the angular velocity (.sub.1, .sub.2) of the respective pitching motion of the other system (4) about the transverse (Q) and/or longitudinal axis can be detected by the respective rotation rate sensor.

7. The device according to claim 1, characterized in that the damping system (8) is formed as a semi-active or active spring-damper system.

8. The device according to claim 1, characterized in that the one system (2) is connected to the motion machine and the other system (4) is connected directly or indirectly to a cockpit that can be used by the operator for controlling the motion machine.

9. A working machine, in particular an agricultural machine, having a motion machine, having a cockpit, which can be used by an operator to control the motion machine, and having a device for decoupling vibrations between one system (2) assigned to the motion machine and another system (4) assigned to the cockpit, according to claim 1.

Description

[0027] Below a device according to the invention and a working machine having a corresponding device are explained in more detail on the basis of the drawing. In the FIGURES, not to scale,

[0028] FIG. 1a, b show a schematic, perspective and principle representation of the device according to the invention each provided with different designations.

[0029] As FIGS. 1a and b show, the device according to the invention comprises two systems 2, 4 in the form of spring-mass oscillators, of which one system 2 is connected to a motion machine of a working machine and the other system 4 is connected to a driver's cab of the machine having a cockpit for controlling the motion machine, wherein the working machine, the motion machine, the driver's cab and the cockpit are not shown in the FIGURES. At its end facing the front of the machine, the other system 4 is articulated pivotably about a transverse axis Q at two articulation points 6 to the one system 2 and at its end facing the rear of the working machine the other system 4 is connected to the one system 2 via two damping systems 8 in the form of a semi-active spring-damper system each. The respective spring-damper system comprises a spring 10 and a damper not shown in the FIGURES. On the other system 4 or on the driver's cab a rotation rate sensor for detecting angular velocity values is arranged which is not shown in the FIGURES.

[0030] FIG. 1a shows the device according to the invention in an object related coordinate system (body frame) x, y, z, the origin of which is located in the center of gravity S of the other system and the driver's cab.

[0031] In particular, when the motion machine moves, the other system can perform 4 pitching motion about the transverse axis Q. In this process, the rotation rate sensor detects the values of the angular velocity .sub.1, .sub.1 a of the other system 4 about the transverse axis Q, at which the end of the other system 4 facing the rear of the working machine moves towards the one system 2 or moves away from the one system 2 and in this process, in particular, performs a vertical motion in the direction of a vertical axis z at a negative .sub.1,1 or positive .sub.z1,1 absolute vertical velocity (FIG. 1b), which results from the product of the angular velocity .sub.1, .sub.1 a values detected by the rotation rate sensor and a factor in the form of the minimum distance L.sub.1(FIG. 1b) of the transverse axis Q from a point P.sub.1(FIG. 1a) of the other system 4, the absolute vertical velocity .sub.z1,1 of which is determined. Therefore, a hardware-implemented or software-implemented amplifier is used to amplify the values of the angular velocity .sub.1 detected by the rotation rate sensor. In FIG. 1a, the point P.sub.1 of the other system 4, whose absolute vertical velocity .sub.z1,1 is determined, is located at the outermost end of the working machine facing the rear of the working machine.

[0032] The absolute vertical velocity .sub.z1,1 determined in this way is fed to a control and/or regulating device not shown in the FIGURES, which actuates the damping systems 8 to compensate for the vibrations of the other system 4 by a regulating strategy according to the Skyhook approach depending on the absolute vertical velocity .sub.z1,1 and in this way to decouple the systems vibrations from each other. In an embodiment not shown in more detail, the respective articulation point 6 is formed by a spring and/or damper system, comparable to the system designated by 8 in the FIGURES.