EP2975208A2 - Construction machine and method for controlling a construction machine - Google Patents

Construction machine and method for controlling a construction machine Download PDF

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Publication number
EP2975208A2
EP2975208A2 EP15166605.4A EP15166605A EP2975208A2 EP 2975208 A2 EP2975208 A2 EP 2975208A2 EP 15166605 A EP15166605 A EP 15166605A EP 2975208 A2 EP2975208 A2 EP 2975208A2
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EP
European Patent Office
Prior art keywords
hydraulic
construction machine
force
hydraulic pump
cable
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Granted
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EP15166605.4A
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German (de)
French (fr)
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EP2975208A3 (en
EP2975208B1 (en
Inventor
Matthias Osterland
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Bauer Maschinen GmbH
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Bauer Maschinen GmbH
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    • 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
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
    • E21B7/022—Control of the drilling operation; Hydraulic or pneumatic means for activation or operation

Definitions

  • the invention relates to a construction machine, in particular a drill, with a mast, along which a tool is movably mounted, wherein the tool is suspended on a rope which is actuated for raising and lowering the tool by means of a winch, which by a hydraulic motor as a winch drive is rotationally driven, according to the preamble of claim 1.
  • the invention further relates to a method for controlling a construction machine with a mast, along which a tool is movably mounted, wherein the tool is suspended on a rope, which is operated for raising and lowering the tool by means of a winch, which by a hydraulic motor as a winch drive is rotationally driven, according to the preamble of claim 10.
  • Such a construction machine which is designed as a rotary drilling device, for example, goes from the EP 1 862 636 B1 out.
  • a winch at the stern of the drill is by means of a rope, which is guided over a mast head of a mast, a drilling tool, such as a drilling bucket or a drilling auger moved up and down.
  • the pulling movement is applied via the cable winch, while a downward movement is generated by a weight force of the tool or by a separate feed system for the rotary drive.
  • the rotary drive is hydrostatically driven by means of a first hydraulic pump, wherein the torque is transmitted from the hollow drive shaft to the drilling tool.
  • the feed system for the rotary drive for moving the rotary drive along the mast has a second hydraulic pump. This drives a positioning cylinder or a hydraulic servomotor.
  • the drilling tool usually comprises a kelly bar which is attached to the rope guided over the mast head. The torque is transmitted from the rotary drive to the Kelly bar and thus the tool, such as a box drill. Axial latch pockets of the Kelly bar allow a feed force to be exerted downwardly by the feed system.
  • a clutch of a freefall brake to generate a retraction force during the drilling operation.
  • the braking torque is generated by an adjustable control pressure.
  • the working ports of the hydraulic motor driving the winch may be connected by means of a hydraulic circuit so as to allow a cable tensioning function.
  • the required retraction force is determined by the hydraulic circuit.
  • a hydraulic control of a winch is for example in the EP 1 247 778 B1 called.
  • the invention has for its object to provide a construction machine and a method for controlling a construction machine, in which in a simple and reliable manner a cable tension over a wide operating range is adjustable.
  • the construction machine according to the invention is characterized in that the hydraulic motor is driven in a hydraulic circuit by a hydraulic pump, which is designed as a Wegschwenkbare hydraulic pump, through which a hydraulic flow can be generated in both directions, and that for controlling the hydraulic pump a control device is provided, which is designed to control the hydraulic pump as a function of a predefinable cable tensioning force.
  • a swing-through hydraulic pump such as a swash plate pump
  • a flow in both directions of the hydraulic circuit can be generated.
  • the hydraulic motor can be used both for lifting and for active lowering, in which the winch, regardless of the attached rope load predetermines an unwinding speed.
  • a defined cable tension can be reliably ensured not only in the operating state of lifting but also in the operating state of the lowering.
  • a further advantage of the invention in particular over free-fall clutches, is that a cable tensioning force can be freely specified via the control device and, based thereon, the hydraulic pump is driven in a controlled manner.
  • a preferred embodiment of the invention is that by the control device, a pivot angle of the hydraulic pump is adjustable.
  • the hydraulic pump By influencing the swivel angle, the hydraulic pump can be adjusted continuously, so that almost any clamping force or retraction force is adjustable and can be maintained.
  • a further advantageous embodiment of the invention is that a force measuring device is provided for measuring the cable pull force and that the force measuring device is in communication with the control device for controlling / regulating the hydraulic pump as a function of measured cable pull force values.
  • the force-measuring device can be designed in any desired way, in particular to carry out a direct or indirect measurement.
  • a structurally particularly advantageous embodiment is that the force-measuring device has a force measuring bolt on a deflection roller of the rope or a force measuring strap on a winch of the winch.
  • the deflection roller can be arranged in particular on the mast head.
  • About the force measuring pin can be done so a very accurate measurement of the currently applied cable force.
  • About a force measuring device on the winch, so the bearing frame of a cable drum of the winch, can also be deduced on the currently acting cable force.
  • the force measuring device may be connected to the control device in terms of line or wireless.
  • the control device may in particular comprise an input unit with which a cable tensioning force can be predetermined.
  • a data storage device in which predetermined cable tension forces are stored for certain modes of operation of the tool. These predetermined cable tension forces may have been determined in advance in experiments.
  • other measuring devices for determining the mode of operation of the tool such as the rotational speed or the feed of the tool, may be present on the control device, so that programmatically controlled by the control device, an appropriate cable tension is specified.
  • the cable tensioning force can be changed as a function of adjustment parameters by the control device.
  • At least one adjustment parameter is selected from the parameters rope speed, feed rate, feed force and / or working method, in particular an operating mode of a rotary drilling drive.
  • a selection of the adjustment parameters can be done manually or automatically by corresponding sensors on the construction machine by the control device. This ensures that can be done for the respective operating condition and the respective operating method, an appropriate control and adjustment of the cable tension. This ensures a safe and trouble-free operation of the construction machine. Also, excessive wear of the rope is avoided.
  • the hydraulic circuit is closed and formed with a branch valve, via which controlled hydraulic fluid can be discharged for cooling.
  • a branch valve is provided, via which controlled hydraulic fluid can be discharged.
  • the control can be carried out by means of temperature sensor device or via a predetermined control program by the control device.
  • hydraulic fluid can be conducted into a receiving tank, which can preferably be provided with a separate cooling device.
  • cool hydraulic fluid is returned to the hydraulic circuit via a corresponding supply valve.
  • the construction machine can be designed for a wide variety of purposes, for example as a piling device for ramming planks by means of a vibration bear.
  • the construction machine is designed as a drill, on the mast a rotary drilling drive is adjustably mounted, which is movable over at least one actuator along the mast.
  • the drill can, as described in the introduction to the prior art description, have a first hydraulic drive for supplying the rotary drilling drive and a second hydraulic drive as an actuator for a feed system.
  • a feed system By means of the feed system, an axial movement of a feed carriage with the rotary drilling drive along the mast is effected by means of hydraulic cylinders or a servomotor.
  • a feed force can be applied downward to the tool via the actuator of the feed system.
  • the tool can be a conventional rotary drilling tool, in particular a drilling screw, a box drill, a displacement drill or another drilling device.
  • the inventive method for controlling a construction machine is characterized in that the hydraulic motor is driven in a hydraulic circuit by a hydraulic pump, which is designed as a Wegschwenkbare hydraulic pump, through which a hydraulic flow can be generated in both directions, and that the hydraulic pump by means of a control device depending on a predetermined rope tension is controlled.
  • the method can be used in particular for controlling the above-described construction machine can be used. This results in the advantages described above.
  • a construction machine is shown as a drill 50 with a mast 52, along which a feed carriage 59 is mounted vertically displaceable with a rotary drilling drive 58 on a mast guide, not shown.
  • a hydraulic cylinder is arranged as an actuator 66, which is driven by a first hydraulic drive 71.
  • the rotary drilling drive 58 has a hollow shaft, through which a Kelly bar 56 protrudes in a known manner, at the lower end of which a box drill is fastened as a tool 54. Torque and a downward feed force can be applied to the Kelly bar 56 and thus to the tool 54 by the rotary drilling drive 58 and on the feed carriage 59 by means of entrainment bars and latch pockets which are not shown.
  • the hydraulic rotary drilling drive 58 is supplied with energy via a second hydraulic drive 72, that is to say a hydraulic pump, in a hydraulic circuit.
  • the Kelly bar 56 is suspended in a known manner on a cable 64, which is guided over a first guide roller 46 and a second guide roller 47 on a transversely oriented mast head 53 of the mast 52 to a winch 1.
  • the cable winch 1 comprises a cable drum 60 rotatably mounted in a winch bracket 62.
  • the cable drum 60 of the cable winch 1 is driven by a hydraulic motor 3 via a drive shaft, which is connected to a hydraulic pump 10 in a hydraulic circuit.
  • the hydraulic pump 10 and the first hydraulic drive 71 designed as a hydraulic pump for the feed system and the second hydraulic drive 72 for the rotary drilling drive 58 are powered by a diesel engine 70 via a transmission device 75 with energy.
  • the hydraulic pump 10 is designed to be swing-through, in particular as a swashplate hydraulic pump.
  • the Maschinenbauenkbaren hydraulic pump (10) By means of the Maschinenbauenkbaren hydraulic pump (10), a hydraulic flow in both directions of the hydraulic circuit 20 are generated, so that the hydraulic motor 3 and thus the winch 1 can be operated in both directions of rotation.
  • a control device 40 is provided, which is in operative connection with the hydraulic pump 10. Via a data input device, according to a first control variant, a desired cable tensioning force can be input to the control device. According to the predetermined cable tension force, the hydraulic pump 10 and thus also the winch 1 are controlled both during lifting and during lowering of the tool 54.
  • a force measuring device 44 is arranged with a force measuring bolt.
  • the tensile force on the cable 64 can be measured directly, with the measured cable pull values being forwarded to the control device 40 for regulating the hydraulic pump 10 in accordance with a further control variant.
  • control device 40 is still connected to other sensor devices on the drive shaft of the winch 1, the actuator 66 of the feed system for the rotary drilling drive 58 and the rotary drilling drive 58 for controlling the hydraulic pump 10.
  • a corresponding program is deposited, with which an appropriate cable tension determined on the basis of the transmitted measurement data and the compliance of this value can be controlled.
  • the hydraulic motor 3 is operated in a closed hydraulic circuit, which is fed by an adjustable hydraulic pump 10.
  • the direction of rotation of the hydraulic motor 3 is determined by the conveying direction of the hydraulic pump 10. Since the hydraulic oil is heated in a closed circuit due to the friction losses occurring, can be diverted from the closed hydraulic circuit by means of a branch valve 9 continuously or at predetermined times a certain amount of oil and fed to a hydraulic tank. The contents of the hydraulic tank can be cooled. An existing feed pump compensates for the resulting hydraulic oil loss.
  • a swivel angle of the hydraulic motor 3 between a minimum and a maximum displacement is set by means of a magnetic adjustment via a first electroproportional 3-2-way valve 5.
  • a second 3-2-way valve 4 a pressure cut for the adjustment of the pivot angle of the hydraulic motor 3 is realized.
  • a pressure switch 6 indicates the controller to a saturated circuit. If this is not the case, for example because of a hose breakage, no release for the winch function is issued by the control device. A holding or parking brake 2 remains closed in this case. A check valve 18 serves to make the parking brake 2 on the winch 1 in case of sudden pressure loss as a result of line break. A shuttle valve 7 with an upstream controlled valve 8 is used to ventilate the parking brake 2 in normal operation with a certain delay and to vent, such that a slip-free load transfer between parking brake 2 and the hydraulic motor 10 and vice versa is ensured. As an input signal generator for the control device is a pressure transducer 17th
  • the trained as souschwenkbare swash plate hydraulic pump 10 is controlled by a control valve 11, wherein a control piston 16 is mechanically connected directly to the hydraulic pump 10.
  • a first pressure relief valve 13 secures the high pressure side of the hydraulic pump 10 against a maximum pressure.
  • Via a second pressure relief valve 14, a pressure cut off of the hydraulic pump 10 is performed at maximum operating pressure.
  • a third pressure-limiting valve 15 secures the hydraulic pump 10 in the same way as the first pressure-limiting valve 13 on the low-pressure side.
  • the pilot control of the arrangement is operated via a feed pressure 12 of 35 bar.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Geology (AREA)
  • Mining & Mineral Resources (AREA)
  • Physics & Mathematics (AREA)
  • Environmental & Geological Engineering (AREA)
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Abstract

Die Erfindung betrifft eine Baumaschine und ein Verfahren zum Steuern einer Baumaschine mit einem Mast, entlang welchem ein Werkzeug bewegbar gelagert ist, wobei das Werkzeug an einem Seil aufgehängt ist, welches zum Heben und Senken des Werkzeuges mittels einer Seilwinde betätigbar ist, welche von einem Hydraulikmotor als Windenantrieb drehend angetrieben ist. Der Hydraulikmotor ist in einem Hydraulikkreislauf von einer Hydraulikpumpe angetrieben, welche als eine durchschwenkbare Hydraulikpumpe ausgebildet ist, durch welche ein Hydraulikstrom in beide Richtungen erzeugbar ist. Zur Steuerung der Hydraulikpumpe ist eine Steuereinrichtung vorgesehen, welche ausgebildet ist, die Hydraulikpumpe abhängig von einer vorgebbaren Seilspannkraft zu steuern.The invention relates to a construction machine and a method for controlling a construction machine with a mast, along which a tool is movably mounted, wherein the tool is suspended on a rope which is actuated for raising and lowering the tool by means of a winch, which by a hydraulic motor is driven as a winch drive rotating. The hydraulic motor is driven in a hydraulic circuit by a hydraulic pump, which is designed as a durchschwenkbare hydraulic pump, through which a hydraulic flow can be generated in both directions. For controlling the hydraulic pump, a control device is provided, which is designed to control the hydraulic pump as a function of a predeterminable cable tensioning force.

Description

Die Erfindung betrifft eine Baumaschine, insbesondere ein Bohrgerät, mit einem Mast, entlang welchem ein Werkzeug bewegbar gelagert ist, wobei das Werkzeug an einem Seil aufgehängt ist, welches zum Heben und Senken des Werkzeuges mittels einer Seilwinde betätigbar ist, welche von einem Hydraulikmotor als Windenantrieb drehend angetrieben ist, gemäß dem Oberbegriff des Anspruchs 1.The invention relates to a construction machine, in particular a drill, with a mast, along which a tool is movably mounted, wherein the tool is suspended on a rope which is actuated for raising and lowering the tool by means of a winch, which by a hydraulic motor as a winch drive is rotationally driven, according to the preamble of claim 1.

Die Erfindung betrifft weiterhin ein Verfahren zum Steuern einer Baumaschine mit einem Mast, entlang welchem ein Werkzeug bewegbar gelagert ist, wobei das Werkzeug an einem Seil aufgehängt ist, welches zum Heben und Senken des Werkzeuges mittels einer Seilwinde betätigt wird, welche von einem Hydraulikmotor als Windenantrieb drehend angetrieben wird, gemäß dem Oberbegriff des Anspruchs 10.The invention further relates to a method for controlling a construction machine with a mast, along which a tool is movably mounted, wherein the tool is suspended on a rope, which is operated for raising and lowering the tool by means of a winch, which by a hydraulic motor as a winch drive is rotationally driven, according to the preamble of claim 10.

Eine derartige Baumaschine, welche als ein Drehbohrgerät ausgebildet ist, geht beispielsweise aus der EP 1 862 636 B1 hervor. Mittels einer Winde am Heck des Bohrgerätes wird mittels einem Seil, welches über einen Mastkopf eines Mastes geführt ist, ein Bohrwerkzeug, etwa ein Bohreimer oder eine Bohrschnecke, auf- und abbewegt. Die Zugbewegung wird über die Seilwinde aufgebracht, während eine Abwärtsbewegung durch eine Gewichtskraft des Werkzeuges oder über ein separates Vorschubsystem für den Drehantrieb erzeugt.Such a construction machine, which is designed as a rotary drilling device, for example, goes from the EP 1 862 636 B1 out. By means of a winch at the stern of the drill is by means of a rope, which is guided over a mast head of a mast, a drilling tool, such as a drilling bucket or a drilling auger moved up and down. The pulling movement is applied via the cable winch, while a downward movement is generated by a weight force of the tool or by a separate feed system for the rotary drive.

Der Drehantrieb wird hydrostatisch mittels einer ersten Hydraulikpumpe angetrieben, wobei das Drehmoment von der hohlen Antriebswelle auf das Bohrwerkzeug übertragen wird. Das Vorschubsystem für den Drehantrieb zum Verfahren des Drehantriebes entlang des Mastes weist eine zweite Hydraulikpumpe auf. Diese treibt einen Stellzylinder oder einen hydraulischen Stellmotor an. Das Bohrwerkzeug umfasst üblicherweise eine Kellystange, welche an dem über den Mastkopf geführten Seil angehängt ist. Das Drehmoment wird vom Drehantrieb auf die Kellystange und damit das Werkzeug, etwa einen Kastenbohrer, übertragen. Über axiale Riegeltaschen der Kellystange kann eine Vorschubkraft von dem Vorschubsystem nach unten ausgeübt werden.The rotary drive is hydrostatically driven by means of a first hydraulic pump, wherein the torque is transmitted from the hollow drive shaft to the drilling tool. The feed system for the rotary drive for moving the rotary drive along the mast has a second hydraulic pump. This drives a positioning cylinder or a hydraulic servomotor. The drilling tool usually comprises a kelly bar which is attached to the rope guided over the mast head. The torque is transmitted from the rotary drive to the Kelly bar and thus the tool, such as a box drill. Axial latch pockets of the Kelly bar allow a feed force to be exerted downwardly by the feed system.

Mit Voranschreiten der Bohrtiefe, bei der sich das Bohrwerkzeug abwärts bewegt, ist es erforderlich, das Seil der Seilwinde mit einer Seilspannvorrichtung nachzuführen unter Aufrechterhaltung einer vorgegebenen Spann- oder Rückzugskraft, welche üblicherweise von der Art des Bohrverfahrens abhängt.As the drilling depth progresses, with the drilling tool moving downwardly, it is necessary to track the cable of the winch with a cable tensioning device while maintaining a predetermined tension or retraction force, which usually depends on the type of drilling operation.

Hierzu ist es zum einen bekannt, eine Kupplung einer Freifallbremse zu nutzen, um während des Abbohrvorganges eine Rückzugskraft zu erzeugen. Das Bremsdrehmoment wird dabei durch einen einstellbaren Ansteuerdruck erzeugt. Alternativ können bei einer hydrostatisch angetriebenen Winde die Arbeitsanschlüsse des die Winde antreibenden Hydraulikmotors derart mithilfe einer hydraulischen Schaltung verbunden werden, dass eine Seilspannfunktion ermöglicht wird. Die erforderliche Rückzugskraft wird dabei durch die hydraulische Schaltung bestimmt. Eine hydraulische Steuerung einer Winde ist beispielsweise in der EP 1 247 778 B1 genannt.For this purpose, it is firstly known to use a clutch of a freefall brake to generate a retraction force during the drilling operation. The braking torque is generated by an adjustable control pressure. Alternatively, in a hydrostatically driven winch, the working ports of the hydraulic motor driving the winch may be connected by means of a hydraulic circuit so as to allow a cable tensioning function. The required retraction force is determined by the hydraulic circuit. A hydraulic control of a winch is for example in the EP 1 247 778 B1 called.

Der Erfindung liegt die Aufgabe zugrunde, eine Baumaschine und ein Verfahren zum Steuern einer Baumaschine anzugeben, bei welchen in einfacher und zugleich zuverlässiger Weise eine Seilspannung über einen weiten Betriebsbereich einstellbar ist.The invention has for its object to provide a construction machine and a method for controlling a construction machine, in which in a simple and reliable manner a cable tension over a wide operating range is adjustable.

Die Aufgabe wird zum einen durch eine Baumaschine mit den Merkmalen des Anspruchs 1 und zum anderen durch ein Verfahren mit den Merkmalen des Anspruchs 10 gelöst. Bevorzugte Ausführungsformen der Erfindung sind in den abhängigen Ansprüchen angegeben.The object is achieved on the one hand by a construction machine having the features of claim 1 and on the other hand by a method having the features of claim 10. Preferred embodiments of the invention are indicated in the dependent claims.

Die erfindungsgemäße Baumaschine ist dadurch gekennzeichnet, dass der Hydraulikmotor in einem Hydraulikkreislauf von einer Hydraulikpumpe angetrieben ist, welche als eine durchschwenkbare Hydraulikpumpe ausgebildet ist, durch welche ein Hydraulikstrom in beide Richtungen erzeugbar ist, und dass zur Steuerung der Hydraulikpumpe eine Steuereinrichtung vorgesehen ist, welche ausgebildet ist, die Hydraulikpumpe abhängig von einer vorgebbaren Seilspannkraft zu steuern.The construction machine according to the invention is characterized in that the hydraulic motor is driven in a hydraulic circuit by a hydraulic pump, which is designed as a durchschwenkbare hydraulic pump, through which a hydraulic flow can be generated in both directions, and that for controlling the hydraulic pump a control device is provided, which is designed to control the hydraulic pump as a function of a predefinable cable tensioning force.

Durch Verwendung einer durchschwenkbaren Hydraulikpumpe, etwa einer Schrägscheibenpumpe, kann ein Volumenstrom in beide Richtungen des Hydraulikkreislaufes erzeugt werden. Auf diese Weise kann der Hydraulikmotor sowohl zum Heben als auch zum aktiven Senken eingesetzt werden, bei welchem die Winde unabhängig von der angehängten Seillast eine Abspulgeschwindigkeit vorgibt. Auf diese Weise kann nicht nur im Betriebszustand des Hebens sondern auch im Betriebszustand des Absenkens zuverlässig eine definierte Seilspannkraft sichergestellt werden.By using a swing-through hydraulic pump, such as a swash plate pump, a flow in both directions of the hydraulic circuit can be generated. In this way, the hydraulic motor can be used both for lifting and for active lowering, in which the winch, regardless of the attached rope load predetermines an unwinding speed. In this way, a defined cable tension can be reliably ensured not only in the operating state of lifting but also in the operating state of the lowering.

Ein weiterer Vorteil der Erfindung insbesondere gegenüber Freifallkupplungen besteht darin, dass über die Steuereinrichtung eine Seilspannkraft frei vorgebbar ist und basierend hierauf die Hydraulikpumpe gesteuert angetrieben wird.A further advantage of the invention, in particular over free-fall clutches, is that a cable tensioning force can be freely specified via the control device and, based thereon, the hydraulic pump is driven in a controlled manner.

Eine bevorzugte Ausführungsform der Erfindung besteht darin, dass durch die Steuereinrichtung ein Schwenkwinkel der Hydraulikpumpe verstellbar ist. Durch Beeinflussung des Schwenkwinkels kann die Hydraulikpumpe stufenlos verstellt werden, so dass eine nahezu beliebige Spannkraft oder Rückzugskraft einstellbar ist und gehalten werden kann.A preferred embodiment of the invention is that by the control device, a pivot angle of the hydraulic pump is adjustable. By influencing the swivel angle, the hydraulic pump can be adjusted continuously, so that almost any clamping force or retraction force is adjustable and can be maintained.

Eine weitere vorteilhafte Ausgestaltung der Erfindung liegt darin, dass eine Kraftmesseinrichtung zum Messen der Seilzugkraft vorgesehen ist und dass die Kraftmesseinrichtung mit der Steuereinrichtung zum Steuern/Regeln der Hydraulikpumpe abhängig von gemessenen Seilzugkraftwerten in Verbindung steht. Durch Messung der momentanen Seilzugkraft kann durch eine entsprechende Rückkopplung der gemessenen Seilzugkraftwerte eine Regelung der Hydraulikpumpe und damit des Hydraulikmotors erfolgen.A further advantageous embodiment of the invention is that a force measuring device is provided for measuring the cable pull force and that the force measuring device is in communication with the control device for controlling / regulating the hydraulic pump as a function of measured cable pull force values. By measuring the instantaneous cable pull force, it is possible to control the hydraulic pump and thus the hydraulic motor by means of a corresponding feedback of the measured cable pull force values.

Grundsätzlich kann die Kraftmesseinrichtung in beliebiger Weise ausgeführt sein, insbesondere eine direkte oder indirekte Messung durchführen. Eine konstruktiv besonders vorteilhafte Ausgestaltung liegt darin, dass die Kraftmesseinrichtung einen Kraftmessbolzen an einer Umlenkrolle des Seiles oder eine Kraftmesslasche an einem Windenbock der Seilwinde aufweist. Die Umlenkrolle kann dabei insbesondere am Mastkopf angeordnet sein. Über den Kraftmessbolzen kann so eine sehr genaue Messung der momentan anliegenden Seilkraft erfolgen. Über eine Kraftmesseinrichtung am Windenbock, also dem Lagerrahmen einer Seiltrommel der Seilwinde, kann ebenfalls auf die momentan wirkende Seilkraft rückgeschlossen werden. Die Kraftmesseinrichtung kann leitungsmäßig oder drahtlos mit der Steuereinrichtung verbunden sein.In principle, the force-measuring device can be designed in any desired way, in particular to carry out a direct or indirect measurement. A structurally particularly advantageous embodiment is that the force-measuring device has a force measuring bolt on a deflection roller of the rope or a force measuring strap on a winch of the winch. The deflection roller can be arranged in particular on the mast head. About the force measuring pin can be done so a very accurate measurement of the currently applied cable force. About a force measuring device on the winch, so the bearing frame of a cable drum of the winch, can also be deduced on the currently acting cable force. The force measuring device may be connected to the control device in terms of line or wireless.

Gemäß einer Weiterbildung der Erfindung wird ein effizienter Betrieb dadurch erreicht, dass die vorgebbare Seilspannkraft durch die Steuereinrichtung veränderbar ist. Die Steuereinrichtung kann insbesondere eine Eingabeeinheit aufweisen, mit welcher eine Seilspannkraft vorgebbar ist. Es kann auch ein Datenspeicher vorhanden sein, in welchem für bestimmte Betriebsweisen des Werkzeuges vorgegebene Seilspannkräfte hinterlegt sind. Diese vorgegebenen Seilspannkräfte können vorab in Versuchen ermittelt worden sein. Ergänzend oder alternativ können an der Steuereinrichtung auch weitere Messeinrichtungen zur Feststellung der Betriebsweise des Werkzeuges, etwa der Drehzahl oder des Vorschubes des Werkzeuges, vorhanden sein, so dass durch die Steuereinrichtung programmgesteuert eine zweckmäßige Seilspannkraft vorgegeben wird.According to one embodiment of the invention, efficient operation is achieved in that the predeterminable cable tensioning force can be changed by the control device. The control device may in particular comprise an input unit with which a cable tensioning force can be predetermined. There may also be a data storage device in which predetermined cable tension forces are stored for certain modes of operation of the tool. These predetermined cable tension forces may have been determined in advance in experiments. Additionally or alternatively, other measuring devices for determining the mode of operation of the tool, such as the rotational speed or the feed of the tool, may be present on the control device, so that programmatically controlled by the control device, an appropriate cable tension is specified.

Gemäß einer bevorzugten Weiterbildung der Erfindung ist es vorgesehen, dass durch die Steuereinrichtung die Seilspannkraft abhängig von Verstellparametern veränderbar ist.According to a preferred development of the invention, it is provided that the cable tensioning force can be changed as a function of adjustment parameters by the control device.

Besonders bevorzugt ist es dabei, dass mindestens ein Verstellparameter ausgewählt ist aus den Parametern Seilgeschwindigkeit, Vorschubgeschwindigkeit, Vorschubkraft und/oder Arbeitsverfahren, insbesondere einer Betriebsart eines Drehbohrantriebes. Eine Auswahl der Verstellparameter kann manuell oder automatisch durch entsprechende Sensoren an der Baumaschine durch die Steuereinrichtung erfolgen. Hierdurch wird erreicht, dass für den jeweiligen Betriebszustand und das jeweilige Betriebsverfahren eine zweckmäßige Steuerung und Einstellung der Seilspannung erfolgen kann. Hierdurch wird ein sicherer und störungsfreier Betrieb der Baumaschine gewährleistet. Auch wird ein übermäßiger Verschleiß des Seiles vermieden.It is particularly preferred that at least one adjustment parameter is selected from the parameters rope speed, feed rate, feed force and / or working method, in particular an operating mode of a rotary drilling drive. A selection of the adjustment parameters can be done manually or automatically by corresponding sensors on the construction machine by the control device. This ensures that can be done for the respective operating condition and the respective operating method, an appropriate control and adjustment of the cable tension. This ensures a safe and trouble-free operation of the construction machine. Also, excessive wear of the rope is avoided.

Weiterhin ist es nach der Erfindung bevorzugt, dass der Hydraulikkreislauf geschlossen und mit einen Abzweigventil ausgebildet ist, über welches gesteuert Hydraulikflüssigkeit zur Kühlung abführbar ist. Bei einem intensiven Betrieb kann die Temperatur des Hydraulikfluides im Hydraulikkreislauf ansteigen. Zur Vermeidung einer übermäßigen Erwärmung ist ein Abzweigventil vorgesehen, über welches gesteuert Hydraulikflüssigkeit abführbar ist. Die Steuerung kann mittels Temperatursensoreinrichtung oder über ein vorgegebenes Steuerprogramm durch die Steuereinrichtung erfolgen. Zur Kühlung kann Hydraulikflüssigkeit in einen Aufnahmetank geleitet werden, welcher vorzugsweise mit einer separaten Kühleinrichtung versehen sein kann. Entsprechend der Ableitung von Hydraulikflüssigkeit über das Abzweigventil wird über ein entsprechendes Zuführventil kühles Hydraulikfluid in den Hydraulikkreislauf rückgeführt.Furthermore, it is preferred according to the invention that the hydraulic circuit is closed and formed with a branch valve, via which controlled hydraulic fluid can be discharged for cooling. In an intensive operation, the temperature increase the hydraulic fluid in the hydraulic circuit. To avoid excessive heating, a branch valve is provided, via which controlled hydraulic fluid can be discharged. The control can be carried out by means of temperature sensor device or via a predetermined control program by the control device. For cooling, hydraulic fluid can be conducted into a receiving tank, which can preferably be provided with a separate cooling device. Corresponding to the discharge of hydraulic fluid via the branch valve, cool hydraulic fluid is returned to the hydraulic circuit via a corresponding supply valve.

Grundsätzlich kann die Baumaschine für verschiedenste Einsatzzwecke ausgebildet sein, etwa als ein Rammgerät zum Einrammen von Bohlen mittels eines Vibrationsbäres.In principle, the construction machine can be designed for a wide variety of purposes, for example as a piling device for ramming planks by means of a vibration bear.

Eine vorteilhafte Ausgestaltung der Erfindung besteht darin, dass die Baumaschine als ein Bohrgerät ausgebildet ist, an dessen Mast ein Drehbohrantrieb verstellbar gelagert ist, welcher über mindestens einen Stellantrieb entlang des Mastes verfahrbar ist. Das Bohrgerät kann, wie in der Beschreibungseinleitung zum Stand der Technik beschrieben, einen ersten Hydraulikantrieb zum Speisen des Drehbohrantriebes und einen zweiten Hydraulikantrieb als Stellantrieb für ein Vorschubsystem aufweisen. Über das Vorschubsystem wird mittels Hydraulikzylindern oder einem Stellmotor ein axiales Verfahren eines Vorschubschlittens mit dem Drehbohrantrieb entlang des Mastes bewirkt. Insbesondere kann über den Stellantrieb des Vorschubsystems eine Vorschubkraft nach unten auf das Werkzeug aufgebracht werden. Das Werkzeug kann dabei ein übliches Drehbohrwerkzeug sein, insbesondere eine Bohrschnecke, ein Kastenbohrer, ein Verdrängungsbohrer oder eine andere Bohreinrichtung.An advantageous embodiment of the invention is that the construction machine is designed as a drill, on the mast a rotary drilling drive is adjustably mounted, which is movable over at least one actuator along the mast. The drill can, as described in the introduction to the prior art description, have a first hydraulic drive for supplying the rotary drilling drive and a second hydraulic drive as an actuator for a feed system. By means of the feed system, an axial movement of a feed carriage with the rotary drilling drive along the mast is effected by means of hydraulic cylinders or a servomotor. In particular, a feed force can be applied downward to the tool via the actuator of the feed system. The tool can be a conventional rotary drilling tool, in particular a drilling screw, a box drill, a displacement drill or another drilling device.

Das erfindungsgemäße Verfahren zum Steuern einer Baumaschine ist dadurch gekennzeichnet, dass der Hydraulikmotor in einem Hydraulikkreislauf von einer Hydraulikpumpe angetrieben wird, welche als eine durchschwenkbare Hydraulikpumpe ausgebildet ist, durch welche ein Hydraulikstrom in beide Richtungen erzeugbar ist, und dass die Hydraulikpumpe mittels einer Steuereinrichtung abhängig von einer vorgebbaren Seilspannkraft gesteuert wird. Das Verfahren kann insbesondere zum Steuern der vorbeschriebenen Baumaschine eingesetzt werden. Es ergeben sich die zuvor beschriebenen Vorteile.The inventive method for controlling a construction machine is characterized in that the hydraulic motor is driven in a hydraulic circuit by a hydraulic pump, which is designed as a durchschwenkbare hydraulic pump, through which a hydraulic flow can be generated in both directions, and that the hydraulic pump by means of a control device depending on a predetermined rope tension is controlled. The method can be used in particular for controlling the above-described construction machine can be used. This results in the advantages described above.

Die Erfindung wird nachfolgend anhand von bevorzugten Ausführungsbeispielen weiter beschrieben, welche schematisch in den Figuren dargestellt sind. In den Figuren zeigen:

Fig. 1:
eine schematische Ansicht einer erfindungsgemäßen Baumaschine und
Fig. 2:
einen schematischen Hydraulikschaltplan für eine erfindungsgemäße Baumaschine.
The invention will be further described with reference to preferred embodiments, which are shown schematically in the figures. In the figures show:
Fig. 1:
a schematic view of a construction machine according to the invention and
Fig. 2:
a schematic hydraulic circuit diagram for a construction machine according to the invention.

Gemäß Fig. 1 ist eine erfindungsgemäße Baumaschine als ein Bohrgerät 50 mit einem Mast 52 gezeigt, entlang welchem an einer nicht-dargestellten Mastführung ein Vorschubschlitten 59 mit einem Drehbohrantrieb 58 vertikal verschiebbar gelagert ist. Zum vertikalen Verfahren des Vorschubschlittens 59 ist ein Hydraulikzylinder als Stellantrieb 66 angeordnet, welcher von einem ersten Hydraulikantrieb 71 angetrieben ist.According to Fig. 1 a construction machine according to the invention is shown as a drill 50 with a mast 52, along which a feed carriage 59 is mounted vertically displaceable with a rotary drilling drive 58 on a mast guide, not shown. For vertical movement of the feed carriage 59, a hydraulic cylinder is arranged as an actuator 66, which is driven by a first hydraulic drive 71.

Der Drehbohrantrieb 58 weist eine Hohlwelle auf, durch welche in bekannter Weise eine Kellystange 56 ragt, an dessen unterem Ende ein Kastenbohrer als Werkzeug 54 befestigt ist. Über nicht-dargestellte Mitnehmerleisten und Riegeltaschen können ein Drehmoment sowie eine nach unten gerichtete Vorschubkraft von dem Drehbohrantrieb 58 und an dem Vorschubschlitten 59 auf die Kellystange 56 und damit auf das Werkzeug 54 aufgebracht werden. Der hydraulische Drehbohrantrieb 58 wird über einen zweiten Hydraulikantrieb 72, also eine Hydraulikpumpe, in einem Hydraulikkreislauf mit Energie versorgt.The rotary drilling drive 58 has a hollow shaft, through which a Kelly bar 56 protrudes in a known manner, at the lower end of which a box drill is fastened as a tool 54. Torque and a downward feed force can be applied to the Kelly bar 56 and thus to the tool 54 by the rotary drilling drive 58 and on the feed carriage 59 by means of entrainment bars and latch pockets which are not shown. The hydraulic rotary drilling drive 58 is supplied with energy via a second hydraulic drive 72, that is to say a hydraulic pump, in a hydraulic circuit.

Die Kellystange 56 ist in bekannter Weise an einem Seil 64 aufgehängt, welches über eine erste Umlenkrolle 46 und eine zweite Umlenkrolle 47 an einem quer gerichteten Mastkopf 53 des Mastes 52 zu einer Seilwinde 1 geführt ist. Die Seilwinde 1 umfasst eine drehbar in einem Windenbock 62 gelagerte Seiltrommel 60. Die Seiltrommel 60 der Seilwinde 1 wird über eine Antriebswelle von einem Hydraulikmotor 3 angetrieben, welcher in einem Hydraulikkreislauf mit einer Hydraulikpumpe 10 angeschlossen ist.The Kelly bar 56 is suspended in a known manner on a cable 64, which is guided over a first guide roller 46 and a second guide roller 47 on a transversely oriented mast head 53 of the mast 52 to a winch 1. The cable winch 1 comprises a cable drum 60 rotatably mounted in a winch bracket 62. The cable drum 60 of the cable winch 1 is driven by a hydraulic motor 3 via a drive shaft, which is connected to a hydraulic pump 10 in a hydraulic circuit.

Die Hydraulikpumpe 10 sowie der als Hydraulikpumpe ausgebildete erste Hydraulikantrieb 71 für das Vorschubsystem und der zweite Hydraulikantrieb 72 für den Drehbohrantrieb 58 werden von einem Dieselmotor 70 über eine Getriebeeinrichtung 75 mit Energie versorgt.The hydraulic pump 10 and the first hydraulic drive 71 designed as a hydraulic pump for the feed system and the second hydraulic drive 72 for the rotary drilling drive 58 are powered by a diesel engine 70 via a transmission device 75 with energy.

Zur Sicherstellung einer gewünschten Seilspannkraft in den Betriebszuständen des Hebens und des Senkens des Werkzeuges 54 ist die Hydraulikpumpe 10 durchschwenkbar ausgebildet, insbesondere als eine Schrägscheiben-Hydraulikpumpe. Mittels der durchschwenkbaren Hydraulikpumpe (10) kann ein Hydraulikstrom in beide Richtungen des Hydraulikkreislaufes 20 erzeugt werden, so dass der Hydraulikmotor 3 und damit die Seilwinde 1 in beide Drehrichtungen betrieben werden können.To ensure a desired rope tensioning force in the operating states of lifting and lowering of the tool 54, the hydraulic pump 10 is designed to be swing-through, in particular as a swashplate hydraulic pump. By means of the durchschwenkbaren hydraulic pump (10), a hydraulic flow in both directions of the hydraulic circuit 20 are generated, so that the hydraulic motor 3 and thus the winch 1 can be operated in both directions of rotation.

Zur Steuerung der Seilwinde 1 ist eine Steuereinrichtung 40 vorgesehen, welche in Wirkverbindung mit der Hydraulikpumpe 10 steht. Über ein Dateneingabegerät kann gemäß einer ersten Steuervariante eine Soll-Seilspannkraft in die Steuereinrichtung eingegeben werden. Entsprechend der vorgegebenen Seilspannkraft wird die Hydraulikpumpe 10 und somit auch die Seilwinde 1 sowohl beim Heben als auch beim Senken des Werkzeuges 54 gesteuert.For controlling the winch 1, a control device 40 is provided, which is in operative connection with the hydraulic pump 10. Via a data input device, according to a first control variant, a desired cable tensioning force can be input to the control device. According to the predetermined cable tension force, the hydraulic pump 10 and thus also the winch 1 are controlled both during lifting and during lowering of the tool 54.

Bei der dargestellten Ausführungsform gemäß Fig. 1 ist zur Durchführung eine Regelung mit der Steuereinrichtung 40 an der ersten Umlenkrolle 46 eine Kraftmesseinrichtung 44 mit einem Kraftmessbolzen angeordnet. Hierdurch ist die Zugkraft an dem Seil 64 unmittelbar messbar, wobei die gemessenen Seilzugwerte an die Steuereinrichtung 40 zur Regelung der Hydraulikpumpe 10 gemäß einer weiteren Steuervariante weitergeleitet werden.In the illustrated embodiment according to Fig. 1 For performing a control with the control device 40 on the first deflection roller 46, a force measuring device 44 is arranged with a force measuring bolt. As a result, the tensile force on the cable 64 can be measured directly, with the measured cable pull values being forwarded to the control device 40 for regulating the hydraulic pump 10 in accordance with a further control variant.

Bei dem dargestellten Ausführungsbeispiel ist die Steuereinrichtung 40 noch mit weiteren Sensoreinrichtungen an der Antriebswelle der Seilwinde 1, dem Stellantrieb 66 des Vorschubsystems für den Drehbohrantrieb 58 sowie an dem Drehbohrantrieb 58 zur Steuerung der Hydraulikpumpe 10 verbunden. In der Steuereinrichtung 40 ist ein entsprechendes Programm hinterlegt, mit welchem anhand der übermittelten Messdaten eine zweckmäßige Seilspannkraft ermittelt und das Einhalten dieses Wertes gesteuert werden kann.In the illustrated embodiment, the control device 40 is still connected to other sensor devices on the drive shaft of the winch 1, the actuator 66 of the feed system for the rotary drilling drive 58 and the rotary drilling drive 58 for controlling the hydraulic pump 10. In the control device 40, a corresponding program is deposited, with which an appropriate cable tension determined on the basis of the transmitted measurement data and the compliance of this value can be controlled.

Gemäß dem Hydraulikschaltplan nach Fig. 2, welcher sich insbesondere auf die Baumaschine nach Fig. 1 bezieht, wird die Seilwinde 1, mit der das Werkzeug 54 betätigt wird, von einem im Schluckvolumen verstellbaren, in zwei Drehrichtungen betreibbaren Hydraulikmotor 3 angetrieben. Der Hydraulikmotor 3 wird in einem geschlossenen Hydraulikkreislauf betrieben, der von einer verstellbaren Hydraulikpumpe 10 gespeist wird. Die Drehrichtung des Hydraulikmotors 3 wird durch die Förderrichtung der Hydraulikpumpe 10 bestimmt. Da sich das Hydrauliköl im geschlossenen Kreislauf aufgrund der auftretenden Reibungsverluste erwärmt, kann aus dem geschlossenen Hydraulikkreislauf mittels eines Abzweigventiles 9 andauernd oder zu vorgegebenen Zeitpunkten eine bestimmte Ölmenge abgezweigt und einem Hydrauliktank zugeführt werden. Der Inhalt des Hydrauliktanks kann gekühlt werden. Über eine vorhandene Speisepumpe wird der dadurch entstehende Hydraulikölverlust wieder ausgeglichen.According to the hydraulic circuit diagram Fig. 2 , which in particular to the construction machine Fig. 1 relates, the winch 1, with which the tool 54 is actuated, driven by a variable in the displacement volume, operable in two directions of rotation hydraulic motor 3. The hydraulic motor 3 is operated in a closed hydraulic circuit, which is fed by an adjustable hydraulic pump 10. The direction of rotation of the hydraulic motor 3 is determined by the conveying direction of the hydraulic pump 10. Since the hydraulic oil is heated in a closed circuit due to the friction losses occurring, can be diverted from the closed hydraulic circuit by means of a branch valve 9 continuously or at predetermined times a certain amount of oil and fed to a hydraulic tank. The contents of the hydraulic tank can be cooled. An existing feed pump compensates for the resulting hydraulic oil loss.

Über ein erstes elektroproportionales 3-2-Wegeventil 5 wird mittels einer Magnetverstellung ein Schwenkwinkel des Hydraulikmotors 3 zwischen einem minimalen und einem maximalen Schluckvolumen einstellt. Darüber hinaus wird mittels eines zweiten 3-2-Wegventils 4 eine Druckabschneidung für die Einstellung des Schwenkwinkels des Hydraulikmotors 3 realisiert.A swivel angle of the hydraulic motor 3 between a minimum and a maximum displacement is set by means of a magnetic adjustment via a first electroproportional 3-2-way valve 5. In addition, by means of a second 3-2-way valve 4, a pressure cut for the adjustment of the pivot angle of the hydraulic motor 3 is realized.

Ein Druckschalter 6 zeigt der Steuereinrichtung einen gesättigten Kreislauf an. Ist dies beispielsweise wegen eines Schlauchbruches nicht der Fall, so wird keine Freigabe zur Windenfunktion durch die Steuereinrichtung erteilt. Eine Halte- oder Feststellbremse 2 bleibt in diesem Fall geschlossen. Ein Rückschlagventil 18 dient dazu, bei plötzlichem Druckverlust in Folge von Leitungsbruch die Feststellbremse 2 an der Seilwinde 1 einfallen zu lassen. Ein Shuttleventil 7 mit einem vorgeschalteten gesteuerten Ventil 8 dient dazu, die Feststellbremse 2 im Normalbetrieb mit einer bestimmten Verzögerung zu lüften und zu entlüften, derart, dass eine schlupffreie Lastübergabe zwischen Feststellbremse 2 und dem Hydraulikmotor 10 und umgekehrt sichergestellt wird. Als Eingangssignalgeber für die Steuereinrichtung dient ein Druckaufnehmer 17.A pressure switch 6 indicates the controller to a saturated circuit. If this is not the case, for example because of a hose breakage, no release for the winch function is issued by the control device. A holding or parking brake 2 remains closed in this case. A check valve 18 serves to make the parking brake 2 on the winch 1 in case of sudden pressure loss as a result of line break. A shuttle valve 7 with an upstream controlled valve 8 is used to ventilate the parking brake 2 in normal operation with a certain delay and to vent, such that a slip-free load transfer between parking brake 2 and the hydraulic motor 10 and vice versa is ensured. As an input signal generator for the control device is a pressure transducer 17th

Die als durchschwenkbare Schrägscheibenpumpe ausgebildete Hydraulikpumpe 10 wird über ein Ansteuerventil 11 angesteuert, wobei ein Steuerkolben 16 direkt mechanisch mit der Hydraulikpumpe 10 verbunden ist. Ein erstes Druckbegrenzungsventil 13 sichert die Hochdruckseite der Hydraulikpumpe 10 gegen einen maximalen Druck ab. Über ein zweites Druckbegrenzungsventil 14 wird eine Druckabschneidung der Hydraulikpumpe 10 bei maximalem Betriebsdruck durchgeführt. Ein drittes Druckbegrenzungsventil 15 sichert die Hydraulikpumpe 10 analog wie das erste Druckbegrenzungsventil 13 auf der Niederdruckseite ab. Die Vorsteuerung der Anordnung wird über einen Einspeisedruck 12 von 35 bar betrieben.The trained as durchschwenkbare swash plate hydraulic pump 10 is controlled by a control valve 11, wherein a control piston 16 is mechanically connected directly to the hydraulic pump 10. A first pressure relief valve 13 secures the high pressure side of the hydraulic pump 10 against a maximum pressure. Via a second pressure relief valve 14, a pressure cut off of the hydraulic pump 10 is performed at maximum operating pressure. A third pressure-limiting valve 15 secures the hydraulic pump 10 in the same way as the first pressure-limiting valve 13 on the low-pressure side. The pilot control of the arrangement is operated via a feed pressure 12 of 35 bar.

Claims (10)

Baumaschine, insbesondere Bohrgerät (50), mit einem Mast (52), entlang welchem ein Werkzeug (54) bewegbar gelagert ist, wobei das Werkzeug (54) an einem Seil (64) aufgehängt ist, welches zum Heben und Senken des Werkzeuges (54) mittels einer Seilwinde (1) betätigbar ist, welche von einem Hydraulikmotor (3) als Windenantrieb drehend angetrieben ist,
dadurch gekennzeichnet,
dass der Hydraulikmotor (3) in einem Hydraulikkreislauf (20) von einer Hydraulikpumpe (10) angetrieben ist, welche als eine durchschwenkbare Hydraulikpumpe (10) ausgebildet ist, durch welche ein Hydraulikstrom in beide Richtungen erzeugbar ist, und
dass zur Steuerung der Hydraulikpumpe (10) eine Steuereinrichtung (40) vorgesehen ist, welche ausgebildet ist, die Hydraulikpumpe (10) abhängig von einer vorgebbaren Seilspannkraft zu steuern.Construction machine, in particular drill (50), with a mast (52), along which a tool (54) is movably mounted, wherein the tool (54) is suspended on a cable (64), which is used to raise and lower the tool (54 ) is actuated by means of a winch (1) which is driven in rotation by a hydraulic motor (3) as a winch drive,
characterized,
that the hydraulic motor (3) in a hydraulic circuit (20) by a hydraulic pump (10) is driven, which is designed as a durchschwenkbare hydraulic pump (10) through which a hydraulic flow can be generated in both directions, and
in that for controlling the hydraulic pump (10) a control device (40) is provided, which is designed to control the hydraulic pump (10) as a function of a predefinable cable tensioning force. Baumaschine nach Anspruch 1,
dadurch gekennzeichnet,
dass durch die Steuereinrichtung (40) ein Schwenkwinkel der Hydraulikpumpe (10) verstellbar ist.Construction machine according to claim 1,
characterized,
in that a swivel angle of the hydraulic pump (10) can be adjusted by the control device (40). Baumaschine nach Anspruch 1 oder 2,
dadurch gekennzeichnet,
dass eine Kraftmesseinrichtung (44) zum Messen der Seilzugkraft vorgesehen ist und
dass die Kraftmesseinrichtung (44) mit der Steuereinrichtung (40) zum Steuern/Regeln der Hydraulikpumpe (10) abhängig von gemessenen Seilzugkraftwerten in Verbindung steht.Construction machine according to claim 1 or 2,
characterized,
that a force measuring device (44) is provided for measuring the cable pull force, and
in that the force measuring device (44) is connected to the control device (40) for controlling / regulating the hydraulic pump (10) in dependence on measured cable pull force values. Baumaschine nach Anspruch 3,
dadurch gekennzeichnet,
dass die Kraftmesseinrichtung (44) einen Kraftmessbolzen an einer Umlenkrolle (46) des Seiles (64) oder eine Kraftmesslasche an einem Windenbock (62) der Seilwinde (1) aufweist.Construction machine according to claim 3,
characterized,
in that the force-measuring device (44) has a force-measuring bolt on a deflection roller (46) of the cable (64) or a force-measuring lug on a winch bracket (62) of the cable winch (1). Baumaschine nach einem der Ansprüche 1 bis 4,
dadurch gekennzeichnet,
dass die vorgebbare Seilspannkraft durch die Steuereinrichtung (40) veränderbar ist.Construction machine according to one of claims 1 to 4,
characterized,
that the predeterminable cord tension force is variable by the control means (40). Baumaschine nach Anspruch 5,
dadurch gekennzeichnet,
dass durch die Steuereinrichtung (40) die Seilspannkraft abhängig von Verstellparametern veränderbar ist.Construction machine according to claim 5,
characterized,
that by the control device (40), the cable clamping force can be varied depending on adjusting parameters. Baumaschine nach Anspruch 6,
dadurch gekennzeichnet,
dass mindestens ein Verstellparameter ausgewählt ist aus den Parametern Seilgeschwindigkeit, Vorschubgeschwindigkeit, Vorschubkraft, und/oder Arbeitsverfahren, insbesondere einer Betriebsart eines Drehbohrantriebes (58).Construction machine according to claim 6,
characterized,
that at least one adjustment parameter is selected from the parameters cable speed, feed rate, feed force, and / or working method, in particular an operating mode of a rotary drilling drive (58). Baumaschine nach einem der Ansprüche 1 bis 7,
dadurch gekennzeichnet,
dass der Hydraulikkreislauf (20) geschlossen und mit einem Abzweigventil (9) ausgebildet ist, über welches gesteuert Hydraulikflüssigkeit zur Kühlung abführbar ist.Construction machine according to one of claims 1 to 7,
characterized,
that the hydraulic circuit (20) is closed and formed with a branch valve (9), via which controlled hydraulic fluid can be discharged for cooling. Baumaschine nach einem der Ansprüche 1 bis 8,
dadurch gekennzeichnet,
dass die Baumaschine als ein Bohrgerät (50) ausgebildet ist, an dessen Mast (52) ein Drehbohrantrieb (58) verstellbar gelagert ist, welche über mindestens einen Stellantrieb (66) entlang des Mastes (52) verfahrbar ist.Construction machine according to one of claims 1 to 8,
characterized,
in that the construction machine is designed as a drilling device (50), on the mast (52) of which a rotary drilling drive (58) is adjustably mounted, which can be moved along at least one actuator (66) along the mast (52). Verfahren zum Steuern einer Baumaschine, insbesondere nach einem der Ansprüche 1 bis 9,
mit einem Mast (52), entlang welchem ein Werkzeug (54) bewegbar gelagert ist, wobei das Werkzeug (54) an einem Seil (64) aufgehängt ist, welches zum Heben und Senken des Werkzeuges (54) mittels einer Seilwinde (1) betätigt wird, welche von einem Hydraulikmotor (3) als Windenantrieb drehend angetrieben wird, dadurch gekennzeichnet,
dass der Hydraulikmotor (3) in einem Hydraulikkreislauf (20) von einer Hydraulikpumpe (10) angetrieben wird, welche als eine durchschwenkbare Hydraulikpumpe (10) ausgebildet ist, durch welche ein Hydraulikstrom in beide Richtungen erzeugbar ist, und
dass die Hydraulikpumpe (10) mittels einer Steuereinrichtung (40) abhängig von einer vorgebbaren Seilspannkraft gesteuert wird.Method for controlling a construction machine, in particular according to one of claims 1 to 9,
with a mast (52), along which a tool (54) is movably mounted, wherein the tool (54) is suspended on a cable (64) which operates for raising and lowering the tool (54) by means of a winch (1) which is driven in rotation by a hydraulic motor (3) as a winch drive, characterized in that
that the hydraulic motor (3) in a hydraulic circuit (20) by a hydraulic pump (10) is driven, which is designed as a durchschwenkbare hydraulic pump (10) through which a hydraulic flow can be generated in both directions, and
that the hydraulic pump (10) is controlled by a control device (40) depending on a predeterminable cord tension force.
EP15166605.4A 2014-07-15 2015-05-06 Construction machine and method for controlling a construction machine Active EP2975208B1 (en)

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WO2023216406A1 (en) * 2022-05-12 2023-11-16 徐州徐工基础工程机械有限公司 Steel wire rope protection control system and method for rotary drilling rig

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DE102021209896A1 (en) 2021-09-08 2023-03-09 Robert Bosch Gesellschaft mit beschränkter Haftung PROCEDURE FOR STARTING IN A HYDROSTATIC DRIVE WITH BRAKE
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EP4174283A1 (en) * 2021-10-29 2023-05-03 BAUER Maschinen GmbH Construction machine and method for operating the construction machine
WO2023216406A1 (en) * 2022-05-12 2023-11-16 徐州徐工基础工程机械有限公司 Steel wire rope protection control system and method for rotary drilling rig

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DE102014109918A1 (en) 2016-01-21
TR201908050T4 (en) 2019-06-21
ES2730323T3 (en) 2019-11-11
EP2975208B1 (en) 2019-03-20

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