JPH04505488A - Drilling equipment that automatically positions parallel manually controllable work tools and arm devices using sensors - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] Manually controllable work tools and arm devices can be automatically and dynamically positioned in parallel using sensors. drill rig The present invention provides for the claimed invention that the manually controllable operating tool and the arm device are maintained in parallel. The scope of the invention relates to the excavation equipment according to item 1.

The drilling rig according to the invention can be used with various operating tools, e.g. Can be used by connecting to a roller with a pike. It is preferably rear A hoe-shaped shovel plays the role of digging, and is not only used when operating surfaces parallel to the installation surface. , climb the slope. It also works when tilting. Arms for drilling equipment according to the invention The station consists of at least three booms and a shaft to which operating tools are connected. boom's The abutment is formed by a rotating superstructure. It is rotatable on a fixed foundation structure. is understood to be part of a drilling rig that is either movably mounted or movably mounted. sea bream. Otherwise, the pivotable superstructure is equipped with caterpillar tracks or wheels. The vehicle is seated on the lower structure.

Particularly and preferably, the present invention uses a boom having a two-part angle in a swinging configuration. When used, and as a result, when combined with a shaft of appropriate length, the arm device is extended. It also concerns drilling rigs of the last-mentioned design, resulting in the greatest range of arm rigs. Like Drilling rigs operate with special efficiency on an extended drilling surface, while on the other hand the arm rig 6. The arm device of the drilling rig according to the present invention is foldable and can be transported by ordinary road. It is regularly energized by a hydraulically actuated cylinder that forms the swing drive. required The rotation angle is determined by the piston rond of the working cylinder, the guide rod device of the arm device, Or by connecting it to your arm.

The hydraulically actuated cylinders of the slewing drive, both the operating tool and the arm device, are connected to the rotating upper structure. The distribution valve is controlled by a manual control device by the drilling rig operator in the cab, usually mounted on the energized through. According to the invention. In a preferred embodiment drilling rig.

The drilling rig operator uses operating tools and arm equipment that are independent of each other by means of manual controls. can control all three working cylinders of both.

Before the drilling movement of such a drilling rig can be started by the drilling rig operator , he points out that the starting position of the operating tool does not always correspond to the maximum range of the arm device. The arm device must be extended until the position is reached. The drilling rig operator then , must swing the operating tool into the position he deems favorable. If the operation If the tool is designed as a rear hoe type shovel, it will move at the selected position relative to the ground. It will have a scraping blade that forms a so-called cutting angle depending on the position. cutting angle The degree depends, among other factors, on the hardness of the material to be dug. Drilling equipment according to the present invention By providing parallelism, the drilling rig operator typically The boom is controlled separately from the shaft, and this control is controlled by the operating tool drive. Correct. At the beginning and end of a drilling motion, the drilling rig operator changes the position of the operating tool. filling or emptying a shovel before digging, or must have the possibility to adjust it appropriately. For this reason, The drilling rig operator also has a control means, usually realized in the form of a hydraulically actuated cylinder. It has the possibility of energizing through the swivel drive of the operating tool.

During the drilling process, the drilling rig operator usually has to modify the operating tools. child The harder the ground, the greater the cutting angle must be, and the deeper the excavation distance. This is an inevitable consequence of the fact that the hardness differences are more regular than the separations. if , for example, if the excavation process is started in harder soils and with the correct cutting angle for it. If the scraping blade is , or the tip will penetrate deeper and softer soil areas than intended.

On the contrary, the optimum cutting angle for soft soil areas is that the cutting angle is too small. Soil cutting will not occur in the hard areas of the excavation area. The shovel is In this situation, it would simply slide on the surface to be dug, along with its underlying structure. It is furthermore possible to transport the superstructure into an inclined position. During drilling operations, the cutting angle Without correction, the height of the hard area and the depression of the soft area will remain within the area to be dug. . The desired flat surface will not result if the drilling rig operator cuts according to the difference in hardness. By constantly adapting the angle, the end result is a flat excavation surface that also has a distinct slope. There will be.

The drilling rig operator simultaneously controls three swing angles of the arm rig, so that the drilling plane that it takes a lot of time and agility to match the defined plane. Experience shows that. However, if higher accuracy and economical operating speed are possible, If he has to overcome the entire drilling distance, technical assistance will help him. In particular, it must be made available to the average drilling rig operator. For this reason, The drilling rig according to the invention has the aforementioned device and maintains its operating tools in parallel. digging During the cutting process, the operating tool is kept parallel to itself by movement in a vertical plane. As a result, after the drilling plane has been determined.

Drilling rig operators can use minimal, more or less instantaneous corrections to optimize the cutting angle. This device pays attention to the fact that you only need to practice the controls.

The invention provides for flattening the operating tool by mechanical means (German Patent No. 1 800 045). Different from those shovel drilling rigs that cause rows. Arms for these drilling rigs The hydraulic cylinder, which serves to swing the shovel, is on the other hand holding the packet. The boom is close to the shaft pivot axis and the shovel is close to the shovel pivot axis on the other hand. It engages with the triangular shift lever mounted on the bell shaft, and this shift lever is designed to be connected to the shovel by a short guide rod, and along with the front end of the boom , the shovel shaft, shift lever, and hydraulic cylinder are all connected in one large piece. form a rectangle. This connecting square connects the shift lever and the end of the shovel shaft. , a shovel shaft, and a shift triangle formed by a triangular shift lever. A constant block is connected to a small connecting square consisting of a short guide rod through the shape. At arm length and constant shovel shaft length, connecting square and shifting triangle The dimensions of the shapes are harmonized with each other, and the large connected squares are adjusted to the slope of the slope to be acted upon. When adjusting the cutting angle of the shovel, it is changed by the hydraulic cylinder and the to adapt to the inclination of the slope, resulting in a slope that exceeds the full swing range of the shovel shaft. Considering the swinging movement of the boom according to the slope of the surface, the shovel will move on the slope during the digging movement. guided parallel to the Due to the connection structure of the arm device, this automatically follows. The cutting angle is then set to the previously selected cutting angle. Therefore, the drilling rig operator simply The excavation movement must be initiated by the hydraulic cylinder of the equipment and without the above correction. must be watched.

By providing a sensor to the control device, the present invention.

It does not depend on the connection structure of the arm device. This allows the described mechanical solution to Regarding the required shaft length of the shovel and the resulting oscillating actuation of the operating tool. The limitations resulting from the dependence of the shovel shaft length on the cylinder stroke are removed and the to determine the shortest shovel shaft length. longer lengths for known devices. When possible, they are added between large and small connected rectangles according to changes in length. Request a guide rod.

This means additional mass with a large overhang of the arm device, and the payload and the optimal possible range of the shovel.

The additional guide rod is connected to an additional hydraulic drive, i.e. the so-called master cylinder ( Hydraulic parallelism in which the parallelism of the operating tools is achieved according to German Patent No. 2439967) This can be avoided by using equipment. However, this also requires many technologically advanced In addition, if the shovel shaft rotates through an angle of more than 100°, When doing so, parallel guidance deteriorates. This is due to the extension of the arm device and hence the range of Strictly restrict extensions. These limitations are eliminated through the use of sensors.

The invention is based on the previously mentioned type (DE 31 34 064). Start with the drilling rig that is installed. Among them, the cutting angle of the operating tool is adjusted along with the pendulum. determined by a pendulum corresponding to a potentiometer forming the tool sensor , and intended to convert each cutting angle into a resistance value proportional to it. manual setting A possible potentiometer supplies the desired value to the control device, which is used in the comparison stage. This variable is changed by the operator to the turning drive of the operating tool. The distribution valve is actuated to act on the actuating cylinder that constitutes the actuating device. arm device control control equipment is separated from it. Boom swivel cylinder pressure is measured by boom sensor is preselected by the potentiometer that constitutes the maintained at a constant level.

In such a control device, the cutting angle of the operating tool is mainly determined by comparing the desired value/actual value. determined by However, the preconditions for the control variables to be generated are the desired value and the actual value. That is, there is indeed a defined difference between the two. control case odor i.e. when the ground is not homogeneous, make one or more changes in the cutting angle as required and During the digging movement of the shovel, the cutting angle and therefore the actual control value Modify it to maneuver deeper into or lift it higher off the ground. The cutting angle must be kept parallel to form the control value at all. One problem arises because it assumes a clear change in the actual value, especially when cutting from the notch. Due to the continuous delay between manual and shovel motor responses when changing to After the initial delayed drive movement, the rig operator finally moves the control hand lever further. However, this results in more power or greater speed in the above-mentioned swing drive. It means that. However, the result of his active control intervention is to manipulate and correct The resulting variables far exceed the intended variables, making correction of the desired form above virtually impossible. This means creating an operating sequence for positive control.

The aim of the invention is to avoid the listed drawbacks and to ensure that the operating The movement of the tool, i.e. deviates from a certain ideal line within unimportant limits. The purpose of this scraping is to enable a particularly straight scraping line. The line gives the drilling rig operator an excessive amount of time consumption and agility than normal. There is no need to impose requirements.

The invention solves this problem with the features of claim 1.

Other features of the invention are the subject of the dependent claims.

According to the invention, the desired value setter and therefore the synchronous proportional tool sensor are The control device of the manually operated tool for the cutting angle of the rear hoe shovel, i.e. The point is that it is adjustable by the drilling rig operator through all control means.

This leads to a control device that maintains a constant state, which means that when changing the cutting angle, This means that parallelism can also be obtained. The arm device is controlled by its sensor. If the change in the actual value is large enough, the control equipment for the drive of the operating tool can be applied. As the position begins to intervene, the rig operator must drill into areas of hard soil, e.g. With a sharp cutting angle, it can be dug out.

According to the invention, the deviation between the desired value and the actual value is then determined by the drive of the operating tool. control because it does not depend on control intervention or influence on the control device. Digging can continue again with a reduced cutting angle assisted by the device.

This control device of the drilling rig according to the invention is completely suitable for use under heterogeneous soil conditions hitherto. It has been found that this method avoids the erroneous control of the operating tool device that occurred in the previous process. be skilled Even a remote drilling rig operator can move the operating tool to the wrong position for each ideal line. When using the control device of a hand-operated tool without any loss.

The cutting angle can be changed and precisely adjusted at any time.

Similarly, the drilling rig arm equipment can be made to maximum length.

completely independent of its connecting structure. It is possible that the manual control device simultaneously and For example, by changing the desired and actual values of the operating tool, Nor can it be overloaded.

According to an embodiment according to claim 2, the control device.

Operation in which the determination of the actual value by the measuring device serves to change the tool sensor It is further simplified in that it is eliminated by tools. This means that the control independent of the unavoidable measurement fluctuations that are a problem especially with known inclinometers. let

Preferentially, the control device of the drilling rig according to the invention also features a potentiometer. According to the feature of claim 3, the control device is driven through the bridge circuit. The resistance value serves as a measurement value.

Details, additional features and other advantages of the invention will be explained by way of example embodiments with reference to the figures in the accompanying drawings. It follows from the following statement.

Figure 1 shows that after the base has been aligned by the drilling rig operator before the start of the scraping motion, 1 shows a side view of the drilling rig according to the invention at the beginning of a scraping movement; FIG.

FIG. 2 is a view corresponding to FIG. 1 showing the arm device and the rear hoe shovel during the scraping movement and various positions.

FIG. 3 is a diagram corresponding to FIG. 2 in which the operating tool and the scraping movement are performed along the inclined slope shows.

FIG. 4 is a diagram corresponding to FIGS. 2 and 3, and shows the position of the above structure when scraping an inclined slope. shows.

Figure 5, in the form of a circuit diagram with symbols, partially shows the hydraulic lines and distribution valves and shows a control device of hydraulic design according to the invention, with a schematic representation of the letters of a hydraulically actuated cylinder. show.

FIG. 6 shows a block diagram of the electrical sensors of the control device of the drilling rig.

FIG. 7 shows a schematic diagram of the rear hoe shovel used in the embodiment according to FIGS. 1 to 4. show.

According to FIGS. 1 to 4, the drilling rig of the example embodiment is supported by a rotating superstructure (1). It has an arm device that is held. The rotating superstructure rotates around the vertical axis on the lower carriage (1'). It can be rotated to The arm device is essentially hinged about a horizontal axis and consists of two parts. design and includes a swinging boom (2) with a downward tangle. Boom device scissors Furthermore, it is pivotable in a vertical plane and from an axis (5) such as a swinging boom (2). configured. However, the swinging boom (2) is attached by the actuating cylinder (3). This cylinder has a rotating superstructure (1) at one end and a swinging boot at the other end. The inner part of the shaft (2) is connected to the arm of the shaft (5) at one end, and the arm of the shaft (5) at the other end. The actuating cylinder (6), which is linked to the bracket of the swinging boom (2), is connected to the shaft (5). ) serves as a pivot point. The one attached to the free end of the shaft (5) is Its support on the shovel shaft (5) by means of an actuating cylinder (9) and a shaft lever device. The cutting angle shown is a hoe-shaped shovel (8) that can rotate around a point (10). is variable by the actuating cylinder (9).

A comparison of Figures 1 to 4 shows that different angles alpha, beta and zeta result in The problems arising from adjusting the arm device and shovel (8) to different angles of the slope to show that

These angles are determined by potentiometers at pivot points (4, 7 and 10). It can be set directly through an electrical sensor realized by In Figure 5 and shows these sensors in the form of electrical circuit diagrams, sensors PH and PS. indicates the desired value and actual value of the cutting angle of the operating tool (8). In the circuit diagram of Figure 6 Assume that both sensors read, for example, 3 kilohms. Shovel (8 ) control action by the driver simultaneously connects both sensors to, e.g. is varied by an amount equal to 5 kiloohms, so that the alignment remains unchanged.

The control device that affects parallelization therefore remains deenergized.

The desired value is changed by energizing the actuating cylinder (3 and/or 6) of the arm device. occurs only by changing the sensor PF and/or PM, thereby The electronic control unit controls the actuating cylinder (9) and therefore the resistance of the sensor PS. As a result, in the example of Fig. 6, PS + PM + PF = 17 kilometres. room The sum of maintains the same sum. In this process, deviations from PS to PH occur. That can happen. However, this is not important for the control device. stomach. Through the subsequent manual adjustment, both PH and PS remain the same as before. Only the quantity, say 2 kiloohms, will change at the same time, so that , if PS is equal to 5 kOhm and PH is still 3 kOhm before manual adjustment. After manual adjustment, they are now PH=5 kilohms and PS=7 kilo ohms, so the sum of both branches of the bridge is 19 kilo ohms. . As a result, here again the alignment is not disturbed by manual adjustment and the control device is active. maintain a state of

The above-mentioned synchronous proportional adjustment of the desired value setter PH and tool sensor PS is illustrated in Figure 5. be converted into

The control shown is connected to a multi-passage valve (24) through hydraulic lines (22 and 23). includes a hand lever (21) for energizing the actuating cylinder (9) through the passage valve. (25, 25a and 26). For completion, oil pressure pump (36), desired pressure limiting valve (37) and hydraulic fluid tank. The link (38) is shown symbolically in the figure. In this method as well, the axis (5) the boom cylinder (3) and the actuation cylinder (6) are driven for biasing; The force and speed of the cylinder are proportional to the magnitude of the deflection angle of the hand lever. The present invention , would like to retain this manual control for the drilling rig operator. Therefore, the drilling equipment Depending on the deflection of the hand lever of the control device (21), the operator at the It can be assumed that this occurs at the working cylinder (9) of the shovel (8).

According to FIG. 5, a control device (21) is also used to define the desired value. . Among other things, this indicates that the rear hoe type system is caused by the control device. In addition to keeping the shovel level, it also keeps the shovel in position for filling or emptying. allow you to bring it. There is little need to change the sensor PH (34). Small positioning that can be controlled proportionally to the setting of one hand lever, at least as far as speed is concerned This is accomplished by a cylinder (35). The shovel cylinder (9) is electromagnetic Hydraulic lines (28 and 29) are routed through a multi-passage valve (27) that is The values of all sensors according to Figure 6 are provided to the input of the driver (30). be provided. If the alignment is there, nothing happens. However, also If you change PF or PM or PF+PM, the control device will turn the magnet (31 or or 32) is driven by the driver who senses a change in the sensor PS and sets the alignment. do.

The embodiment example according to FIG. 5 shows that as soon as the control device (21) is activated, the actual value and The biasing is in the same direction and by the same amount of sensor PS, which does not allow tracking of the desired value. A sensor whose desired value is required by manual adjustment according to the invention, having at the same time This means that the PH (34) is changed. The auxiliary cylinder (35) It serves this purpose the same as for the server PS (33). The sill on the side of the rod The volume of the cylinder (35) is equal to the volume of the piston side of the shovel cylinder (9). stomach. The hydraulic line (25) is connected to the piston side of the auxiliary cylinder (35) . The hydraulic line (25a) connects the rod side of the auxiliary cylinder (35) with a shovel cylinder. Connect to the piston side of the cylinder (9). Here, valves not detailed are, for example, basic The position allows the piston rods of both cylinders to be fully extended.

By energizing the hand lever of the control device (21), both pistons of the auxiliary cylinder are The tongue rods can then be simultaneously retracted and extended again simultaneously. Can be done. Each piston rod is connected to a sensor (separately 34.33) that Their values change exactly in synchronization with the change in rod position. shovel syringe (9) via hydraulic lines (28 and 29) exiting from the multi-passage valve (27). so that the shovel (8) remains permanently horizontal.

When the shovel cylinder (9) is set to the start position or is filled , when emptied or corrected by a multi-passage valve (24). (25, 25a and 26). Thereby, the shovel (8) can be brought to any desired position intuitively, accurately, and This is done proportionately, so that conventional drilling rig operators do not need to be retained.

Another advantage of the invention becomes apparent when the load limit is reached.

This is because, as a matter of principle, the components of shovel-type excavation equipment are connected to hydraulic equipment. protected from overload by a pressure limiting valve. conventional drilling rig What happens over and over again is that the shovel becomes an insurmountable obstacle underground. , it cannot be moved further and therefore also interferes with the change of sensor PS. That's what I mean. Since the drilling rig operator is accustomed to conventional drilling rigs, if he changes only the desired value setter, and for the reasons mentioned above, the tool sensor cannot follow it. If not, the drilling rig operator can remove the obstruction by repeatedly moving the hand lever. The discrepancy between the desired value and the actual value will increase as one attempts to overcome the object.

Then, if the shovel were to be freed anyway, for whatever reason, the actual value A control device that adjusts to the desired value becomes effective. In reality this means that the shovel is approximately Such a motion, which rarely means a rotation of 100 degrees, is Surprise the operator.

He cannot control his movements and this situation induces him to react incorrectly. By this or place others in danger and cause damage to drilling equipment or other objects.

According to the present invention, the sensor PH (34) and the sensor PS (33) can be operated manually. When changing dynamically, the hand lever in + (21) overcomes obstacles because it constantly changes. It can be energized as many times as desired to

If the shovel can be moved, the sensor P S (33) will not change either. , the shovel cylinder (9) also remains unchanged. Auxiliary cylinder (3 5) position hardly changes, and for that reason, sensor P H (34) also changes. do not have. Uncontrolled movements of the arm equipment or operating tools of the drilling rig are thus prevented. Ru.

2mu■ FI6.6 FI6.7 Summary book Sensor automatically keeps manually controllable shovel and arm device parallel A drilling rig, wherein the arm rig consists essentially of a swinging boom coupled to a rotating superstructure; Preferably designed as a rear hoe type shovel capable of swinging on a vertical swinging boom plane The working tool consists of a shaft to which the tool is linked, which shaft is also parallelized for parallelization. Comparison of the position of the work tool and the interaction with the desired value setter and the sensor of the arm device. In a drilling rig including a control means provided with a tool sensor for obtaining a stage and According to Akira, the desired value setter (P)l) has a tool sensor synchronized therewith and proportional to it. - (ps) through the control device (21) of the manually operated tool; It is provided that the arm device is controlled by its sensors (PF, PM). It will be done.

international search report 1R1v1116-^ea&-+-=-46, PCr/EP 91100377 international search report

Claims (6)

[Claims] 1. Sensor automatically keeps manually controllable shovel and arm device parallel a drilling rig, the arm arrangement consisting essentially of a swinging boot associated with a rotating superstructure; It can swing on the vertical swinging boom surface, and is suitable as a rear hoe type shovel. consists of a shaft to which the designed operating tool is linked, which shaft is also parallel The position of the operating tool, the desired value setter, and the interaction with the sensor of the arm device are In a drilling rig comprising control means provided with a tool sensor for obtaining a comparison stage and , the desired value setter (PH) is synchronized with and proportional to the personnel sensor (PS). and is adjustable through the control device (21) of the hand-operated tool, and the arm device is A drilling rig characterized by being controlled by its sensors (PF, PM). 2. The operating tool (8) is characterized in that it plays the role of adjusting the tool sensor (PS). An excavating device according to claim 1. 3. The comparison stage is one arm device sensor (PF, PM) and one tool sensor (PS). ), the data from the desired value setter (PH), and the arm to the operation surface. It includes both a sensor (Pst) that serves to pre-configure the device, and a control can be started by forming the difference between the sums. The drilling equipment according to claim 1 or 2. 4. Hydraulic positioning cylinder (35) synchronously and proportionally of the desired value regulator (PH) Any of claims 1 to 3, characterized in that it is provided for exemplary adjustment. Drilling equipment described in Crab. 5. The positioning cylinder (35) of the sensor (PH) is a sensor that reproduces the actual value. Hydraulically actuate the actuating cylinder (9) of the operating tool (8) with adjustable (PS) Excavation according to any one of claims 1 to 3, characterized in that Device. 6. The manual control device (21) of the actuating cylinder (9) of the operating tool (8) is pre-controlled. This is accomplished through a controlled distribution valve (24) by which the desired value is Claim characterized in that the positioning cylinder (35) of the level indicator is adjustable. The drilling equipment according to any one of items 1 to 5.