HK1162631B - Construction machine having a computer unit for determining an adjustment range - Google Patents

Description

Construction machine with a computer unit for determining an adjustment range

Technical Field

The present invention relates to a construction machine and a method for operating a construction machine.

Background

During the operation of large construction machines, such as earth boring equipment, a tilting moment may occur on the construction machine. Such a tilting moment may be caused statically, for example by an overlong load, or dynamically, for example due to centrifugal forces.

In order to avoid excessive tilting moments, it is known to limit the adjustment path of the overlong load, in particular structurally. However, in many cases this also leads to a restriction of the operating range of the construction machine and thus limits the range of application of the construction machine.

Disclosure of Invention

The aim of the invention is to provide a construction machine which is distinguished by a very high operating stability, in particular with regard to the safety against tilting, by a very large working radius, with a particularly good versatility of use and a particularly high efficiency.

The object is achieved by providing a construction machine having: a carrier unit, an actuating unit adjustable relative to the carrier unit, at least one detection device for detecting status data of the construction machine, and a computer unit by means of which at least one adjustment range of the actuating unit can be determined from the detected status data, wherein the actuating unit is adjustable with a specified safety against tilting of the construction machine; wherein the carrier unit has a running gear, the actuating unit has at least one foundation construction tool, and the actuating unit is pivotable about a vertical axis and radially adjustable relative to the vertical axis relative to the carrier unit. Moreover, the object is also achieved by a method of operating a construction machine as described above.

According to the invention, a construction machine is provided with a carrier unit, an actuating unit which is adjustable relative to the carrier unit, at least one detection device for detecting status data of the construction machine, and a computer unit by means of which at least one adjustment range of the actuating unit can be determined from the detected status data, wherein the actuating unit is adjustable with a specified safety against tilting of the construction machine.

The present invention is based on the following recognition: during adjustment of a heavy actuator unit relative to a carrier unit supporting the actuator unit, a displacement of the center of mass may occur, which is accompanied by a correspondingly varying tilting moment. In order to enable a safe tilting operation despite these varying tilting moments, a computer unit is provided according to the invention. The computer unit determines an adjustment range within which the actuating unit can be safely moved relative to its carrier unit. The safety adjustment range can be characterized, for example, in that a predetermined inclination safety factor can be observed in the safety adjustment range. In order to determine this adjustment range, a suitable characteristic curve or diagram can be stored in the evaluation unit, for example.

The determination of the adjustment range is effected on the basis of the state data of the construction machine, i.e. by taking account of this combination, the computer unit is able to notice that the inclination tendency is not only determined by the overlength of the actuating unit, but is also influenced by further factors, such as the load present on the actuating unit or the dynamic state of the construction machine. The state data may thus be, for example, data relating to the diameter of the drill pipe accommodated by the actuating unit, which diameter accordingly has an influence on the tilting moment by the relevant mass of the drill pipe.

The construction machine of interest may in particular be an earth boring device. In this case, the actuating unit may be, for example, a drill drive for an earth-boring tool, and the carrying unit may be a lower carriage of the drilling apparatus.

It is particularly advantageous if the position of the actuating unit within the adjustment range can be determined by the computer unit and a signal can be emitted when the limit of the adjustment range is reached. According to this embodiment, the computer unit sets the actual position of the actuation unit relative to the calculated adjustment range to enable a direct assessment of whether a safe tilting operation is given or a dangerous tilt is imminent. The signal emitted when the limit of the control range is reached may be, for example, a driver signal, i.e., an acoustic or optical signal that can be perceived by a driver of the construction machine, for example. In particular, as an optical signal, a corresponding display can be provided on the display screen of the driver. This enables the driver to perceive the proximity of the critical inclination range, so that appropriate countermeasures can be taken by the driver. Alternatively or additionally, the control signal to be emitted may be arranged as a signal for the actuation unit. By using such a control signal, the computer unit is able to automatically keep the actuation unit within a safe adjustment range to give a particularly reliable operation.

The invention may be particularly suitable for mobile construction machines, since in this case special attention must be paid to the safety against tilting. Therefore, it is beneficial for the carrying unit to have the mobile device. In particular, the load-bearing unit of interest may be a lower frame of a construction machine.

For reference, the actuating unit may be provided to have at least one foundation construction tool, in particular a drilling tool. The actuating unit may be designed as a rotary drilling drive and/or a vibratory drilling drive, for example.

For a particularly large working range, it is advantageous if the actuating unit is pivotable about a vertical axis and/or is radially adjustable relative to the vertical axis relative to the carrier unit. A vertical axis may be specifically understood as at least being close to an axis extending in a vertical direction. In particular, it is possible to provide the actuating unit as a drilling drive arranged on a mast which is radially adjustable relative to the upper carriage and thus correspondingly pivotable relative to the carrying unit designed as the lower carriage.

The detection device according to the invention can detect status data by means of physical measurements. It may also be advantageous for at least one detection device to be provided which detects status data manually entered by the driver. For example, provision may be made for the driver to receive a menu of possible drill pipe diameters, for example 880mm or 1300mm, or for the drill pipe diameter to be detected automatically. Depending on the input, the computer unit then determines an adjustment range of different sizes, wherein the adjustment range is always smaller in the case of a larger drill pipe diameter and thus a heavier drill pipe than in the case of a smaller diameter. It is advantageous if detection means for detecting manually entered status data are provided, the computer unit having storage means for storing the manually entered data. In this way, an obtainable recording is possible in order to be able to determine whether the input data are correct in the case of possible defects.

Another preferred embodiment of the invention is based on the fact that: a loading aid switch device is provided which can be actuated by the driver and which is in signal communication with the computer unit, whereby the computer unit is adapted to modify the adjustment range depending on the switching state of the loading aid switch device. This embodiment allows for various modes of operation that often occur on construction machines that require different considerations for safety against tilting. For example, in the case of drilling operations with drilling equipment, additional forces are often present on the drilling tool that can increase the tendency to tilt, or the tilting struts for use in the operation may also increase the tendency to tilt. Thus, the computer unit can only determine a limited adjustment range during the drilling operation. On the other hand, during handling operations, where the tool is only moved, for example in order to empty the drilling bucket at a location located away from the drill hole, at least a portion of these additional loads are often no longer present to enable an extended adjustment range to be provided. The handling aid switching device can be realized, for example, by a switch or a touch screen, on which the driver predefines whether a working operation (in particular a drilling operation) or a handling operation is to be provided. For the purpose of recording, the loading aid switch device is suitably provided with a memory device which is suitable for storing the driver's selections on the loading aid switch device.

The extension of the adjustment range in the loading and unloading mode presupposes that other operating parameters in the construction machine and the tilting moment associated therewith are limited. For example, the extended adjustment range in the loading mode can only be adjusted if the winch tractive force of the main winch, the auxiliary winch or the transport winch is below an allowable limit. In order to make these limits easier for the driver to observe, it may be advantageous if the handling aid switch device has an indication means which shows the limits of these operating parameters to the driver if the handling mode is selected on the handling aid switch device. The allowable winch traction may be shown on a display screen, for example.

However, it is particularly advantageous to provide a limiting unit which is adapted to limit at least one operating parameter of the construction machine depending on the switching state of the loading auxiliary switching device. According to this embodiment, the critical operating parameters can be automatically limited if the loading mode is selected on the loading assist switch device. The at least one operating parameter that is limited and/or indicated to the driver may specifically be winch tractive force. Therefore, if the loading and unloading operation is selected, the restricting unit may be set to reduce the torque of the transporting winch and to turn off the auxiliary winch.

Furthermore, it is advantageous if the load handling auxiliary switching device comprises a protection device which inhibits the actuation of the load handling auxiliary switching device if at least one operating parameter of the construction machine lies outside a specified range. According to this embodiment, if the at least one operating parameter is an atypical value for a handling operation, the actuation of the handling aid switch device can be inhibited so that the extended adjustment range is not adjusted.

The at least one operating parameter of the construction machine, the limits of which are indicated to the driver, which is limited by the limiting unit and/or is taken into account by the protective device, may in particular be the rotational speed of the upper frame and/or the inclination of the mast. In many cases, construction machines have an upper frame which is arranged on a carrying unit so as to be rotatable about a vertical axis and on which a column is provided which supports an actuating unit. If the upper carriage rotates together with the actuating unit about a vertical axis relative to the carrying unit, centrifugal forces are generated which lead to a dynamic increase of the tilting tendency. It may therefore be advantageous to limit the rotational speed of the upper carriage manually or automatically. Furthermore, the inclination of the stay relative to the upper frame may also have an effect on the inclination tendency so that limiting the stay inclination may be equally advantageous for preventing the safety of the inclination.

The at least one operating parameter, the limit of which is indicated, which is limited by the limiting unit and/or is taken into account by the protective device, may also be the angle of rotation of the upper frame relative to the lower frame, since the lower frame, which moves in many cases, does not have the same inclination security in all spatial directions.

The status data may in particular be the weight force on the actuation unit, from which the computer unit determines the adjustment range. For example, the length of the pipe on the actuating unit can be taken into account, since in many cases the longer the drill pipe suspended on the actuating unit, the greater the tendency to tilt.

Furthermore, it is advantageous to provide at least one detection device for detecting the position of the supporting boom of the supporting column. The position of the strut-supporting boom connecting the strut to the upper frame often constitutes a measure of the radial position of the strut and thus of the position of the actuating unit relative to the upper frame, for which reason it also determines the tilting moment.

In addition, it is preferred that at least one detection device is provided for detecting a rotation angle of the upper frame. The reason is that the carrying unit often does not have the same tilt stability in all spatial directions. The angle of rotation of the upper frame relative to the carrying unit, in particular about a vertical axis, is therefore also an indicator of safety against tilting.

Furthermore, it is suitable to provide at least one detection device for detecting a pulling and/or pushing force in the slide transport system. A slide transport system may be understood in particular as a system for moving the actuating unit in a vertical direction relative to the column. The pulling and/or pushing forces acting in this case also have an influence on the tilting moment.

Furthermore, it is advantageous to provide at least one detection device for detecting the tension in the main rope. The corresponding main rope can support a drill rod extending over the actuation unit. Thus, the tension of the main rope may also determine the tilting moment.

In addition, it is advantageous to provide at least one detection device for detecting the tension in the auxiliary rope. A tilting moment can also be caused for such auxiliary lines, which can be used, for example, during installation of the drill rod.

Another embodiment is based on the fact that: at least one detection device is provided for detecting at least one entry angle of the auxiliary rope, since the entry angle can also have an influence on the tilting moment caused by the auxiliary rope. For optimal applicability, the entry angle is determined in two spatial planes.

Another preferred embodiment of the invention is based on the fact that: at least one detection device is provided for detecting at least one inclination of the carrier unit. For optimum applicability, the tilt angle is determined in two spatial planes. The inclination of the lower carriage can also have an influence on the tilting moment.

Furthermore, it is preferred that at least one detection device is provided for detecting at least one inclination of the mast. The inclination of the pillar may be understood in particular as the inclination of the pillar relative to the upper frame. Similarly, the angle may also affect the tilting moment. For optimum applicability, the tilt angle is determined in two spatial planes.

Furthermore, it is advantageous to provide at least one detection device for detecting the rope end position of the auxiliary rope. In this way it is possible to take into account the fact that: the load fixed to the auxiliary rope may experience vibrations, which also affect the tilting moment. The detection device for detecting the rope end position of the auxiliary rope may be specifically designed as a detection device for detecting the release angle of the auxiliary rope pulley.

In addition, it is advantageous to provide at least one detection device for detecting the wind speed. In this way, the fact is taken into account that wind loads also have an increased effect on the tilting moment.

Furthermore, according to the invention, at least one detection device may be provided for detecting the rotational speed of the upper carriage. The rotation of the upper carriage relative to the load bearing device about the vertical axis is accompanied by a corresponding centrifugal force, which may also have the effect of increasing the tilting moment. In this context, it has proven to be advantageous to detect the rotational speed of the upper carriage relative to the support device.

Furthermore, it is advantageous to provide at least one detection device for detecting the string end position of the conveyor string. The position of the conveyor line provides an indication as to the position of the actuating means and thus the position of the centre of mass in relation to the safety against tilting.

In addition, it is preferable to provide at least one detection device for detecting the string end position of the main string. The centroid coordinate determining the tilting moment can be determined by detecting the end position of the main rope.

It is therefore advantageous if the status data relate to the position of the supporting boom of the supporting pillar, the angle of rotation of the upper carriage, the pulling and/or pushing force in the slide conveyor system, the pulling force in the main rope, the pulling force in the auxiliary rope, at least one entry angle of the auxiliary rope, at least one inclination of the carrying unit, at least one inclination of the supporting pillar, the rope end position of the auxiliary rope, the wind speed, the rotational speed of the upper carriage, the rope end position of the conveyor rope and/or the rope end position of the main rope.

Another preferred embodiment of the invention is based on the fact that: indicating means are provided with which the adjustment range can be indicated together with the current position of the actuating unit, and which are adapted to represent the adjustment range as well as the current position in one common schematic view. In particular, the indication means may be arranged to be adapted to indicate the adjustment range by a colored highlight. According to this embodiment, the safe adjustment range and the actual current position of the actuation unit relative to this adjustment range are visually indicated to the driver. Therefore, the situation of the tilt safety is indicated in a manner that the driver can intuitively understand.

The invention also relates to a method for operating a construction machine, in particular a construction machine according to the invention, with a carrier unit, an actuating unit which is adjustable relative to the carrier unit, at least one detection device for detecting status data of the construction machine, and a computer unit, in which case provision is made for at least one adjustment range of the actuating unit to be determined by the computer unit on the basis of the detected status data, wherein the actuating unit can be adjusted with a specified safety against tilting of the construction machine. The embodiments according to the invention described in connection with the construction machine can also be used in connection with the method according to the invention, whereby the advantages listed in connection with the construction machine can be achieved.

Drawings

The invention will be described in more detail hereinafter with reference to preferred embodiments illustrated schematically in the drawings, in which:

fig. 1 shows a side view of a construction machine according to the invention.

Detailed Description

Fig. 1 shows a construction machine according to the invention. The construction machine 1 is designed as a mobile earth boring machine. It has a carrying unit 10 which is designed as a lower carriage and has a running gear 9, the running gear 9 being designed as a crawler-type running gear. The upper frame 11 of the construction machine 1 is provided on the carrier unit 10. The upper frame 11 is arranged on the load-bearing unit 10 so as to be pivotable about the vertical axis 3.

A post support boom 12 is provided on the upper frame 11, which supports and connects a post 14 to the upper frame 11. The post supporting boom 12 is pivotably arranged about a horizontally extending axis. By pivoting the strut supporting the boom 12, the strut 14 is radially adjustable relative to the upper frame 11 and thus relative to the load carrying unit 10. A slide 15 is respectively provided on the support column 14 in a vertically movable manner. On the skid plate 15 there is an actuating unit 18 constituting a rotary drilling drive. The actuating unit 18 has driven ground construction tools 19,20, which consist of a drill rod 19 with a drill bit 20 arranged on the underside. The drill rod 19 may in particular be designed as a kelly.

By pivoting the upper carriage 11 relative to the carrier unit 10, the actuating unit 18 can also be pivoted about the vertical axis 3 relative to the carrier unit 10. By supporting the boom 12 by means of a pivot post, the actuating unit 18 can be pivoted radially to the carrying unit 10 with respect to the vertical axis 3.

The drill pipe 19 of the foundation construction tool is suspended from a main line 41 extending around the head of the column 14. To actuate the main rope 41, a main rope winch 42 is provided on the rear portion of the upper frame 11 or on the pillar 14. Furthermore, an auxiliary rope 44 is guided around the strut 14, the auxiliary rope 44 being actuatable by an auxiliary rope winch 45. The auxiliary line 44 can be used if, for example, the drill rod 19 is mounted on the construction machine 1. To move the skid plate 15 vertically on the column 14, a conveyor system with a conveyor winch 48 and a conveyor rope 49 is provided, which extends around the column 14 and is fixed on the skid plate 15.

On the construction machine 1, a computer unit 23 is provided, which is in signal communication with a plurality of detection devices 51 to 64, which are described in more detail below. On the basis of the status data detected by the detection means 51 to 64, the adjustment range of the actuating unit 18 can be determined by the computer unit 23, wherein the actuating unit 18 can be adjusted in a safe tilting manner, in particular can be moved radially to the vertical axis 3 and/or can be pivoted about the vertical axis 3. For this purpose, an indicator device 24 can be provided in the cab of the upper frame 11, which indicator device 24 is in signal communication with the computer unit 23 and by means of which indicator device 24 the adjustment range can be indicated together with the actual current position of the actuating unit 18. For this purpose, the display device 24 may have a display screen, for example.

The pointing device 24 is further provided with a loading/unloading auxiliary switch device 30 which can be realized by a touch panel, for example. The driver can input whether to set the drilling operation or the loading/unloading operation by the loading/unloading assist switch device 30. The handling aid switch device 30 is in signal communication with the computer unit 23, thereby enabling the computer unit 23 to vary the adjustment range of the safety tilt according to the mode of operation.

A limiting unit 32 is further provided on the construction machine 1, the limiting unit 32 being in signal communication with the computer unit 23 and limiting at least one operating parameter of the construction machine 1 depending on the switching state of the loading auxiliary switching device 30. For example, if the loading and unloading mode is selected, the limiting unit 32 can limit the pivoting speed of the upper carriage 11 about the vertical axis 3 relative to the carrying unit 10, i.e. the lower carriage, while in the drilling mode the limitation can be cancelled. Alternatively or additionally, the limiting unit 32 may also limit the radial position of the actuating unit 18 by limiting the displacement of the supporting boom 12.

Furthermore, a protective device 33 is provided on the construction machine 1, which protective device 33 is in signal communication with the loading auxiliary switching device 30 and/or the indicating device 24, and selection of the loading mode is prohibited if, for example, the inclination of the mast is too great for the purpose.

As already indicated above, the construction machine 1 has a plurality of detection devices 51 to 64 which are in signal communication with the computer unit 23 and whose data are used by the computer unit 23 to determine the adjustment range. In particular, a first detection device 51 is provided for detecting the position of one of the supporting booms 12. The detection means 51 may be designed, for example, as a rotary encoder between the post support boom 12 and the upper carriage 11, which is arranged on the vertical pivot axis of the rear post support boom 12.

A further detection device 52 is provided for detecting the angle of rotation of the upper carriage 11 relative to the carrying unit 10. By means of this detection device 52, the angle of rotation about the vertical axis 3 is determined, at which the upper frame 11 rotates relative to the carrying unit 10.

Two further detection devices 53 are provided for detecting a pulling and/or pushing force in the transport system of the slide 15. In the embodiment shown, these detection means 53 are constituted by two load cells located in the diverting pulleys of the conveyor rope 49. In the case of a roller conveyor system, these detection means can be formed by pressure detection means which measure the tension and/or thrust of the conveyor roller.

A further detection device 54 is provided for detecting the tension in the main rope 41. The detection device 54 is constituted by a load cell bolt provided in the upper diverting sheave of the main rope 41.

A further detection device 55 is provided for detecting the tension in the auxiliary rope 44. The detection means 55 consist of a force measuring bolt located in the upper diverting pulley of the auxiliary rope 44.

Furthermore, two detection devices 56 and 57 are provided for detecting the entry angle of the auxiliary rope 44 on the supporting pillar 14. The first detection device 56 determines the diagonal pull angle of the auxiliary rope 44 in the longitudinal direction with respect to the upper frame 11, and the second detection device 57 determines the diagonal pull angle of the auxiliary rope 44 in the lateral direction with respect to the upper frame 11. Both detection means 56,57 are formed by angle detection means at the rope entry point into the rope passage on the auxiliary rope 44.

On the carrying unit 10 of the construction machine 1, which is designed as a lower carriage, a further detection device 58 is further provided for detecting at least one inclination of the carrying unit 10. The detection device 58 may have two tilt sensors for measuring the tilt angle of the carrier unit 10 in the longitudinal or transverse direction.

A further detection device 59 is provided for detecting the inclination of the mast 14. The detection device 59 has two sensors for measuring the inclination angle in the longitudinal or transverse direction with respect to the upper frame 11.

A further detection device 60 is provided for detecting the string end position of the auxiliary string 44. The detection device 60 is designed as a rotary encoder arranged on the rollers of the auxiliary rope reel 45. The detection device detects the length of the unwound rope. From this it is possible to determine the position of the load fixed to the auxiliary ropes 44, which is taken into account in particular if the load vibrates after the rotation of the upper frame 11, which may result in a tilting moment.

A further detection means 61 is provided for detecting the wind speed. The detection device 61 is constituted by an anemometer located at the top end of the strut 14.

A further detection device 62 is provided for detecting the rotational speed of the upper carriage 11 about the vertical axis 3 relative to the carrier unit 10. The detection device 62 may be specifically provided on the upper frame 11.

In addition, a detection device 63 is provided for detecting the string end position of the transport string 49 in the transport system. In particular, the detection device 63 can be designed for measuring the position of the actuation unit 18 designed as a rotary drive. The coordinates of the center of mass of the various components of the apparatus can be determined from the data in the detection device 63.

In addition, another detection device 64 is provided for detecting the string end position of the main string 41. More specifically, the detection device 64 may be designed to measure the rope position of the main rope 41. From the string end positions of the main strings 41, the coordinates of the center of mass of the foundation construction tools 19,20 can be determined in combination with the string end positions of the conveying strings 49.

Claims (11)

1. A construction machine is provided with:

a bearing unit for bearing the load of the vehicle,

an actuating unit which is adjustable relative to the carrier unit,

at least one detection device for detecting status data of the construction machine, and

a computer unit by means of which at least one adjustment range of the actuating unit can be determined from the detected state data, wherein the actuating unit is adjustable with a specified safety against tilting of the construction machine;

wherein the carrying unit is provided with a mobile device,

the actuating unit has at least one foundation construction tool, and

the actuating unit is pivotable about a vertical axis relative to the carrier unit and is radially adjustable relative to the vertical axis.

2. The construction machine according to claim 1, wherein:

the position of the actuating unit within the adjustment range can be determined by the computer unit and a signal can be emitted when the limit of the adjustment range is reached.

3. The construction machine according to claim 1, wherein:

the ground construction tool is a drilling tool.

4. The construction machine according to claim 1, wherein:

at least one detection device is provided which detects status data manually input by the driver.

5. The construction machine of claim 1, wherein

Providing a loading assist switch device actuatable by the driver and in signal communication with the computer unit, whereby

The computer unit is adapted to modify the adjustment range depending on the switching state of the load assist switching device.

6. The construction machine according to claim 5, wherein:

a limiting unit is provided which is adapted to limiting at least one operating parameter of the construction machine depending on the switching state of the loading auxiliary switching device.

7. The construction machine according to claim 5, wherein:

the load handling auxiliary switching device comprises a protection device which inhibits the actuation of the load handling auxiliary switching device if at least one operating parameter of the construction machine lies outside a specified range.

8. The construction machine according to claim 1, wherein:

at least one detection device is provided for detecting the position of the supporting boom of the supporting column,

at least one detection device is provided for detecting the angle of rotation of the upper carriage,

at least one detection device is provided for detecting a pulling and/or pushing force in the skillet conveyor system,

at least one detection device is provided for detecting the tension in the main rope,

at least one detection device is provided for detecting the tension in the auxiliary rope,

at least one detection device is provided for detecting at least one entry angle of the auxiliary rope,

at least one detection device is provided for detecting at least one tilt angle of the carrier unit,

at least one detecting device is provided for detecting at least one inclination of the supporting pillar,

at least one detection device is provided for detecting the rope end position of the auxiliary rope,

at least one detection device is provided for detecting the wind speed,

at least one detection device is provided for detecting the rotational speed of the upper carriage,

at least one detection device is provided for detecting the end position of the transport rope, and/or

At least one detection device is provided for detecting the rope end position of the main rope.

9. The construction machine according to claim 1, wherein:

an indication device is provided with which the adjustment range can be indicated together with the current position of the actuating unit, and

the indicating means are adapted to indicate the adjustment range and the current position in a common diagram.

10. The construction machine of claim 2, wherein the signal is a control signal for an actuation unit.

11. Method for operating a construction machine according to claim 1, the construction machine having:

a bearing unit for bearing the load of the vehicle,

an actuating unit which is adjustable relative to the carrier unit,

at least one detection device for detecting status data of the construction machine, and

a computer unit for the computer unit, wherein the computer unit is connected with the computer unit,

wherein at least one adjustment range of the actuating unit is determined by the computer unit on the basis of the detected state data, wherein the actuating unit can be adjusted with a specified safety against tilting of the construction machine.