EP0518297B1 - Ausgrabungsgerät und Verfahren zur Steuerung der Vortriebsgeschwindigkeit eines Grabwerkzeugs des Ausgrabungsgeräts - Google Patents

Ausgrabungsgerät und Verfahren zur Steuerung der Vortriebsgeschwindigkeit eines Grabwerkzeugs des Ausgrabungsgeräts Download PDF

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Publication number
EP0518297B1
EP0518297B1 EP92109766A EP92109766A EP0518297B1 EP 0518297 B1 EP0518297 B1 EP 0518297B1 EP 92109766 A EP92109766 A EP 92109766A EP 92109766 A EP92109766 A EP 92109766A EP 0518297 B1 EP0518297 B1 EP 0518297B1
Authority
EP
European Patent Office
Prior art keywords
excavation
speed
tool
equipment according
drives
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.)
Expired - Lifetime
Application number
EP92109766A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0518297A1 (de
Inventor
Maximilian Arzberger
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.)
Bauer Spezialtiefbau GmbH
Original Assignee
Bauer Spezialtiefbau GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
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Publication of EP0518297A1 publication Critical patent/EP0518297A1/de
Application granted granted Critical
Publication of EP0518297B1 publication Critical patent/EP0518297B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/18—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels
    • E02F3/20—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels with tools that only loosen the material, i.e. mill-type wheels
    • E02F3/205—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels with tools that only loosen the material, i.e. mill-type wheels with a pair of digging wheels, e.g. slotting machines
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B11/00—Other drilling tools
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/18—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels
    • E02F3/22—Component parts
    • E02F3/26—Safety or control devices

Definitions

  • the invention relates to an excavation device according to the preamble of claim 1 and a method according to the preamble of claim 12.
  • excavation devices of the generic type, which consist of a rail-guided carriage which has a boom on which a milling frame is suspended in a vertically movable manner via a cable winch.
  • An electrically or hydraulically operated winch and a hydraulic cylinder are generally provided for the vertical movement.
  • milling frame should be able to be lowered onto the milling base at the highest possible speed and that its vertical speed should be controllable very precisely in the area of the milling base.
  • a drive device for hoists and conveying means which, for variable, infinitely variable speed of slow and very precise movement, has two independently acting drive motors each connected to a gear.
  • the drive motors are connected via their drive shafts to a differential gear which is rotatable about the drive shafts.
  • an excavation device which has a large number of devices for detecting the lowering speed of a drilling tool and a computer as well as corresponding control devices for controlling the lowering speed of the drilling tool.
  • the multi-stage arrangement is particularly susceptible to faults because of the electronics used and requires relatively high investment and maintenance costs.
  • the invention has for its object to provide an excavation device with a drive device for an excavation tool that can be lowered into the ground, as well as a method for controlling a drive device for such an excavation tool, which ensure automatic control of the vertical movement of the excavation tool with particularly little effort and an exact and enable executable vertical movement of the excavation tool at high speed.
  • the object is achieved by an excavation device with an excavation tool that can be lowered into the ground, a drive device for the excavation tool and a controller for the drive device of the excavation tool in that a frame with a carrying device for the excavation tool, which is a deep drilling machine or a trench cutter, is provided is that a measuring arrangement for a tensile force and / or speed measurement of the excavation tool is provided, that the drive device has two drives coupled via a superimposition or differential gear and that the control of the drives via their differential speed or superimposed speed corresponding to a tensile force and / or There is a speed deviation from a setpoint.
  • the object is achieved in that, in order to control a drive device for an excavation tool of an excavation device that can be lowered into the ground, the excavation tool, a deep drilling tool or a trench cutter, is moved vertically in that the tensile force and / or the speed of the excavation tool are related to one on the excavation device trained support device measured and the signal received to form a deviation signal is compared with a target value and that the differential frequency of two drives coupled via a superimposition or differential gear for advancing the excavation tool is adjusted according to the level of the deviation signal.
  • the speed of advance of an excavation tool e.g. control the vertical speed of a milling frame very precisely over the difference in speed of the two drives, while the direction of movement of the milling frame is determined by the absolute direction of rotation of the two drives.
  • the speed of the two drives is added by the superposition gear and converted into a correspondingly rapid vertical movement of the milling frame.
  • the direction of rotation of the two drives determines whether the milling frame is moved up or down.
  • the direction of rotation of the two drives is regulated in the same direction, the output of the differential being only a low speed of rotation due to a small speed difference between the two drives receives, which leads to a very low vertical speed of the milling frame. This is possible because higher speeds of the individual drives can be controlled better than very low speeds of a single drive.
  • the carrying device with the drive unit for the milling frame can be designed in a variety of ways, e.g. as a cable winch, as a spindle drive, in the manner of a chain drive or as a rack and pinion drive.
  • the drives can be arranged either on the frame and / or on the milling frame. Because of the lowest sensitivity to contamination, cable winch drives have prevailed in this area.
  • the drives for the cable winch are arranged on the frame.
  • the two drives for the drive device are preferably designed as electric or hydraulic motors and can be regulated in a very advantageous development of the invention by measuring the tensile force of the suspension cable.
  • the drives are then controlled in such a way that the differential speed of the two drives is set very low when the tensile force on the suspension cable decreases.
  • the differential speed of the two drives is increased, however, when the tractive force increases relative to a fixed setpoint. This is the case, for example, if the milling frame encounters loose layers of soil and the milling wheels remove the material below the milling frame faster than the vertical speed of the milling frame. In this way, the force that acts on the milling wheels arranged on the milling frame can be set exactly. This force can at least be with a cable winch drive, specify the weight of the milling frame.
  • the differential gear is preferably arranged in the cylindrical drum of the cable winch, the drum for receiving the carrying cable forming the output of the superimposition or differential gear.
  • the superposition gear is preferably formed from a plurality of concentric planetary gears.
  • the trench cutter shown in Fig. 1 as an excavation tool comprises as a frame 10 a rail-guided carriage 10 with a carrying device 12, e.g. a boom 12, on which a milling frame 16 is suspended via a support cable 14. On the milling frame 16 there are two pairs of milling wheels 13 which are driven by two hydraulic motors 18.
  • the hydraulic motors 18 are supplied / disposed of via a hose line 20.
  • a further hose 22 is used to loosen and shred the soil, which is removed from the cutting wheels 13 was sucked up to the surface. This suction process is supported in that the slot 24 is filled with support liquid (bentonite).
  • the carrying cable 14 for a vertical movement of the milling frame 16 in the slot 24 is guided on a cable winch 26 (FIG. 2) which is mounted on the carriage 10.
  • the winch 26 is driven by two hydraulic or electric motors 28, 30, the output of which is guided to a superposition gear 32.
  • the superposition gear 32 is located in the winch drum 34 of the winch 26.
  • the winch drum 34 forms the output shaft of the superposition gear 32.
  • the differential gear 32 contains five planetary gear 36, which cause the differential speed between the two motors 28,30 to the winch drum 34 of the winch 26 is performed.
  • This drive device has the advantage that the winch drum 34 can be driven both at very low and at very high speeds, with sufficient torque being made available especially in the area of the low speed.
  • a low rotational speed of the winch drum 34 of the cable winch 26 brings about a slow vertical movement of the milling frame 16. This is necessary if the milling frame 16 is in the bottom region of the slot 24 and the vertical speed is primarily determined by the milling speed of the milling cutter.
  • the associated vertical speed can be carried out very well in this area by means of a tensile force or speed measurement of the suspension cable 14.
  • the measurement signals obtained are fed to a controller which has the effect that the difference frequency between the two motors 28, 30 is reduced when the tensile force and / or the speed on the support cable 14 also decreases.
  • the advantage of the winch drive with two motors is that a high torque is available at low speeds. If a single electric motor or a hydraulic motor is used in known trench wall cutters, this can only be achieved using high-ratio gears. However, this then leads to a low maximum speed of the vertical movement of the milling frame. If longer gear ratios are selected, then both the electric motor and the hydraulic motor are no longer able to apply the required torque. This problem is solved in a known manner only by providing a secondary control, which in turn is very complex and expensive.
  • the torque can be adjusted very well in the cable winch according to FIG. 2 via the absolute speeds of the motors 28, 30. The higher the absolute speed of the two motors, the higher the torque that is transmitted to the winch drum 34 by the differential rotation speed. When using hydraulic motors, a low speed of vertical movement is set by a high absolute speed of both hydraulic motors 28, 30 with a high liter output at a low differential speed.
  • the winch gear in the form of a multi-stage planetary gear is constructed as a superposition gear similar to a manual transmission, the drive being able to take place on the one hand via the sun gear and on the other hand via the ring gear.
  • the drive via one way, e.g. the sun gear has the usual ratio for this winch size and is used for fast lifting and lowering movements.
  • this superposition gear with a multi-stage planetary gear, especially with a high gear ratio, you can achieve a very high speed resolution with this drive. If you want to choose a constant speed including standstill and, above all, the force on the cable pull, with conventional gearboxes the efficiency reversal in the transition from static to sliding friction and vice versa as well as the tooth play of the gearbox come into play and, above all, prevents clean regulation and thus a constant pulling force. With the cable winch mentioned above, this can be equalized by constantly rotating the main drive with a low gear ratio in one direction and the control drive with a high gear ratio in the other direction. Thus, without changing the direction of rotation of the drive motors, the speed control on the control drive enables exact traction and speed control in both directions, including standstill.
  • the control motor is held for the normal winch function, ie quick lifting and lowering of the drilling or milling device.
  • the winch then has the ratio i 1 and can be operated as a normal hoist winch with the usual rope speeds.
  • the quantity valve must be regulated in such a way that the speed measuring device attached to a deflection roller of the rope measures the set speed. Should be milled with a certain load, the affects a certain tensile force of the rope, the same quantity valve is regulated so that the tensile force measuring device attached to the fixed point of the rope measures the set tensile force.
  • the main advantage of this arrangement is that when the cable speed is regulated from 0, the oil throughput does not have to be regulated from 0, but that there is a certain easily controllable oil throughput even when the cable winch is at a standstill.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Geology (AREA)
  • Environmental & Geological Engineering (AREA)
  • Geochemistry & Mineralogy (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Fluid Mechanics (AREA)
  • Physics & Mathematics (AREA)
  • Earth Drilling (AREA)
  • Pit Excavations, Shoring, Fill Or Stabilisation Of Slopes (AREA)
  • Processing Of Stones Or Stones Resemblance Materials (AREA)
  • Drilling And Exploitation, And Mining Machines And Methods (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)
EP92109766A 1991-06-11 1992-06-10 Ausgrabungsgerät und Verfahren zur Steuerung der Vortriebsgeschwindigkeit eines Grabwerkzeugs des Ausgrabungsgeräts Expired - Lifetime EP0518297B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE4119210A DE4119210C1 (ja) 1991-06-11 1991-06-11
DE4119210 1991-06-11

Publications (2)

Publication Number Publication Date
EP0518297A1 EP0518297A1 (de) 1992-12-16
EP0518297B1 true EP0518297B1 (de) 1997-02-12

Family

ID=6433676

Family Applications (1)

Application Number Title Priority Date Filing Date
EP92109766A Expired - Lifetime EP0518297B1 (de) 1991-06-11 1992-06-10 Ausgrabungsgerät und Verfahren zur Steuerung der Vortriebsgeschwindigkeit eines Grabwerkzeugs des Ausgrabungsgeräts

Country Status (6)

Country Link
EP (1) EP0518297B1 (ja)
JP (1) JP2529060B2 (ja)
KR (1) KR960004275B1 (ja)
AT (1) ATE148930T1 (ja)
DE (2) DE4119210C1 (ja)
TW (1) TW205585B (ja)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3208384A1 (de) 2016-02-17 2017-08-23 BAUER Maschinen GmbH Schlitzwandvorrichtung und verfahren zum erstellen von schlitzen im boden
WO2020200561A1 (de) 2019-04-04 2020-10-08 Bauer Maschinen Gmbh Schlitzwandfräsvorrichtung und verfahren zum fräsen eines frässchlitzes im boden
EP3981920A1 (de) 2020-10-07 2022-04-13 BAUER Maschinen GmbH Tiefbauvorrichtung und tiefbauverfahren zum abtragen von boden
EP4053342A1 (de) 2021-03-01 2022-09-07 BAUER Maschinen GmbH Schlitzwandfräsvorrichtung und verfahren zum fräsen eines frässchlitzes im boden

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3068772B2 (ja) * 1995-08-31 2000-07-24 日立建機株式会社 掘削装置の制御装置
DE10116342C2 (de) * 2001-04-02 2003-02-27 Bauer Maschinen Gmbh Hubwinde
EP3819434B1 (de) 2019-11-06 2022-02-16 BAUER Maschinen GmbH Verfahren und schlitzwandfräsvorrichtung zum erstellen eines frässchlitzes im boden
CN112960511B (zh) * 2021-03-25 2022-03-15 中国矿业大学 一种张力自均衡的多绳缠绕提升系统及方法

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1756423A1 (de) * 1968-04-11 1970-04-30 Schwermaschb Nobas Veb Hydraulisch angetriebenes Windwerk
AT320213B (de) * 1973-02-20 1975-01-27 Dickertmann Hebezeugfab Ag Vorrichtung zum Heben und/oder Verschieben einer Last, insbesondere Antriebsvorrichtung für Hebezeuge und Fördermittel
DE2330439A1 (de) * 1973-06-15 1974-12-19 Chabarowskij Sawod Im A M Gork Winde
DE9107187U1 (de) * 1991-06-11 1991-07-25 Bauer Spezialtiefbau GmbH, 8898 Schrobenhausen Fräsrahmen für eine Schlitzwandfräse mit einer Druckausgleichsvorrichtung für die Lagerdichtungen

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3208384A1 (de) 2016-02-17 2017-08-23 BAUER Maschinen GmbH Schlitzwandvorrichtung und verfahren zum erstellen von schlitzen im boden
WO2020200561A1 (de) 2019-04-04 2020-10-08 Bauer Maschinen Gmbh Schlitzwandfräsvorrichtung und verfahren zum fräsen eines frässchlitzes im boden
EP3981920A1 (de) 2020-10-07 2022-04-13 BAUER Maschinen GmbH Tiefbauvorrichtung und tiefbauverfahren zum abtragen von boden
WO2022073736A1 (de) 2020-10-07 2022-04-14 Bauer Maschinen Gmbh Tiefbauvorrichtung und tiefbauverfahren zum abtragen von boden
EP4053342A1 (de) 2021-03-01 2022-09-07 BAUER Maschinen GmbH Schlitzwandfräsvorrichtung und verfahren zum fräsen eines frässchlitzes im boden
WO2022184429A1 (de) 2021-03-01 2022-09-09 Bauer Maschinen Gmbh Schlitzwandfräsvorrichtung und verfahren zum fräsen eines frässchlitzes im boden

Also Published As

Publication number Publication date
TW205585B (ja) 1993-05-11
JPH06322768A (ja) 1994-11-22
JP2529060B2 (ja) 1996-08-28
KR960004275B1 (ko) 1996-03-30
EP0518297A1 (de) 1992-12-16
DE59208028D1 (de) 1997-03-27
ATE148930T1 (de) 1997-02-15
DE4119210C1 (ja) 1993-01-21
KR930000793A (ko) 1993-01-15

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