EP2975208A2 - Engin et procédé de commande d'un engin - Google Patents

Engin et procédé de commande d'un engin 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
Authority
EP
European Patent Office
Prior art keywords
hydraulic
construction machine
force
hydraulic pump
cable
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.)
Granted
Application number
EP15166605.4A
Other languages
German (de)
English (en)
Other versions
EP2975208A3 (fr
EP2975208B1 (fr
Inventor
Matthias Osterland
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 Maschinen GmbH
Original Assignee
Bauer Maschinen 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
Family has litigation
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Application filed by Bauer Maschinen GmbH filed Critical Bauer Maschinen GmbH
Publication of EP2975208A2 publication Critical patent/EP2975208A2/fr
Publication of EP2975208A3 publication Critical patent/EP2975208A3/fr
Application granted granted Critical
Publication of EP2975208B1 publication Critical patent/EP2975208B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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)
  • Fluid Mechanics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Earth Drilling (AREA)
  • Jib Cranes (AREA)
  • Control And Safety Of Cranes (AREA)
EP15166605.4A 2014-07-15 2015-05-06 Engin et procédé de commande d'un engin Active EP2975208B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102014109918.4A DE102014109918A1 (de) 2014-07-15 2014-07-15 Baumaschine und Verfahren zum Steuern einer Baumaschine

Publications (3)

Publication Number Publication Date
EP2975208A2 true EP2975208A2 (fr) 2016-01-20
EP2975208A3 EP2975208A3 (fr) 2016-04-27
EP2975208B1 EP2975208B1 (fr) 2019-03-20

Family

ID=53396154

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15166605.4A Active EP2975208B1 (fr) 2014-07-15 2015-05-06 Engin et procédé de commande d'un engin

Country Status (4)

Country Link
EP (1) EP2975208B1 (fr)
DE (1) DE102014109918A1 (fr)
ES (1) ES2730323T3 (fr)
TR (1) TR201908050T4 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3293351A1 (fr) 2016-09-07 2018-03-14 Soilmec S.p.A. Machine de forage
EP4174283A1 (fr) * 2021-10-29 2023-05-03 BAUER Maschinen GmbH Machine de construction et procédé de fonctionnement de la machine de construction
WO2023216406A1 (fr) * 2022-05-12 2023-11-16 徐州徐工基础工程机械有限公司 Système et procédé de commande de protection de câble en fil d'acier pour un appareil de forage rotatif

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3228756B2 (fr) 2016-04-04 2023-03-01 BAUER Maschinen GmbH Machine de travail et procede destine au traitement d'un sol
DE102017120490A1 (de) 2017-09-06 2019-03-07 Liebherr-Components Biberach Gmbh Freifallwinde
DE102021209896A1 (de) 2021-09-08 2023-03-09 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum anfahren in einem hydrostatischen antrieb mit bremse
WO2023285331A1 (fr) 2021-07-14 2023-01-19 Robert Bosch Gmbh Procédé de démarrage dans un entraînement hydrostatique avec frein
EP4215717B1 (fr) * 2022-01-19 2023-12-06 BAUER Maschinen GmbH Machine de construction et procédé de fonctionnement d'une machine de construction

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3864915A (en) 1972-07-28 1975-02-11 Richier Sa Hydraulic system for displacing a load with automatic hydrostatic balancing
DE10006407A1 (de) 2000-02-14 2001-08-23 Brueninghaus Hydromatik Gmbh Hydrostatischer Antrieb für eine Winde
EP0947664B1 (fr) 1998-03-28 2004-08-25 BAUER Maschinen GmbH Procédé de controle d'une tige de forage télescopique et dispositif de protection d'une tige de forage télescopique
DE10320946B4 (de) 2003-05-09 2005-05-04 Bauer Maschinen Gmbh Seilwindenanordnung und Verfahren zu deren Betrieb
EP1247778B1 (fr) 2001-04-02 2007-03-28 BAUER Maschinen GmbH Treuil
EP1862636A1 (fr) 2006-06-02 2007-12-05 BAUER Maschinen GmbH Engin de travaux publics, specialement un dispositif de forage
US20090127525A1 (en) 2007-11-20 2009-05-21 Lucas Teurlay Electronic Control for Winch Tension

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GB1264046A (en) * 1969-08-12 1972-02-16 Fairey Canada Ltd Vertical load transfer
DE2146586C3 (de) * 1971-09-17 1981-12-17 G.L. Rexroth Gmbh, 8770 Lohr Mit einer Konstantzug-Regelung versehener hydrostatischer Antrieb
US3960360A (en) * 1972-06-27 1976-06-01 Thomas L. Elliston Internally pressurized load supporting mast
US4180362A (en) * 1978-05-05 1979-12-25 The Boeing Company System to transfer cargo or passengers between platforms while undergoing relative motion
US5630477A (en) * 1995-06-02 1997-05-20 Minatre William H Downcrowdable telescopic augering apparatus
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JP3869843B2 (ja) * 2005-01-18 2007-01-17 三井造船株式会社 トロール曳網装置およびその方法

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3864915A (en) 1972-07-28 1975-02-11 Richier Sa Hydraulic system for displacing a load with automatic hydrostatic balancing
EP0947664B1 (fr) 1998-03-28 2004-08-25 BAUER Maschinen GmbH Procédé de controle d'une tige de forage télescopique et dispositif de protection d'une tige de forage télescopique
DE10006407A1 (de) 2000-02-14 2001-08-23 Brueninghaus Hydromatik Gmbh Hydrostatischer Antrieb für eine Winde
EP1247778B1 (fr) 2001-04-02 2007-03-28 BAUER Maschinen GmbH Treuil
DE10320946B4 (de) 2003-05-09 2005-05-04 Bauer Maschinen Gmbh Seilwindenanordnung und Verfahren zu deren Betrieb
EP1862636A1 (fr) 2006-06-02 2007-12-05 BAUER Maschinen GmbH Engin de travaux publics, specialement un dispositif de forage
EP1862636B1 (fr) 2006-06-02 2011-01-05 BAUER Maschinen GmbH Engin de travaux publics, specialement un dispositif de forage
US20090127525A1 (en) 2007-11-20 2009-05-21 Lucas Teurlay Electronic Control for Winch Tension

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BAUFORUM24: "Streicher-Satvia Tiefbohranlage TB 1800 - bauma", YOUTUBE, 1 July 2010 (2010-07-01), XP055871294, Retrieved from the Internet <URL:https://www.youtube.com/watch?v=WKv3EVSBs94>
BOSCH REXROTH AG: "Variable Displacement Pump A4VG", PRODUCT DATA SHEET, 1 May 2003 (2003-05-01), pages 1 - 52, XP055871286
ELBERS G.: "Hydrostatische Antriebe für Schiffswinden", BROSCHURE DER FIRMA BRUENINGHAUS HYDROMATIK GMBH, 1 June 1998 (1998-06-01), pages 1 - 16, XP055871189
HEINRICH-OTTO BUJA: "Handbuch der Baugrunderkennung", 1 January 2009, article "E - Gerate und Werkzeuge", pages: 175 - 328, XP055871205, DOI: 10.1007/978-3-8348-9994-1_5
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3293351A1 (fr) 2016-09-07 2018-03-14 Soilmec S.p.A. Machine de forage
EP4174283A1 (fr) * 2021-10-29 2023-05-03 BAUER Maschinen GmbH Machine de construction et procédé de fonctionnement de la machine de construction
WO2023216406A1 (fr) * 2022-05-12 2023-11-16 徐州徐工基础工程机械有限公司 Système et procédé de commande de protection de câble en fil d'acier pour un appareil de forage rotatif

Also Published As

Publication number Publication date
EP2975208A3 (fr) 2016-04-27
DE102014109918A1 (de) 2016-01-21
EP2975208B1 (fr) 2019-03-20
ES2730323T3 (es) 2019-11-11
TR201908050T4 (tr) 2019-06-21

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