EP4273363A1 - Arbeitsmaschine und verfahren zur sicheren arbeit davon - Google Patents

Arbeitsmaschine und verfahren zur sicheren arbeit davon Download PDF

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Publication number
EP4273363A1
EP4273363A1 EP23171787.7A EP23171787A EP4273363A1 EP 4273363 A1 EP4273363 A1 EP 4273363A1 EP 23171787 A EP23171787 A EP 23171787A EP 4273363 A1 EP4273363 A1 EP 4273363A1
Authority
EP
European Patent Office
Prior art keywords
force
operating machine
ground
dynamic
threshold value
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.)
Pending
Application number
EP23171787.7A
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English (en)
French (fr)
Inventor
Mauro Casagrande
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.)
Casagrande SpA
Original Assignee
Casagrande SpA
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 Casagrande SpA filed Critical Casagrande SpA
Publication of EP4273363A1 publication Critical patent/EP4273363A1/de
Pending legal-status Critical Current

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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
    • E21B7/027—Drills for drilling shallow holes, e.g. for taking soil samples or for drilling postholes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D7/00—Methods or apparatus for placing sheet pile bulkheads, piles, mouldpipes, or other moulds
    • E02D7/22—Placing by screwing down
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2033—Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin
    • 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
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)

Definitions

  • the present invention concerns an operating machine, herein understood as, for example, a crane, a drilling rig, a drilling machine, an excavator, or the like, and a method to make it work safely, above all, but not only, to prevent the operating machine from overturning or sinking into the ground, understood as any surface on which it rests and which can be a ground, a platform, an asphalt surface or the like.
  • an operating machine herein understood as, for example, a crane, a drilling rig, a drilling machine, an excavator, or the like, and a method to make it work safely, above all, but not only, to prevent the operating machine from overturning or sinking into the ground, understood as any surface on which it rests and which can be a ground, a platform, an asphalt surface or the like.
  • Operating machines as defined above, are known that can be used during the construction of civil works, for example for the excavation and/or the realization of foundations, in the construction of buildings, roads or other artefacts.
  • the ground may yield if the pressure exerted thereon, which hereafter and in the appended claims is defined as "ground pressure", by the operating machine exceeds the maximum allowed pressure value.
  • ground pressure the pressure exerted thereon
  • the pressure on the ground varies during the different work steps both as a function of the movements of the operating machine and based on the forces applied by the latter to the ground.
  • An operating machine is known from document US 2018/245304 in which the ground pressure exerted by it is calculated on the basis of detection devices that detect the applied loads.
  • the measured values are instantaneously compared with determinate threshold pressure values, obtained from the information related to the ground characteristics, beyond which the pressure can cause a yield of the ground and/or the overturning of the operating machine.
  • the instantaneous comparison, variable over time is shown to the operator of the operating machine with a dynamic graphic comparison, and, in the event that the pressure on the ground exceeds the threshold value, it can also be used to automatically stop the movements of the operating machine, blocking it.
  • An excavating machine is known from document US2018/230673 in which the inclination of the excavating member is envisaged to be controlled. This inclination is related to the load borne by the excavating member. As a function of the load, the eccentricity and the inclination of the machine, the control method described by US2018/230673 provides for limiting the torque when a limit pressure value is reached. To do this, the method described by this document resorts to several sets of equations, resulting in a complex control algorithm to be implemented from the computational point of view, which is not easily usable for the operator.
  • one purpose of the present invention is to realize an operating machine and to develop a method to make it work safely, that avoids imbalances and relative overturnings of the operating machine itself, during its use, as a function of the type of ground on which it rests.
  • One purpose is also to realize an operating machine and to develop a method to make it work safely, that does not require the installation of particular devices, or detection and control members, which would be too cumbersome, expensive and complicated to manage.
  • Another purpose of the present invention is to realize an operating machine and to develop a method to make it work safely, that does not automatically stop the operating machine when the forces applied on the ground reach certain threshold levels.
  • the Applicant has devised, tested and embodied the present invention to overcome the shortcomings of the state of the art and to obtain these and other purposes and advantages.
  • the Applicant has developed a method according to the present invention to make an operating machine work safely comprising a plurality of actuation members configured to determine the movement of one or more moving parts of said operating machine, wherein said operating machine is configured to assume a determinate static configuration, in which the operating machine applies, on the resting ground, a corresponding static force, and one or more dynamic work configurations, in each of which the operating machine applies a corresponding dynamic force on the resting ground, whereby an overall force is instantaneously applied on the latter, which is the sum of the static force and the dynamic force.
  • the method according to the present invention comprises: an acquisition step, in which acquisition means acquire a maximum ground pressure value applicable on the ground which is a function of the characteristics of the ground; a detection step, in which detection means operationally detect the overall force effectively applied on the ground; and a first processing step, in which processing means calculate the instantaneous ground pressure of the operating machine, corresponding to the overall force, which is a function of the dynamic work configuration in which the machine is placed.
  • the method also comprises a second processing step, in which the aforesaid processing means calculates, based on the static configuration and the current dynamic work configuration, the maximum overall force to which the aforesaid maximum ground pressure corresponds, and define at least one threshold value of the overall force equal to or lower than the maximum overall force, and a third processing step in which said processing means control said plurality of actuation members so that said dynamic force is such that the overall force is lower than or equal to the at least one threshold value so as to automatically cause the limitation of the value of said overall force.
  • the operating machine always works safely and reliably since the processing means command the movements of the moving parts of the machine, which include for example a drilling tower and a drilling tool, so that, based on the current configuration and the ground characteristics, the overall force effectively applied to the ground is always within safety values.
  • the second processing step may be performed indifferently before, during, or after the first processing step.
  • the aforesaid detection means in order to detect the overall force effectively applied on the ground, operationally detect, between the one or more dynamic work configurations, the current one.
  • only one threshold value is defined at a determinate percentage, comprised between 85% and 95% of the maximum overall force.
  • a first threshold value at a determinate first percentage comprised between 85% and 95% of the maximum overall force
  • a second threshold value lower than the first threshold value
  • the dynamic force is substantially increased linearly with a first rate of increase, while between the second threshold value and the first threshold value the dynamic force is increased with a second rate of increase lower than the first rate of increase.
  • the dynamic force is increased non-linearly, but with a rate of increase gradually degrading until it reaches zero in correspondence with said first threshold value.
  • the instantaneous ground pressure is calculated, for example, by means of rigid body dynamics processing methods.
  • the method further comprises a communication step, in which one or more of the following values: static force; dynamic force; overall force; maximum overall force; one or more threshold values; instantaneous ground pressure; are communicated, in any known manner, to at least one operator of the operating machine, who may be either onsite or distant therefrom.
  • said processing means control said plurality of actuation members in a coordinated manner so as to avoid the stop of said moving parts of said operating machine during its operation.
  • an operating machine comprising a plurality of actuation members configured to determine the movement of one or more moving parts comprised in said operating machine, is configured to assume a determinate static configuration, in which it applies, on the ground on which it rests, a corresponding static force, and one or more dynamic work configurations, in each of which it applies a corresponding dynamic force on the ground, whereby an overall force is instantaneously applied on the ground, which is the sum of the static force and the dynamic force, and comprises acquisition means, detection means and processing means. Said acquisition means are configured to acquire a maximum ground pressure value applicable on the ground as a function of the characteristics of the ground.
  • the aforesaid detection means are configured to operationally detect, amongst the one or more dynamic work configurations, the current dynamic work configuration of the operating machine in order to know the overall force effectively applied on the ground.
  • the aforesaid processing means are configured both to calculate the instantaneous ground pressure of the operating machine corresponding to the overall force, as a function of the current dynamic work configuration in which the operating machine is arranged and - based on the static configuration and the current dynamic work configuration - a maximum overall force to which the maximum ground pressure corresponds, and to define at least one threshold value of the overall force equal to, or lower than, the maximum overall force.
  • Said processing means are further configured to control said plurality of actuation members so that said dynamic force is such that said overall force is lower than or equal to said at least one threshold value so as to automatically cause the limitation of the value of said overall force.
  • the aforesaid detection means comprise one or more sensors each associated with one of the actuation members in order to generate corresponding feedback signals indicative of the movements performed thereby.
  • the aforesaid acquisition means comprises a data entry interface.
  • the operating machine further comprises communication means configured to communicate the results of the aforesaid processing means to at least one operator of the operating machine.
  • the operating machine further comprises both a drilling tool configured to apply said dynamic force to the ground, and respective actuation members comprised in said plurality of actuation members for rotating, lifting and lowering said drilling tool.
  • an operating machine 10 in accordance with a first embodiment, comprises a main body 11 mounted on an advancement assembly 12, which in the specific case comprises tracks 13 that rest on a ground S.
  • the tracks 13 are driven by a first actuation member 15 ( fig. 3 ).
  • a second actuation member 16 ( fig. 3 ) is present, for example, in the main body 11 in order to selectively rotate the latter with respect to the advancement assembly 12.
  • a work assembly 17 substantially of a per se known type, which in the example provided herein comprises a drilling tower 19 and a drilling tool 20 selectively brought into rotation by a third actuation member 21 ( figures 1, 2 and 3 ).
  • a fourth actuation member 22 ( figures 1, 2 and 3 ) is present in the main body 11 in order to selectively lift and lower the drilling tool 20.
  • Each of the actuation members 15, 16, 21 and 22 may be of any known type and may comprise, for example, an electric motor.
  • a fifth actuation member 23 and a sixth actuation member 25 are mounted in the main body 11 and are configured to selectively move the drilling tower 19 with respect to the latter and, respectively, tilt it with respect to a vertical axis.
  • the operating machine 10 When the operating machine 10 is stationary, it assumes a determinate static configuration, in which it applies a corresponding static force FS on the ground S, while when it is operating it can assume one or more dynamic work configurations, in each of which it applies on the ground S a corresponding dynamic force FD ( fig. 2 ), whereby an overall force F is instantaneously applied on the latter, which is the sum of the static force FS and the dynamic force FD and is considered applied in the centre of gravity of the operating machine 10.
  • the dynamic force FD corresponds to a dynamic momentum equal to the value of the latter, expressed in Newton, for its arm b measured in metres from the point of application of the same dynamic force FD to the nearest point of the resting base of the machine 10, which in this embodiment corresponds to the resting surface of the tracks 13 on the ground S.
  • the operating machine 10 further comprises a detection unit, or means, 26 configured to operationally detect the overall force F effectively applied on the ground S.
  • the detection means 26 operationally detect, amongst the different dynamic work configurations that the operating machine 10 can assume, the current one, in order to know the aforesaid overall force F.
  • the detection means 26 comprise a plurality of sensors 27 ( fig. 3 ) which are each associated with one of the actuation members 15, 16, 21, 22, 23 and 25 in order to generate corresponding feedback signals indicative of the movements performed thereby.
  • the sensors 27 are chosen from a group comprising at least rotation sensors, inclinometers, accelerometers, load cells for force monitoring and similar or the like.
  • the operating machine 10 further comprises an acquisition unit, or means, 30, configured to acquire a maximum ground pressure value PSmax applicable on the ground S, as a function of the characteristics of the latter, including geophysical ones.
  • the acquisition means 30 comprise a data entry interface, such as for example a keyboard or any other data entry device of known type.
  • the operating machine 10 further comprises a processing unit, or means, 31 configured at least to calculate the instantaneous ground pressure PSi, corresponding to the overall force F.
  • processing means 31 comprise a central control unit, or CPU, 32, and one or more memory devices 33 of known type, comprising at least one random access memory (RAM) and one read-only memory (ROM).
  • RAM random access memory
  • ROM read-only memory
  • the memory devices 33 there is stored at least one algorithm configured both to calculate, based on the static configuration and the current dynamic work configuration of the operating machine 10, the maximum overall force Fmax to which the maximum ground pressure PSmax corresponds, and to define at least one threshold value FG, for example two (FG1 and FG2 in fig. 5 ), of the overall force F equal to or lower than the maximum overall force Fmax applicable on the ground S, and to automatically cause the limitation of the overall force F to a value lower than or equal to the threshold value FG.
  • the threshold value FG for example two (FG1 and FG2 in fig. 5
  • the processing means 31 which selectively and suitably control, in particular through a communication BUS 34, the actuation members 15, 16, 21, 22, 23 and 25, so that the dynamic force FD applied to the ground S, specifically by the drilling tool 20, is such that the overall force F is always equal to or lower than the threshold value FG.
  • the operating machine 10 further comprises communication means 35 configured to communicate the results of the processing means 31 to an operator of the operating machine 10, for example by displaying them on a display and/or by pronouncing them with a loudspeaker of known type and not represented in the drawings.
  • an operating machine 110 in accordance with a second embodiment, has the form of a tower construction crane, substantially of known type.
  • the operating machine 110 unlike the operating machine 10 described above, comprises a lattice tower 41, installed on the ground S by means of resting feet 42, at the base of which there are optionally corresponding load cells 43.
  • a lattice beam 45 On the upper part of the tower 41 there is rotatably mounted a horizontal lattice beam 45, having an operating arm 46 along which a carriage 47 is slidable which, by means of ropes 49, supports a hook 50.
  • the aforesaid load cells 43 are configured to detect the ground pressure in correspondence with the resting feet 42.
  • the operating machine 110 there are a corresponding first actuation member 115 ( fig. 7 ), configured to selectively rotate the horizontal beam 45, a corresponding second actuation member 116, configured to move the carriage 47 along the operating arm 46 and a corresponding third actuation member 121 to lift and lower the hook 50 with the relative load C, which represents the dynamic force FD.
  • the dynamic force FD corresponds to a dynamic momentum equal to the value of the latter, expressed in Newton, multiplied by its arm b ( fig. 6 ) measured in metres from the point of application of the same dynamic force FD to the nearest point of the resting base of the machine 10, which in this embodiment corresponds to the resting surface of the resting feet 42 on the ground S.
  • the detection means 26, the acquisition means 30 and the processing means 31 are also present in the operating machine 110.
  • the detection means 26 also comprise the load cells 43.
  • the operation of the operating machine 10, 110 described so far which corresponds to the method according to the present invention, comprises an initial step of entering input data, such as for example the characteristics of the operating machine 10, 110, such as masses, centres of gravity, geometries (for example, the extension of the resting surface of the tracks 13) and others known to those skilled in the art.
  • input data such as for example the characteristics of the operating machine 10, 110, such as masses, centres of gravity, geometries (for example, the extension of the resting surface of the tracks 13) and others known to those skilled in the art.
  • the method further comprises both a detection step 202, in which the detection means 26 operationally detect, amongst the different dynamic work configurations, the current one in order to know the overall force F effectively applied on the ground S, and a first processing step 203, in which the processing means 31 calculate the instantaneous ground pressure PSi of the operating machine 10, 110, corresponding to the overall force F.
  • the detection of the instantaneous dynamic work configuration of the operating machine 10, 110 comprises detecting at least the feedback signals provided by the plurality of sensors 27, each associated with one of the actuation members 15, 115; 16, 116; 21, 121; 22, 23 and 25, in order to generate corresponding indicative of the movements performed thereby.
  • Detecting the instantaneous dynamic work configuration of the operating machine 10, 110 further comprises detecting the signals provided by the load cells 43.
  • the first processing step 203 provides that the instantaneous ground pressure PSi of the operating machine 10, 110 is calculated by means of rigid body dynamics processing methods.
  • the first processing step 203 provides that the instantaneous ground pressure PSi of the operating machine 10, 110 is calculated starting from the signals provided by the load cells 43.
  • the method further comprises a second processing step 204, which may be performed indifferently before, during, or after the first processing step 203, in which the processing means 31 calculates 205, based on the static configuration and the current dynamic work configuration, the maximum overall force Fmax to which the maximum ground pressure PSmax corresponds and defines 206 the threshold value FG, or the threshold values FG1 and FG2, of the overall force F which must be equal to, or lower than, the maximum overall force Fmax.
  • a second processing step 204 which may be performed indifferently before, during, or after the first processing step 203, in which the processing means 31 calculates 205, based on the static configuration and the current dynamic work configuration, the maximum overall force Fmax to which the maximum ground pressure PSmax corresponds and defines 206 the threshold value FG, or the threshold values FG1 and FG2, of the overall force F which must be equal to, or lower than, the maximum overall force Fmax.
  • a third processing step 207 is performed in which processing means 31, by suitably driving the different actuation members 15, 115; 16, 116; 21, 121; 22, 23 and 25, cause a limitation of the overall force F to a value lower than or equal to the threshold value FG or FG1.
  • a threshold value FG is defined at a determinate percentage, comprised between 85% and 95% of the maximum overall force Fmax.
  • a first threshold value FG1 at a determinate first percentage comprised between 85% and 95% of the maximum overall force Fmax
  • the dynamic force FD is substantially increased linearly with a first rate of increase up to the aforesaid second threshold value FG2.
  • the dynamic force FD is then increased with a second rate of increase, lower than said first rate of increase, between the second threshold value FG2 and the first threshold value FG1.
  • the dynamic force FD is increased non-linearly, but with a rate of increase gradually degrading until it reaches zero in correspondence with the first threshold value FG1.
  • the method further comprises a communication step 208, in which one or more values are communicated to at least one operator of the operating machine 10, 110 selected from: static force FS; dynamic force FD; overall force F; maximum overall force Fmax; one or more threshold values FG, FG1, FG2; instantaneous ground pressure PSi, position of the centre of gravity of the operating machine 10 or similar and the like.
  • the communication step 208 also comprises communicating a trend or an absolute value of the one or more of the aforesaid values.
  • knowing one or more of the aforesaid values allows the operator to understand whether the work, in the current dynamic work configuration, is possible; for example, knowing that the operating machine 10, 110 has 500 kN of extraction force makes it possible for the operator to determine the weight that the extracted load and the work assembly 17 can reach.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Structural Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Civil Engineering (AREA)
  • Mechanical Engineering (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Paleontology (AREA)
  • Operation Control Of Excavators (AREA)
EP23171787.7A 2022-05-05 2023-05-05 Arbeitsmaschine und verfahren zur sicheren arbeit davon Pending EP4273363A1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT102022000009161A IT202200009161A1 (it) 2022-05-05 2022-05-05 Macchina operatrice e procedimento per farla lavorare in sicurezza

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EP4273363A1 true EP4273363A1 (de) 2023-11-08

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03115090A (ja) * 1989-09-28 1991-05-16 Takenaka Komuten Co Ltd 移動式クレーンとその転倒予知方法
US20180230673A1 (en) 2015-06-30 2018-08-16 Harnischfeger Technologies, Inc. Systems and methods for controlling machine ground pressure and tipping
US20180245304A1 (en) 2015-03-12 2018-08-30 Liebherr-Werk Nenzing Gmbh Method of operating a mobile work machine with a ground pressure limitation
DE102018104041A1 (de) * 2018-02-22 2019-08-22 Liebherr-Werk Nenzing Gmbh Vorrichtung zur Veränderung der Bodendruckverteilung einer Arbeitsmaschine und entsprechende Arbeitsmaschine
EP3960980A1 (de) * 2020-09-01 2022-03-02 Sandvik Mining and Construction Oy Bodenstütze für mobile bohranlage

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03115090A (ja) * 1989-09-28 1991-05-16 Takenaka Komuten Co Ltd 移動式クレーンとその転倒予知方法
US20180245304A1 (en) 2015-03-12 2018-08-30 Liebherr-Werk Nenzing Gmbh Method of operating a mobile work machine with a ground pressure limitation
US20180230673A1 (en) 2015-06-30 2018-08-16 Harnischfeger Technologies, Inc. Systems and methods for controlling machine ground pressure and tipping
DE102018104041A1 (de) * 2018-02-22 2019-08-22 Liebherr-Werk Nenzing Gmbh Vorrichtung zur Veränderung der Bodendruckverteilung einer Arbeitsmaschine und entsprechende Arbeitsmaschine
EP3960980A1 (de) * 2020-09-01 2022-03-02 Sandvik Mining and Construction Oy Bodenstütze für mobile bohranlage

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