EP0533558A1 - Schalengreiferbagger - Google Patents

Schalengreiferbagger Download PDF

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Publication number
EP0533558A1
EP0533558A1 EP92402530A EP92402530A EP0533558A1 EP 0533558 A1 EP0533558 A1 EP 0533558A1 EP 92402530 A EP92402530 A EP 92402530A EP 92402530 A EP92402530 A EP 92402530A EP 0533558 A1 EP0533558 A1 EP 0533558A1
Authority
EP
European Patent Office
Prior art keywords
bucket
computer
mast
vertical axis
rotation
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.)
Withdrawn
Application number
EP92402530A
Other languages
English (en)
French (fr)
Inventor
Thierry Raymond
Joel Cano
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.)
Compagnie du Sol SARL
Original Assignee
Compagnie du Sol SARL
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
Application filed by Compagnie du Sol SARL filed Critical Compagnie du Sol SARL
Publication of EP0533558A1 publication Critical patent/EP0533558A1/de
Withdrawn legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2037—Coordinating the movements of the implement and of the frame
    • 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
    • E02F3/46—Dredgers; Soil-shifting machines mechanically-driven with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor
    • E02F3/47—Dredgers; Soil-shifting machines mechanically-driven with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor with grab buckets
    • E02F3/475—Dredgers; Soil-shifting machines mechanically-driven with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor with grab buckets for making foundation slots

Definitions

  • the present invention relates to a clamshell excavation device making it possible to execute, under good conditions, trenches of relatively great depths in the immediate vicinity of pre-existing fixed obstacles.
  • square rod designates, according to the terminology usual in this technique, a rod which can slide longitudinally in the guide piece, the sections of the rod and of the guide piece being such that the rod and the guide piece are secured in rotation about their longitudinal axis.
  • the buckets of these Kelly type devices can work at great depths, owing to the fact that their square rod is suspended from a cable and can thus be released from the guide part downwards.
  • the lifting device which supports the Kelly must execute a pivoting to empty the bucket in the excavation vehicle, and during this pivoting, it is necessary that the operator swivels the lifting device around of its vertical axis and in some cases that it raises the mast of the latter to avoid that during the rotation the bucket comes to strike the facade of the building along which the excavation is carried out.
  • Document FR-A-2 251 671 discloses a device making it possible to hold the bucket of a public works machine parallel to a given first direction when it is in a so-called loading area, and parallel to a given second direction when it is in a so-called unloading area.
  • the present invention makes it possible to dig a trench in the immediate vicinity of a pre-existing obstacle, such as a facade, in safe and economical conditions.
  • the subject of the present invention is an excavation apparatus, the clamshell of which is suspended from a square rod which engages in a guide part of corresponding shape supported by a lifting device by means of a joint with a vertical axis.
  • a motor device making it possible to pivot the guide piece around said vertical axis, the rotation of the bucket guide piece around its vertical axis being carried out in synchronism with the rotation of the mast of the lifting machine around its vertical axis so as to maintain the bucket in a constant direction
  • a computer or an automaton manages the synchronization between the rotation of the mast of the lifting machine and the rotation of the guide piece, as well as the lifting or lowering movements of the mast of the lifting device, means enabling the computer to store information relating to the position of the bucket in order to allow the computer or the automaton to reproduce the movements of the bucket inside a so-called safety zone in which the movements of the bucket are controlled by the computer or the automaton, while outside the safety zone the operator is free to determine the movements of the mast of the ho
  • the computer or the automaton is connected to an electronic means which counts pulses the number of which is proportional to the rotation of the mast of the lifting machine and causes, by means of a motor, for example hydraulic or electric, the rotation of the guide piece in the desired direction by an angle corresponding to the number of pulses recorded following the rotation of the mast of the lifting machine.
  • the upper part of the guide piece is joined to the lifting device by a hydraulic rotary joint with vertical axis which ensures the supply of the bucket with hydraulic fluid while allowing the bucket to perform any number of rotations in one direction or the other.
  • the movements of raising or lowering of the bucket are also controlled by the computer or the automaton.
  • the operator first places the bucket in the position and in the orientation which it must have to carry out the excavation, then, the computer or the automaton ensuring synchronism between the rotation of the hoist and that of the guide piece, the operator modifies the position of the mast of the hoist while the computer or the automaton stores at least some of the positions that have been given to the mast of the hoist by the operator.
  • the computer or the automaton is then capable of reproducing with precision the movements of the mast of the lifting machine as well as the position of the bucket around its vertical axis.
  • the computer or the automaton can also manage the movements of the lifting machine as a function of the height at which the bucket is located so as to make any rotation movement of the lifting machine impossible as long as the bucket does not is not out of the excavation.
  • the kinematics of the bucket movements are thus imposed on the operator in a so-called "safety" zone which corresponds to that where untimely movements of the bucket could strike the obstacles close to the excavation.
  • an area is thus produced in which the kinematics of the movements of the bucket are totally controlled by the computer or the automaton, the operator being able in this area only to determine the dynamics, that is to say the speed with which the movements in question are executed.
  • This free area is used in particular to empty the bucket in the cuttings transport vehicle.
  • the computer or the automaton when the operator enters the safety zone by pivoting the lifting device, automatically places the bucket in the position it must have and which corresponds to the information that 'he has in memory.
  • the computer or the automaton periodically rotates the bucket by 180 ° around its vertical axis so as to avoid that due to the asymmetry existing between the teeth of the two buckets it produce deviations in the excavation of the trench.
  • the computer or the automaton can advantageously tilt the reels which are used to store the hydraulic hoses of the bucket when the latter is in the high position towards the lifting machine. .
  • sensors are placed in various locations capable of supplying information to the computer or to the controller which takes this into account for controlling the bucket.
  • sensors can be, for example, accelerometers or inclinometers, which make it possible to take account of the swing of the bucket when the lifting gear is pivoted. Inclinometers can also be used to ensure the verticality of the walls of the trench that is being constructed.
  • These sensors can also measure the weight of the cuttings in the bucket, thereby determining the inertia of the latter and the amplitude of the oscillations it undergoes as a function of the rotation speeds which are imposed on it.
  • sensors can be used to measure the forces that are necessary to close the bucket, which makes it possible to appreciate the nature of the ground that is encountered during excavation.
  • the invention makes it possible to provide automatic control of the movements of the bucket, which has the advantage of avoiding any risk of incident or operating accident and which makes it possible to significantly increase the speed of execution of the trench as well as the quality of this execution.
  • the present invention also relates to an excavation method using the apparatus described above, characterized in that a safety zone is defined in which the bucket is controlled to move parallel to a given direction and according to a given line; that the movement of the skip steered manually in this safety zone is stored in memory; and that during subsequent excavations the movement thus recorded is automatically reproduced from the skip in the safety zone, while the skip is freely piloted outside the safety zone in particular for its unloading.
  • the bucket is periodically rotated 180 ° around its vertical axis.
  • FIG. 1 Schematically shown in Figure 1 the lifting device 1 which is mounted on tracks 2 which can pivot about a vertical axis 3 relative to the latter.
  • the lifting device supports a mast 4 which, in the conventional manner, can be lowered or raised by pivoting around an axis located at its lower part.
  • the upper end of the mast supports the upper part 5 of the guide piece via a hinge pin 6.
  • This upper part 5 is joined by a hydraulic rotary joint 7 with a vertical axis to the actual guide part 8 inside which engages the square rod of the bucket 9.
  • the reels 10 are also seen in FIG. 1 which allow hydraulic hoses to be stored when raising the bucket.
  • FIG. 1 shows the vertical axis 11 of the bucket and its guide piece 8.
  • the rotation of the mast 4 of the lifting machine 1 around the axis 3 is synchronized by a computer or an automaton with the rotation of the bucket 9 and of the guide piece 8 around the vertical axis 11 so that, despite the rotation of the lifting device around the axis 3, the bucket 9 always moves parallel to itself.
  • This synchronization can be achieved using different measuring means, for example electrical or electronic, emitting pulses proportional to the angle of rotation of the lifting device 1 around the axis 3, the computer or the automaton controlling the pivoting of the bucket 9 around the axis 11 through a motor hydraulic so as to rotate the bucket in proportion to the number of pulses received.
  • FIG. 2 represents a schematic top view of the excavation device shown in elevation in FIG. 1.
  • the facade 12 of a building has also been shown along which it is desired to make a trench 13.
  • the position of the lifting machine is shown in broken lines at the start of its movement for emptying the cuttings in the dump truck 14.
  • a mixed line shows another position of the mast 4 m of the lifting machine and of the bucket 9 ⁇ which remains parallel to the trench 13.
  • the synchronization between the rotation of the lifting device and the rotation of the bucket as well as the raising and lowering movements of the mast 4 are automatically ensured as long as the mast of the lifting machine remains in a so-called safety zone which has been schematically delimited in the drawing by the lines 15 and 16.
  • the operator first of all stores in the memory of the computer or the automaton a certain number of parameters characterizing successive intermediate positions of the bucket 9 and the mast 4 during from their movement from the trench 13 to the dump truck 14.
  • the computer or the automaton reconstructs the continuous path of the bucket 9 and of the mast 4 by determining by interpolation the parameters corresponding to the non-recorded positions.
  • the lowering or raising movements of the mast 4 of the lifting device and the synchronization between the pivoting of the lifting device around the axis 3 and the pivoting of the bucket around axis 11 are provided by the computer or the automaton as long as the bucket moves in the so-called safety zone, yes in this case is between lines 15 and 16.
  • the bucket 9′ ⁇ can be placed in any position by the operator as well as the mast 4′ ⁇ so as to allow the emptying of the bucket in the truck 14 .

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Earth Drilling (AREA)
EP92402530A 1991-09-16 1992-09-16 Schalengreiferbagger Withdrawn EP0533558A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR9111373A FR2681352B1 (fr) 1991-09-16 1991-09-16 Appareil d'excavation a benne preneuse.
FR9111373 1991-09-16

Publications (1)

Publication Number Publication Date
EP0533558A1 true EP0533558A1 (de) 1993-03-24

Family

ID=9416964

Family Applications (1)

Application Number Title Priority Date Filing Date
EP92402530A Withdrawn EP0533558A1 (de) 1991-09-16 1992-09-16 Schalengreiferbagger

Country Status (2)

Country Link
EP (1) EP0533558A1 (de)
FR (1) FR2681352B1 (de)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1630297A1 (de) * 2004-08-20 2006-03-01 BAUER Maschinen GmbH Verfahren zum Herstellen einer Schlitzwand im Boden und einer Schlitzwandfräsvorrichtung
ITUD20090053A1 (it) * 2009-03-05 2010-09-06 Casagrande Spa Dispositivo di controllo per un'apparecchiatura di scavo
EP3725950B1 (de) 2019-04-18 2022-09-14 BAUER Maschinen GmbH Schlitzwandgreifer und verfahren zum erstellen eines schlitzes im boden
EP4134490A1 (de) * 2021-08-12 2023-02-15 BAUER Maschinen GmbH Greifervorrichtung und verfahren zum betreiben einer greifervorrichtung

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2251671A1 (de) * 1973-11-21 1975-06-13 Poclain Sa
US3917322A (en) * 1972-08-25 1975-11-04 Caterpillar Tractor Co Joint structure for clamshell bucket assembly
EP0116474A1 (de) * 1983-02-12 1984-08-22 Kabushiki Kaisha Hikoma Seisakusho Maschine für Erdarbeiten
GB2222998A (en) * 1988-09-22 1990-03-28 Kubota Ltd Homing control for backhoe bucket

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3917322A (en) * 1972-08-25 1975-11-04 Caterpillar Tractor Co Joint structure for clamshell bucket assembly
FR2251671A1 (de) * 1973-11-21 1975-06-13 Poclain Sa
EP0116474A1 (de) * 1983-02-12 1984-08-22 Kabushiki Kaisha Hikoma Seisakusho Maschine für Erdarbeiten
GB2222998A (en) * 1988-09-22 1990-03-28 Kubota Ltd Homing control for backhoe bucket

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1630297A1 (de) * 2004-08-20 2006-03-01 BAUER Maschinen GmbH Verfahren zum Herstellen einer Schlitzwand im Boden und einer Schlitzwandfräsvorrichtung
DE102005017092B4 (de) * 2004-08-20 2009-04-16 Bauer Maschinen Gmbh Verfahren zum Herstellen einer Schlitzwand im Boden, Schlitzwandfräsvorrichtung und Unterfangung mit Schlitzwand
ITUD20090053A1 (it) * 2009-03-05 2010-09-06 Casagrande Spa Dispositivo di controllo per un'apparecchiatura di scavo
EP2226427A3 (de) * 2009-03-05 2012-04-18 Casagrande SpA Aushubvorrichtung
EP3725950B1 (de) 2019-04-18 2022-09-14 BAUER Maschinen GmbH Schlitzwandgreifer und verfahren zum erstellen eines schlitzes im boden
EP4134490A1 (de) * 2021-08-12 2023-02-15 BAUER Maschinen GmbH Greifervorrichtung und verfahren zum betreiben einer greifervorrichtung
WO2023016883A1 (de) * 2021-08-12 2023-02-16 Bauer Maschinen Gmbh Greifervorrichtung und verfahren zum betreiben einer greifervorrichtung
EP4249687A3 (de) * 2021-08-12 2023-11-29 BAUER Maschinen GmbH Greifervorrichtung und verfahren zum betreiben einer greifervorrichtung

Also Published As

Publication number Publication date
FR2681352B1 (fr) 1998-07-24
FR2681352A1 (fr) 1993-03-19

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