Device for decoupling vibrations between two systems and the working machine

Abstract

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. The 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 (v.sub.z1,1) serving as an input variable of control devices and/or regulating devices. Those devices control a damping system (8) of the one system (2) and/or the other system (4) to compensate for the vibrations. The respective pitch motion of the other system (4) is detected by at least one rotation rate sensor. The respective measured value (ω.sub.1) of the sensor, preferably amplified by only a predeterminable factor (L.sub.1), results in the absolute vertical speed (v.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 (v.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, a respective measured speed value (ω.sub.1) of the rotation rate sensor results in the absolute vertical speed (v.sub.z1,1) as input variable.

2. 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 (v.sub.z1,1) of which is determined.

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

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

5. The device according to claim 4, characterized in that the articulation points (6) are on one end of the one system (2).

6. The device according to claim 1, characterized in that at least an angular velocity (ω.sub.1, ω.sub.2) of the respective pitching motion of the other system (4) about the transverse (Q) 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.

10. The device according to claim 1, characterized in that the respective measured value (ω.sub.i) of the rotation rate sensor is amplified by only a predeterminable factor (L.sub.1).

11. 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 rolling motions about a longitudinal 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 (v.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 a respective rolling motion of the other system (4) is detected by at least one rotation rate sensor, a respective measured speed value (ω.sub.1) of the rotation rate sensor results in the absolute vertical (v.sub.z1,1) speed as the input variable to the control devices and/or regulating devices.

12. The device according to claim 11, characterized in that the respective measured value (ω.sub.1) of the rotation rate sensor is amplified by only a predeterminable factor (L.sub.1).

13. The device according to claim 11, characterized in that the predeterminable factor can be derived from the minimum distance (L.sub.1) of the longitudinal axis (Q) to a point (P.sub.1) of the other system (4), the absolute vertical speed (v.sub.z1,1) of which is determined.

14. The device according to claim 13, characterized in that the point (P.sub.1) of the other system (4), the absolute vertical speed (v.sub.z1,1) of which is determined, located at a respective edge of the other system (4) movable in the direction of the vertical axis (z).

15. The device according to claim 11, characterized in that the other system (4) is pivotably articulated at articulation points (6) on the one system (2) about the longitudinal axis (Q), and the damping system (8) is provided between the other system (4) and the one system (2).

16. The device according to claim 11, characterized in that at least an angular velocity (ω.sub.1, ω.sub.2) of the respective pitching motion of the other system (4) about the longitudinal (Q) can be detected by the respective rotation rate sensor.

17. The device according to claim 11, characterized in that the damping system (8) is formed as a semi-active or active spring-damper system.

18. The device according to claim 11, 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.

19. 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 11.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) Referring to the drawings that form a part of this disclosure and that are not to scale:

(2) FIGS. 1a and b each show a schematic, perspective and principle representation of the device according to the invention, with each provided with different designations.

DETAILED DESCRIPTION OF THE INVENTION

(3) As FIGS. 1a and b show, the device according to the invention comprises two systems 2, 4 in the form of spring-mass oscillators. One system 2 is connected to a motion machine of a working machine. The other system 4 is connected to a driver's cab of the machine having a cockpit for controlling the motion machine. 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. 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 RS for detecting angular velocity values is arranged.

(4) 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.

(5) 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 RS detects the values of the angular velocity −ω.sub.1, ω.sub.1 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 −v.sub.z1,1 or positive v.sub.z1,1 absolute vertical velocity (FIG. 1b). The absolute vertical velocity results from the product of the angular velocity −ω.sub.1, ω.sub.1 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 v.sub.z1,1 of point P.sub.1 is determined. Therefore, a hardware-implemented or software-implemented amplifier is used to amplify the values of the angular velocity ω.sub.1 detected by the rotation rate sensor RS. In FIG. 1a, the point P.sub.1 of the other system 4, whose absolute vertical velocity v.sub.z1,1 is determined, is located at the outermost end of the working machine facing the rear of the working machine.

(6) The absolute vertical velocity v.sub.z1,1 determined in this way is fed to a control and/or regulating device C/R, 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 v.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.

(7) While one embodiment has been chosen to illustrate the invention, it will be understood by those skilled in the art that various changes and modifications can be made therein without departing from the scope of the invention as defined in the claims.