EP3361009A1 - Aushubsystem und -verfahren - Google Patents

Aushubsystem und -verfahren Download PDF

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Publication number
EP3361009A1
EP3361009A1 EP18156777.7A EP18156777A EP3361009A1 EP 3361009 A1 EP3361009 A1 EP 3361009A1 EP 18156777 A EP18156777 A EP 18156777A EP 3361009 A1 EP3361009 A1 EP 3361009A1
Authority
EP
European Patent Office
Prior art keywords
soil
agitator
arrangement
excavation
agitation
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Withdrawn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
EP18156777.7A
Other languages
English (en)
French (fr)
Inventor
G. Gregory Penza
George Lohr
III Robert E. Kodadek
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.)
ULC Robotics Inc
Original Assignee
ULC Robotics Inc
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 ULC Robotics Inc filed Critical ULC Robotics Inc
Publication of EP3361009A1 publication Critical patent/EP3361009A1/de
Withdrawn legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
    • E02F3/8816—Mobile land installations
    • E02F3/8825—Mobile land installations wherein at least a part of the soil-shifting equipment is mounted on a dipper-arm, backhoes or the like
    • 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
    • E02F3/06—Dredgers; Soil-shifting machines mechanically-driven with digging screws
    • 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
    • E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
    • E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
    • E02F3/92—Digging elements, e.g. suction heads
    • E02F3/9212—Mechanical digging means, e.g. suction wheels, i.e. wheel with a suction inlet attached behind the wheel
    • E02F3/9225—Mechanical digging means, e.g. suction wheels, i.e. wheel with a suction inlet attached behind the wheel with rotating cutting elements
    • E02F3/9231—Suction wheels with axis of rotation parallel to longitudinal axis of the suction pipe
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F5/00—Dredgers or soil-shifting machines for special purposes
    • E02F5/003—Dredgers or soil-shifting machines for special purposes for uncovering conduits
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F7/00—Equipment for conveying or separating excavated material
    • 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
    • E02F9/2004—Control mechanisms, e.g. control levers
    • 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
    • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units

Definitions

  • the present disclosure relates to an excavation system and method.
  • Utility companies and associated service providers often need to access buried infrastructure such as gas mains, electrical service lines, and water and sewer systems.
  • buried infrastructure such as gas mains, electrical service lines, and water and sewer systems.
  • At least some embodiments described herein may include an excavation system having a soil-agitation arrangement including an agitator operable to disturb soil to facilitate removal of the disturbed soil from the ground.
  • a vacuum arrangement may be operable to remove the disturbed soil from the ground, and a sensor arrangement including at least one sensor may be configured to detect a presence of at least one type of buried infrastructure or obstructions-including rocks, debris, buried objects, etc.-in the ground.
  • a shroud arrangement including a shroud disposed over at least a portion of the agitator may be movable relative to the agitator to selectively cover and uncover at least a portion of the agitator.
  • At least some embodiments described herein may include a control system including at least one controller and configured to control the operation of at least the soil-agitation arrangement and the vacuum arrangement.
  • the shroud arrangement may be configured to communicate with the control system to provide information related to a reaction force experienced by the shroud.
  • a sensor arrangement may be configured to communicate with the control system to provide information related to the presence of the at least one type of buried infrastructure and the status of the excavation system, including the detection of vacuum levels.
  • At least some embodiments described herein may include an excavation system having a soil-agitation arrangement including an agitator with a cutting portion operable to disturb soil to facilitate removal of the disturbed soil from the ground.
  • the soil-agitation arrangement may have a cover portion at least partially surrounding the cutting portion of the agitator when the soil-agitation arrangement operates.
  • the excavation system may further have a vacuum arrangement operable to remove the disturbed soil from the ground.
  • At least some embodiments described herein may include an excavation system having a soil-agitation arrangement including an agitator operable to disturb soil to facilitate removal of disturbed soil from the ground.
  • the soil-agitation arrangement may also have a force-sensitive portion configured such that damage to a buried infrastructure during operation of the agitator is inhibited.
  • the excavation system may also have a vacuum arrangement operable to remove the disturbed soil from the ground.
  • At least some embodiments described herein may include an excavation system that includes a soil-agitation arrangement including an agitator operable to disturb soil to facilitate removal of disturbed soil from the ground.
  • the soil-agitation arrangement may further including a flexibly movable portion configured such that damage to a buried infrastructure during operation of the agitator is inhibited.
  • the excavation system may also include a vacuum arrangement operable to remove the disturbed soil from the ground.
  • FIG. 1 shows an excavation system 10 in accordance with embodiments described herein.
  • the excavation system 10 includes a drive motor assembly 12-which, in this embodiment, includes a drill motor 13-a support structure 14 for the drill motor 13, a drive tube assembly 16, and a cover portion or shroud 18.
  • a driving sprocket 20 is configured to be rotated by the drill motor 13.
  • a chain or other drive-belt member connects the driving sprocket 20 with a driven sprocket 22 that is part of the drive tube assembly 16.
  • Illustrated partly schematically in Figure 1 is a sensor arrangement 23, forming at least a part of a sensor system, and which includes one or more sensors configured to detect the presence of buried infrastructure.
  • the sensor arrangement 23 may include a Hall effect sensor to detect the presence of magnetic flux, indicating a buried electrical line.
  • the sensor arrangement 23 may include an inductive sensor to detect the presence of ferrous metals, such as might be used in a wall of a gas main. As indicated by the dashed arrow, the sensor arrangement 23 is configured to output signals and provide information related to the buried infrastructure to a control system.
  • FIG 2 shows an exploded view of the excavation system 10 with many of the fasteners and other small components removed for clarity.
  • the excavation system 10 includes a drill motor clamp 24 and a drill motor support 26.
  • An adapter 28 is secured on the drill motor 13, for example, with a Morse taper fit.
  • a drive shaft 30 is secured in the adapter 28 and is connected to the driving sprocket 20 with a shaft key 32.
  • the motor drive assembly 12 further includes top and bottom support plates 34, 36, each of which has a respective bearing 38, 40 to support and facilitate rotation of the adapter 28 and the driving sprocket 20.
  • motor drive assembly 12 is illustrated and described in Figures 1 and 2 as being positioned outside of the drive tube assembly 16, and connected to it through a chain-drive mechanism, other embodiments may include different types of power transfer arrangements, and may include a drive motor assembly inside or otherwise in-line with the drive tube assembly 16.
  • the drive tube assembly 16 includes a drive tube 62 and a support tube 64 configured to be disposed on the outside of the drive tube 62.
  • An agitator which in this embodiment is an auger 66, is configured to be attached to the drive tube 62; a coupling 68 and O-ring 70 help facilitate this attachment.
  • the auger 66 includes a cutting portion 67, which in this embodiment includes rotary blades.
  • the drive motor assembly 12 and drive tube assembly 16 make up a part of a soil-agitation arrangement that includes the auger 66, and is configured to disturb the soil after the asphalt or concrete top layer has been removed so that the soil can be removed more easily.
  • agitator in the embodiment illustrated in Figure 2 is an auger
  • other embodiments some of which are described and illustrated herein, contemplate the use of different agitators-e.g., different types of blade arrangements, tines, or cups, just to name a few.
  • the embodiment illustrated in Figures 1 and 2 uses a chain or belt to transfer torque from the motor 13 to the drive tube 62; however, in other embodiments a direct-drive system may be used.
  • a motor may drive the drive tube assembly 16 or the auger 66 directly, without the use of a chain or belt.
  • Gears, clutches, and other mechanical systems may be used to transfer torque from a motor to a driven component such as the drive tube assembly 16 or auger 66.
  • a sensor arrangement 23 may be attached to a bottom surface of the top drive plate 44, in other embodiments, a sensor arrangement may be mounted or embedded in the bottom face or the sides of a shroud, such as the shroud 18, or a vertical section of the tubing, such as the drive tube 62 or the support tube 64.
  • the auger 66 extends beyond an end 72 of the shroud 18.
  • the shroud 18 completely covers the auger 66 as shown in Figure 1 ; this is because the shroud 18 is flexibly movable with respect to the auger 66, and in particular, in the illustrated embodiment, it is movable up and down the support tube 64. This configuration helps to ensure that the auger 66 will not inadvertently contact buried infrastructure while it is in the process of disturbing the soil for removal.
  • a cover portion such as the shroud 18, may be attached to a support tube or other portion of an excavation system with a suspension system that communicates with a control system to provide feedback regarding resistance-i.e., a reaction force on the shroud 18-provided by the ground or objects in the ground during the excavation.
  • a vacuum arrangement includes the drive tube 62, which is generally hollow, and the vacuum coupling tube 54, which is configured to receive a hose or other conduit connected to a vacuum-see Figure 1 indicating a remotely-located vacuum.
  • the vacuum may be disposed on a truck or mobile platform that is also configured to store the soil and other debris from the ground so that it can be reintroduced into the excavation after the work is done, or moved to an off-site location.
  • Figure 3 shows a portion of an excavation system 74 in accordance with embodiments described herein.
  • Figure 3 shows a portion of a support structure or support tube 76 disposed on the outside of an inner tube 78, which may be a drive tube similar to the drive tube 62, or it may just provide a conduit for soil and other debris to be vacuumed away from the excavation.
  • a drive mechanism may be disposed at least partially within the inner tube 78 to drive an auger or other agitator 79 at least partially covered by a cover or shroud 80.
  • the shroud 80 is attached to the support tube 76 via a hinge 82 and a linear actuator, which in this embodiment is a linear actuating cylinder 84.
  • the cylinder 84 may, for example, be an electrical, pneumatic, or hydraulic actuator system. As shown in Figure 3 , the cylinder 84 is connected to a control system shown schematically at 86. The control system 86 may also receive feedback from a sensor arrangement, such as the sensor arrangement 23 shown in Figure 1 .
  • the control system 86 may receive any number of inputs and be preprogrammed with various logic algorithms, including artificial intelligence architecture, to make decisions on an excavation being performed by the excavation system 74.
  • the control system 86 may then output signals to control various aspects of the excavation system 74, such as how much force to apply to the soil, and what angle to tilt the shroud 80 as the excavation is proceeding. Because the shroud 80 tilts at an angle relative to the support tube 76, excavation can proceed at various angles without having to manipulate the entire excavation system 74. This may further help to protect buried infrastructure as the agitator 79 is operated because the shroud 80 can be angled with an orientation to protect the infrastructure from the action of the agitator 79.
  • the shroud 80 shown in Figure 3 has an end 87 with a flat edge, similar to the end 72 of the shroud 18 shown in Figures 1 and 2 .
  • an end of the shroud may be configured with a scalloped edge 89 such as shown by the dashed line in Figure 3 .
  • Having a shroud with a scalloped or other non-flat edge may avoid having the shroud seal to the ground while a high-strength vacuum is being pulled.
  • the irregularities in an edge, such as the edge 89 may also enable better penetration into hard-packed soil.
  • the end 72 of the shroud 18 is shown with a flat edge, it is understood that it and any other embodiments described herein may also have a non-flat edge on a shroud.
  • Figure 4 shows a portion of an excavation system 88 that includes a support structure including a support tube 90 and a cover portion or shroud 92, which at least partially surrounds a cutting portion of an agitator 94.
  • the agitator 94 may have blades such as the auger 66, or the cutting portion may include teeth or other cutters, such as the cutters 124 shown in Figures 7A and 7B and described below.
  • the shroud 92 is connected to the support tube 90 via cylinders 96, 98.
  • the cylinders 96, 98 may provide a rigid attachment between the cover portion 92 and the support structure 90.
  • the cover portion 92 may be convenient to have a bottom edge of the cover portion 92 be scalloped, such as shown on the cover portion 80 in Figure 3 .
  • the cover portion 92 may cover the whole of the cutting portion of an agitator, such as the agitator 94. In doing so, the cover portion 92 protects an underground infrastructure, such as a pipeline.
  • the cylinders 96, 98 may be pressure-sensitive devices that communicate with a control system 100, which itself may communicate with a sensor system, such as by communicating with the sensor arrangement 23 shown in Figure 1 .
  • the cylinders 96, 98 provide a suspension for the shroud 92, and provide feedback information to the control system 100 related to a reaction force experienced by the shroud 92 as it is contacting an object, and in this way the sensor arrangement 23 may facilitate movement of the cover portion 92.
  • the cylinders 96, 98 may be controlled by the control system 100 to allow the shroud 92 to move upward to expose and position the cutting portion of the agitator 94.
  • control system 100 may take any number of actions, including keeping the shroud 92 over the agitator 94, changing a direction of the excavation away from the object of resistance, or even discontinuing operation of the agitator 94.
  • a method in accordance with embodiments described herein may include some or all of the following steps, which reference the illustrated systems described above, and which may be performed in the order indicated or in a different order depending on the particular application.
  • the excavation system 10 may be moved into position and connected to a control system and vacuum if the connections have not already been made.
  • a sensor system may provide feedback immediately to the control system to indicate the presence of buried infrastructure. Absent any immediate concerns of contacting infrastructure, the drive motor assembly 12 may be operated to drive the auger 66 or other agitator.
  • the shroud 18 may be moved away from the auger 66 to allow it to disturb the soil as a vacuum pulls the soil up through the drive tube 62, the vacuum coupling tube 54, and ultimately to a vacuum system for collection.
  • a shroud such as the shroud 18, does not move out of the way, but rather contacts the object first and provides protection from the auger.
  • the shroud is configured with a tilt mechanism such as shown in Figure 3 , it may be oriented to avoid contact between the auger 66 and buried infrastructure, and in the case of feedback received from a suspension system such as shown in Figure 4 , the auger 66 may be moved away from detected infrastructure or even turned off.
  • FIG. 5 shows an excavation system 102 in accordance with embodiments described herein.
  • the excavation system 102 includes a mobile robotic unit 104 having an articulating arm 106.
  • the articulating arm 106 has a sensor array 108 attached to it.
  • the sensor array 108 is locating and identifying underground infrastructure indicated by the conduits 110, 112, 114. Once the particular infrastructure is located and identified, a portion of the pavement 116 will be removed so that soil and other material can be removed from the ground using a system, such as the system 10 described above.
  • Figure 6 shows the mobile robotic unit having an excavator 118 attached to it.
  • the excavator 118 includes a soil agitator and vacuum arrangement similar to that which was described above in conjunction with the excavation system 10.
  • Figures 5 and 6 show how excavation systems, such as the excavation system 10, can be used in conjunction with mobile robotic units, which may be deployed from a large truck.
  • the truck may then be the point of operation for a technician and contain all of the control systems and monitors required to use the excavation system and perform the steps described above.
  • FIG. 7A shows a bladder arrangement 120 forming a portion of an excavation system in accordance with embodiments described herein. More specifically, the bladder arrangement 120 is part of a soil-agitation arrangement that may be used in accordance with excavation systems described above.
  • the bladder arrangement 120 includes an inflatable bladder 122 having numerous cutters 124 disposed on an outside thereof-not all of the cutters 124 are labeled in the drawing figure.
  • the bladder 122 may be sealed at one end 126 and have another end 128 open to allow air to enter to inflate the bladder 122 as shown in Figure 7B .
  • the bladder arrangement 120 acts as a compliant auger that can agitate the soil, but which will yield to a rigid structure such as buried infrastructure.
  • Figure 8 shows the bladder arrangement 120 having a sleeve 130 disposed over a portion of the outside surface 132 of the bladder 122.
  • the sleeve 130 may be made from a flexible material that is resistant to wear and protects the bladder 122 from puncture.
  • the sleeve 130 may be made from a steel mesh material, which still allows the bladder 122 to inflate, but protects the outside surface 132.
  • FIG. 9 shows a portion of an excavation system 134 in accordance with embodiments described herein.
  • the excavation system 134 includes a vacuum arrangement 135 having a vacuum tube 136 and a vacuum hood 138, which may be connected to a vacuum as described above.
  • a portion of a support structure 140 is also shown, and may extend for some or all of length of the vacuum tube 136.
  • the excavation system 134 also includes a soil-agitation arrangement 142, which includes an agitator configured as an elongate member, which in this embodiment is a flexible elongate member or shaft 144, having a cutting portion in the form of a number of cutting elements 146 disposed on its outside surface 148.
  • the flexible shaft 144 has conformed to a curved outside surface of a pipeline 150.
  • the soil-agitation arrangement 142 can be moved along a length of the pipeline 150 to clear away soil and other ground material in very close proximity to an outside surface of the pipeline.
  • the shaft 144 is flexible, the soil-agitation arrangement 142 can operate in such a way that during contact between the pipeline 150 and the soil-agitation arrangement 142, damage to the pipeline 150 is inhibited-i.e., completely eliminated or significantly reduced.
  • FIG 10 shows an excavation system 152 in accordance with embodiments described herein.
  • the excavation system 152 includes a small backhoe 154 having an articulating arm 156. Attached to the arm 156 is a soil-agitation arrangement 158 that includes a motor assembly 160 mounted on a support structure 162.
  • the soil-agitation arrangement 158 also includes a tube assembly 164, which, similar to the tube assembly 16, includes a support tube 166 and may include a drive tube or other drive component positioned within the support tube 166.
  • a shroud 168 has been removed to reveal a mechanical agitator 170, which may be, for example, an auger such as described above in conjunction with Figures 1 and 2 .
  • the backhoe 154 also carries a vacuum arrangement 172 that is operable to remove soil disturbed by the agitator 170, which is then sucked through a tube 174 and collected in a tank 176. Also shown in Figure 10 is a display screen 178, which may be, for example, a touchscreen that provides inputs to a control system, or it may be an output device only that provides information regarding sensor feedback from a control system to the operator.
  • the excavation system 152 is mobile and self-contained for ease of access and operability at different locations.

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  • 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)
EP18156777.7A 2017-02-14 2018-02-14 Aushubsystem und -verfahren Withdrawn EP3361009A1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US201762458774P 2017-02-14 2017-02-14

Publications (1)

Publication Number Publication Date
EP3361009A1 true EP3361009A1 (de) 2018-08-15

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EP18156777.7A Withdrawn EP3361009A1 (de) 2017-02-14 2018-02-14 Aushubsystem und -verfahren

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EP (1) EP3361009A1 (de)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2586079A (en) 2019-08-02 2021-02-03 Rodradar Ltd A radar system for detecting profiles of objects, particularly in a vicinity of a machine work tool

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU757648A1 (ru) * 1978-06-19 1980-08-23 Novosibirsk Vnii Transp Всасывающее устройство землесосного снаряда
DE3710283A1 (de) * 1987-03-28 1988-10-06 Zueblin Ag Einrichtung zum abbau und abtransport von kontaminiertem erdreich
EP0368129A1 (de) * 1988-11-05 1990-05-16 VMB VESTA MASCHINENBAU GMBH & CO. KG Saugbagger
FR2789414A1 (fr) * 1999-02-04 2000-08-11 Tracto Services Dispositif de curage et d'entretien des fosses, notamment de bord de routes
NL1032308C2 (nl) * 2006-08-11 2008-02-12 Gerardus Maria Holleman Blootleginrichting voor in de grond aanwezige kabels.
KR20110053099A (ko) * 2009-11-13 2011-05-19 현대건설주식회사 준설물 분산 방지용 준설헤드 덮개장치 및 이를 구비한 준설헤드장치
WO2011073500A1 (en) * 2009-12-14 2011-06-23 Yhteisviejät Tamex Oy Cutter unit equipped with a pump
GB2533489A (en) * 2014-12-19 2016-06-22 Ulc Robotics Inc System and method for utility maintenance

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU757648A1 (ru) * 1978-06-19 1980-08-23 Novosibirsk Vnii Transp Всасывающее устройство землесосного снаряда
DE3710283A1 (de) * 1987-03-28 1988-10-06 Zueblin Ag Einrichtung zum abbau und abtransport von kontaminiertem erdreich
EP0368129A1 (de) * 1988-11-05 1990-05-16 VMB VESTA MASCHINENBAU GMBH & CO. KG Saugbagger
FR2789414A1 (fr) * 1999-02-04 2000-08-11 Tracto Services Dispositif de curage et d'entretien des fosses, notamment de bord de routes
NL1032308C2 (nl) * 2006-08-11 2008-02-12 Gerardus Maria Holleman Blootleginrichting voor in de grond aanwezige kabels.
KR20110053099A (ko) * 2009-11-13 2011-05-19 현대건설주식회사 준설물 분산 방지용 준설헤드 덮개장치 및 이를 구비한 준설헤드장치
WO2011073500A1 (en) * 2009-12-14 2011-06-23 Yhteisviejät Tamex Oy Cutter unit equipped with a pump
GB2533489A (en) * 2014-12-19 2016-06-22 Ulc Robotics Inc System and method for utility maintenance

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