Construction machine with computer unit for determining an adjustment area

Abstract

The invention relates to a construction machine comprising a carrier unit, an actuating unit adjustable relative to the carrier unit, at least one sensor for acquiring status data of the construction machine, and a computer unit by which, based on the acquired status data, at least one adjustment range of the actuating unit can be determined within which the actuating unit is adjustable while maintaining a predetermined stability of the construction machine. The invention also relates to a method for operating such a construction machine.

Description

[0001] The invention relates to an earth drilling device according to claim 1 and a method for operating an earth drilling device according to claim 10.

[0002] When operating large construction machinery, such as earth drilling rigs, tipping moments can occur. These tipping moments can be caused statically, for example by excessive loads, but also dynamically, for example by centrifugal forces.

[0003] To prevent excessive tipping moments, one known method is to structurally limit the adjustment range of overhanging loads. However, this often also leads to a restriction of the operating range of the construction machine and thus to a limitation of its possible applications.

[0004] A generic earth drilling rig is known from DE 89 12 027 U1. To determine an adjustment range while maintaining a desired stability against tipping, numerous measuring elements are provided, which detect the position of components, such as the mast. Pressure measuring elements are provided on the mast's support cylinders and the rig's support feet to record load values.

[0005] Another earth drilling device is known from DE 200 11 371 U1.

[0006] Task The invention is to provide an earth drilling device which, with particularly high operational reliability, especially with regard to tipping stability, has a particularly large working radius, a particularly wide range of applications and a particularly high performance.

[0007] The problem is solved by an earth drilling device having the features of claim 1. Preferred embodiments are specified in the dependent claims. Furthermore, the problem is solved by a method having the features of claim 10.

[0008] According to the invention, an earth drilling device is provided, comprising a carrier unit, an actuating unit which is adjustable relative to the carrier unit, at least one sensor for recording status data of the earth drilling device, and a computing unit by which, on the basis of the recorded status data, at least an adjustment range of the actuating unit can be determined, in which the actuating unit is adjustable with a given tilting stability of the earth drilling device.

[0009] The invention is based on the understanding that when adjusting a heavy actuating unit relative to the support unit, shifts in the center of gravity can occur, accompanied by corresponding variable tilting moments. To enable tilt-proof operation despite these variable tilting moments, a computing unit is provided according to the invention. This computing unit determines an adjustment range within which the actuating unit can be moved safely relative to its support unit. The safe adjustment range can, for example, be characterized by maintaining a predetermined tilt safety factor within it. For determining the adjustment range, corresponding characteristic curve fields or tables can be stored in the evaluation unit.

[0010] The adjustment range is determined based on the condition data of the earth drilling rig. This means the control unit can consider, in a holistic view, that the tilting tendency is not only determined by the reach of the actuating unit, but is also influenced by other factors, such as the load on the actuating unit or the dynamic state of the earth drilling rig. Therefore, the condition data could, for example, include data concerning the diameter of a drill pipe held by the actuating unit, which, via the associated mass of the drill pipe, in turn influences the tilting moment.

[0011] The invention relates to an earth drilling rig. In this case, the actuating unit is the drilling drive for an earth drilling tool. The support unit can be a chassis of the drilling rig.

[0012] A particular advantage is that the computer unit can determine the position of the actuating unit within the adjustment range and can emit a signal when a limit of the adjustment range is reached. According to this embodiment, the computer unit relates the actual position of the actuating unit to the calculated adjustment range, so that it can be immediately assessed whether the unit is operating in a tip-proof manner or whether there is a risk of tipping. The signal emitted when the limit of the adjustment range is reached can, for example, be an operator signal, such as an acoustic or visual signal that can be perceived by an operator of the earth drilling rig. In particular, a corresponding display on an operator screen can be provided as a visual signal.This enables the operator to detect the approach to a tipping hazard area, allowing them to take appropriate countermeasures. Alternatively or additionally, a control signal can be provided for the actuator. Using such control signals, the control unit can automatically keep the actuator within its safe adjustment range, ensuring particularly reliable operation.

[0013] The invention can be used particularly in mobile earth drilling rigs, since tipping stability is often a critical factor in these applications. Accordingly, it is advantageous for the support unit to have a chassis. In particular, the support unit can be the undercarriage of the earth drilling rig.

[0014] According to the invention, the actuating unit comprises at least one deep-digging tool, namely a drilling tool. The actuating unit can, for example, be designed as a rotary drilling drive and / or a vibratory drilling drive.

[0015] For a particularly large working range, it is advantageous for the actuating unit to be pivotable about a vertical axis relative to the support unit and / or radially adjustable to the vertical axis. The vertical axis can be understood to be, in particular, an axis that runs at least approximately vertically. Specifically, it can be provided that the actuating unit, designed as a drilling drive, is arranged on a mast that is radially adjustable relative to a superstructure, which in turn is pivotable relative to the support unit designed as a substructure.

[0016] The sensor according to the invention can acquire the condition data by physical measurement. It can also be advantageous to provide at least one sensor that acquires condition data entered manually by the operator. For example, the operator may be presented with a selection menu of possible drill pipe diameters, such as 880 mm or 1300 mm, or the drill pipe diameter may be acquired automatically. Based on the input, the computer unit then determines different adjustment ranges, whereby the adjustment range will regularly be smaller for a larger drill pipe diameter and thus a heavier drill pipe than for a smaller diameter. If a sensor is provided for acquiring manually entered condition data, it is advantageous for the computer unit to have a storage device for saving the manually entered data.This provides documentation to determine, in case of possible malfunctions, whether the entered data was correct.

[0017] Another preferred embodiment of the invention comprises a handling assistance switching device that can be operated by an operator and is in signal communication with the computer unit. The computer unit is configured to modify the adjustment range depending on the switching state of the handling assistance switching device. This embodiment takes into account that different operating modes frequently occur on the earthmoving equipment, requiring different considerations regarding tipping stability. For example, during drilling operations, additional forces often occur on the drilling tool, which can increase the tendency to tip over, or work is carried out with a tilted mast, which can also increase the tendency to tip over. Therefore, a limited adjustment range can be determined by the computer unit during drilling operations.In contrast, during handling operations where the tool is merely repositioned, for example to empty a drill bucket away from the borehole, at least some of these additional loads are often no longer present, allowing for a wider adjustment range. The handling assistance control device can be implemented, for example, via a switch or a touchscreen, where the operator specifies whether a work operation, particularly drilling operation, or a handling operation is desired. For documentation purposes, the handling assistance control device expediently includes a memory function designed to save the operator's selection.

[0018] Extending the adjustment range in handling mode requires limiting other operating parameters of the earthmoving equipment and the associated tipping moments. For example, an extended adjustment range in handling mode is only justified if the winch pulling forces of a main winch, an auxiliary winch, or a feed winch are below a permissible limit. To help the operator comply with these limits, it can be advantageous for the handling assistance control unit to have a display that shows the limits of these operating parameters when handling mode is selected. For example, the permissible winch pulling forces could be displayed.

[0019] A particular advantage is the provision of a limiting unit configured to limit at least one operating parameter of the earth drilling rig depending on the switching state of the handling assistance control unit. According to this embodiment, the critical operating parameters can be automatically limited when the handling mode is selected on the handling assistance control unit. The at least one operating parameter that is limited and / or displayed to the operator may, in particular, be winch pulling forces. Accordingly, the limiting unit may reduce the torque of a feed winch and switch off an auxiliary winch when handling mode is selected.

[0020] Furthermore, it is advantageous that the handling assistance switching device includes a protective device that prevents the effect of actuating the handling assistance switching device if at least one operating parameter of the earth drilling rig lies outside a predetermined range. According to this embodiment, the effect of actuating the handling assistance switching device can be prevented if at least one operating parameter is atypical for handling operation, and thus an extension of the adjustment range is not justified.

[0021] At least one operating parameter of the earth auger, the limits of which are displayed to the operator, which is limited by the limiting unit, and / or which is taken into account by the safety device, may be, in particular, the upper carriage speed and / or the mast tilt. Earth augers often have an upper carriage that is rotatably mounted on the support unit around a vertical axis, and on which a mast is mounted that supports the operating unit. If the upper carriage, together with the operating unit, is rotated around the vertical axis relative to the support unit, centrifugal forces can occur that dynamically increase the tendency to tip over. Therefore, a manual or automatic limitation of the upper carriage speed can be advantageous. Furthermore, the mast tilt relative to the upper carriage can also influence the tendency to tip over, so that limiting the mast tilt can also be advantageous with regard to tipping safety.

[0022] The at least one operating parameter whose limits are displayed, which is limited by the limiting unit and / or which is taken into account by the protective device, may also be a rotation angle of the upper carriage relative to the undercarriage, since a mobile undercarriage is often not equally stable against tipping in all spatial directions.

[0023] The condition data used by the control unit to determine the adjustment range can include, in particular, a weight force on the actuating unit. For example, the pipe length at the actuating unit can be taken into account, because the longer the drill pipe hanging from the actuating unit, the greater the tendency to tilt.

[0024] Furthermore, it is advantageous that at least one sensor is provided to detect the position of a mast support boom. This is because the position of the mast support boom, which connects the mast to the superstructure, is often a measure of the mast's radial position and thus the position of the actuating unit relative to the superstructure, and therefore also determines the tipping moment.

[0025] Furthermore, it is preferred that at least one sensor is provided to detect the rotation angle of the superstructure. This is because the support unit is often not equally stable against tipping in all spatial directions. Thus, the rotation angle of the superstructure relative to the support unit, particularly around a vertical axis, also provides information about tipping stability.

[0026] Furthermore, it is advantageous to provide at least one sensor for detecting a tensile and / or compressive force in a feed system for a slide. A slide feed system can be understood, in particular, as a system that moves the actuating unit relative to the mast in a vertical direction. The tensile and / or compressive force acting there can also influence the tipping moment.

[0027] According to the invention, at least one sensor is provided in a main rope for detecting a tensile force. A corresponding main rope carries a drill string that runs along the actuating unit. Thus, the tensile force of the main rope can also influence the tilting moment.

[0028] Furthermore, according to the invention, at least one sensor is provided for detecting a tensile force in an auxiliary rope. This is because such an auxiliary rope, which can be used, for example, in the assembly of a drill string, can also cause tilting moments.

[0029] Another embodiment involves providing at least one sensor to detect at least one entry angle of the auxiliary rope, since the entry angle can also influence the tilting moment caused by the auxiliary rope. Advantageously, the entry angle is determined in two spatial planes.

[0030] Another preferred embodiment of the invention consists in providing at least one sensor for detecting at least one tilt angle of the support unit. Advantageously, the tilt angle is determined in two spatial planes. The tilt angle of the undercarriage can also influence the tipping moments.

[0031] Furthermore, it is preferred that at least one sensor is provided for detecting at least one tilt angle of the mast. The tilt angle of the mast can be understood, in particular, as the angle of inclination of the mast relative to the superstructure. This angle can also influence the tipping moments. Advantageously, the angle of inclination is determined in two spatial planes.

[0032] Furthermore, it is advantageous that at least one sensor is provided for detecting the end position of the auxiliary rope. This allows for consideration of the fact that the load attached to the auxiliary rope may be subject to pendulum movements, which also contribute to the tipping moment. The sensor for detecting the end position of the auxiliary rope can, in particular, be designed as a sensor for detecting the unwind angle of a drum for the auxiliary rope.

[0033] Furthermore, it is advisable to include at least one sensor for measuring wind speed. This takes into account that wind loads can also increase the tipping moment.

[0034] Furthermore, according to the invention, at least one sensor can be provided for detecting the rotational speed of the superstructure. Rotation of the superstructure relative to the carrier about its vertical axis is accompanied by corresponding centrifugal forces, which can also increase the tipping moment. Against this background, detecting the rotational speed of the superstructure relative to the carrier is advantageous.

[0035] Furthermore, it is advantageous that at least one sensor is provided to detect the end position of a feed rope. This is because the position of the feed rope indicates the position of the actuating device and thus, in turn, the center of gravity, which is relevant for stability against tipping.

[0036] Furthermore, it is preferred that at least one sensor is provided for detecting the end position of the main rope. By detecting the end position of the main rope, center of gravity coordinates can be determined, which in turn determine the overturning moment.

[0037] Accordingly, it is advantageous that the state data relate to the position of the mast support boom, the rotation angle of the superstructure, the tensile and / or compressive force in the feed system for the carriage, the tensile force in the main rope, the tensile force in the auxiliary rope, the at least one entry angle of the auxiliary rope, the at least one inclination angle of the support unit, the at least one inclination angle of the mast, the rope end position of the auxiliary rope, the wind speed, the rotation speed of the superstructure, the rope end position of the feed rope and / or the rope end position of the main rope.

[0038] A further preferred embodiment of the invention consists in the provision of a display device with which the adjustment range can be shown together with the current position of the actuating unit, and in the display device being configured to show the adjustment range and the current position in a single positional diagram. In particular, the display device can be configured to represent the adjustment range by highlighting it in color. According to this embodiment, the safe adjustment range and the actual current position of the actuating unit with respect to this adjustment range are visually displayed to the operator. This makes the tipping safety situation intuitively comprehensible to the operator.

[0039] The invention also relates to a method for operating an earth drilling rig according to the invention, comprising a carrier unit, an actuating unit adjustable relative to the carrier unit, at least one sensor for acquiring status data of the earth drilling rig, and a computer unit. It is provided that the computer unit determines, based on the acquired status data, at least one adjustment range of the actuating unit within which the actuating unit can be adjusted while maintaining a predetermined stability of the earth drilling rig. The exemplary embodiments described in connection with the earth drilling rig according to the invention can also be used in connection with the method according to the invention, thereby achieving the advantages described in connection with the earth drilling rig.

[0040] The invention is explained in more detail below with reference to preferred embodiments, which are shown schematically in the accompanying figure. The accompanying figure shows: Fig. 1 a side view of an earth drilling device according to the invention.

[0041] An earth drilling device according to the invention is in Fig. 1 The earth drilling rig 1 is designed as a mobile earth drilling rig. It has a carrier unit 10 designed as an undercarriage with a chassis 9 designed as a crawler track system. A superstructure 11 of the earth drilling rig 1 is arranged on this carrier unit 10. The superstructure 11 is pivotable about the vertical axis 3 on the carrier unit 10.

[0042] Mast support arms 12 are arranged on the superstructure 11, supporting a mast 14 and connecting it to the superstructure 11. The mast support arms 12 are pivotable about horizontal axes. By pivoting the mast support arms 12, the mast 14 can be adjusted radially relative to the superstructure 11 and thus to the support unit 10. A carriage 15 is arranged vertically on the mast 14. An actuating unit 18, which forms a rotary drilling drive, is provided on this carriage 15. The actuating unit 18 has a driven drilling tool 19, 20, which is formed by a drill string 19 with an auger 20 arranged on its underside. The drill string 19 can be designed, in particular, as a Kelly bar.

[0043] By pivoting the superstructure 11 relative to the support unit 10, the actuating unit 18 can also be pivoted about the vertical axis 3 relative to the support unit 10. By pivoting the mast support arms 12, the actuating unit 18 can be pivoted radially to the support unit 10 with respect to the vertical axis 3.

[0044] The drill string 19 of the deep drilling tool is suspended from a main cable 41, which runs around the top of the mast 14. A main winch 42 is provided at the rear of the superstructure 11 or on the mast 14 for operating the main cable 41. Furthermore, an auxiliary cable 44 runs around the mast 14 and can be operated by means of an auxiliary winch 45. This auxiliary cable 44 can be used, for example, when the drill string 19 is mounted on the earth drilling rig 1. For the vertical movement of the carriage 15 on the mast 14, a feed system is provided with a feed winch 48 and a feed cable 49 running around the mast 14, which is attached to the carriage 15.

[0045] The earth drilling rig 1 is equipped with a computer unit 23, which communicates with a series of sensors 51 to 64 described in more detail below. Based on the status data acquired by the sensors 51 to 64, this computer unit 23 can determine an adjustment range for the actuating unit 18 within which the actuating unit 18 can be adjusted in a tilt-proof manner, in particular radially about the vertical axis 3 and / or pivoted about the vertical axis 3. A display device 24 is provided in the operator's cab of the superstructure 11, which communicates with the computer unit 23 and displays the adjustment range together with the actual current position of the actuating unit 18. For this purpose, the display device 24 can, for example, include a display.

[0046] A handling assistance switching device 30, which can be implemented, for example, as a touchscreen, is also arranged on the display unit 24. Using this handling assistance switching device 30, the operator can specify whether drilling or handling operation is intended. The handling assistance switching device 30 is in signal communication with the computer unit 23, so that the computer unit 23 can vary the tilt-proof adjustment range depending on the operating mode.

[0047] The earth drilling rig 1 is further equipped with a limiting unit 32, which is in signal communication with the computer unit 23 and which limits at least one operating parameter of the earth drilling rig 1 depending on the switching state of the handling assistance switching device 30. For example, the limiting unit 32 can limit the slewing speed of the upper carriage 11 about the vertical axis 3 relative to the support unit 10, i.e., the undercarriage, when the handling mode is selected, and can remove this limit in drilling mode. Alternatively or additionally, the limiting unit 32 can also limit the radial position of the actuating unit 18 by limiting the deflection of the mast support booms 12.

[0048] Furthermore, a protective device 33 is provided on the earth drilling device 1, which is in signal communication with the handling assistance switching device 30 and / or with the display device 24, and which prevents the selection of the handling mode if, for example, the mast inclination is too great for this purpose.

[0049] As previously mentioned, the construction machine 1 has a series of sensors 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 sensor 51 is provided for detecting the position of one of the mast support booms 12. The sensor 51 can, for example, be designed as a rotary encoder between the mast support boom 12 and the superstructure 11, which is arranged on the vertical pivot axis of the rear mast support boom 12.

[0050] A further sensor 52 is provided for detecting a rotation angle of the superstructure 11 relative to the support unit 10. Using this sensor 52, the rotation angle about the vertical axis 3, around which the superstructure 11 is rotated relative to the support unit 10, is determined.

[0051] Two further sensors 53 are provided for detecting a tensile and / or compressive force in the feed system for the carriage 15. In the illustrated embodiment, these sensors 53 are formed by two force-measuring bolts in the deflection pulleys of the feed cable 49. In cylinder feed devices, these sensors can be formed by pressure sensors that measure the tensile and / or compressive force of the feed cylinder.

[0052] A further sensor 54 is provided for detecting a tensile force in the main rope 41. This sensor 54 is formed by a force measuring bolt in an upper rope deflection pulley of the main rope 41.

[0053] A further sensor 55 is provided for detecting a tensile force in the auxiliary rope 44. This sensor 55 is formed by a force measuring bolt in an upper rope deflection pulley of the auxiliary rope 44.

[0054] Furthermore, two sensors 56 and 57 are provided for detecting the entry angles of the auxiliary rope 44 at the mast 14. The first sensor 56 determines the angle of inclination of the auxiliary rope 44 longitudinally to the superstructure 11, and the second sensor 57 determines the angle of inclination of the auxiliary rope 44 transversely to the superstructure 11. Both sensors 56 and 57 are each formed by an angle sensor at the rope entry into the upper rope guide of the auxiliary rope 44.

[0055] Furthermore, the carrier unit 10 of the earth drilling rig 1, which is designed as a substructure, is equipped with an additional sensor 58 for detecting at least one inclination angle of the carrier unit 10. This sensor 58 can have two inclination sensors for measuring inclination longitudinally and transversely to the carrier unit 10.

[0056] A further sensor 59 is provided for detecting the mast inclination of the mast 14. This sensor 59 has two sensors for an inclination angle longitudinally and transversely to the superstructure 11.

[0057] A further sensor 60 is provided for detecting the end position of the auxiliary rope 44. This sensor 60 is designed as a rotary encoder and is arranged on the drum of the auxiliary winch 45. The sensor 60 determines the unwound length of rope. This allows the position of the load attached to the auxiliary rope 44 to be determined, which is particularly important when the load swings after a rotation of the superstructure 11, which can cause tipping moments.

[0058] A further sensor 61 is provided for measuring wind speed. This sensor 61 is formed by a wind gauge at the top of the mast 14.

[0059] A further sensor 62 is provided for detecting the rotational speed of the superstructure 11 relative to the support unit 10 about the vertical axis 3. This sensor 62 can, in particular, be arranged on the superstructure 11.

[0060] Furthermore, a sensor 63 is provided for detecting the end position of the feed rope 49 of the feed system. In particular, this sensor 63 can be configured to measure the position of the actuating unit 18, which is designed as a rotary drive. The center of gravity coordinates of the equipment components can be determined from the data of the sensor 63.

[0061] Furthermore, an additional sensor 64 is provided for detecting the rope end position of the main rope 41. In particular, this sensor 64 can be configured to measure the position of a swivel of the main rope 41. From the rope end position of the main rope 41, taking into account the rope end position of the feed rope 49, the center of gravity coordinates of the underground construction tool 19, 20 can be determined.

Claims

1. Ground drill device (1) having - a carrier unit (10), - an actuation unit (18), which is adjustable with respect to the carrier unit (10) wherein the actuating unit (18) has a drilling drive for an ground drilling tool (20), - a main cable (41) which carries a drill rod (19) which runs along the actuating unit (18), - an auxiliary cable (44) for use in assembling the drill rod (19), - at least one detecting means (51 to 64) for detecting status data of the ground drill device (1), and - a computer unit (23), characterized - in that at least one sensor (54) is provided for detecting a tensile force in the main cable (41), - in that at least one sensor (55) is provided for detecting a tensile force in the auxiliary cable (44), and - in that the computer unit (23) is configured to set at least one adjustment range of the actuating unit (18) with a predetermined tilt stability of the ground drill device (1) on the basis of the detected status data from the sensors (54, 55).

2. Ground drill device (1) according to claim 1, characterizedin that by means of the computer unit (23) the position of the actuation unit (18) within the adjustment range can be determined and on reaching a limit of the adjustment range a signal, in particular a control signal for the actuation unit (18), can be emitted.

3. Ground drill device (1) according to anyone of the preceding claims, characterized in that the carrier unit (10) has a running gear (9), and in that the actuation unit (18) is pivotable with respect to the carrier unit (10) about a vertical axis (3) and is adjustable radially to the vertical axis (3).

4. Ground drill device (1) according to anyone of the preceding claims, characterized in that at least one detecting means is provided which detects status data that are entered manually by an operator.

5. Ground drill device (1) according to anyone of the preceding claims, characterized - in that a handling assistance switch means (30) is provided that can be actuated by an operator and is in signal connection with the computer unit (23), whereby - the computer unit (23) is adapted to modify the adjustment range depending on a switch state of the handling assistance switch means (30).

6. Ground drill device (1) according to claim 5, characterized in that a limiting unit (32) is provided, which is adapted to limit at least one operating parameter of the ground drill device (1) depending on the switch state of the handling assistance switch means (30).

7. Ground drill device (1) according to claim 5 or 6, characterized in that the handling assistance switch means (30) comprises a protection means (33), which prohibits the effects of an actuation of the handling assistance switch means (30), if at least one operating parameter of the ground drill device (1) lies outside a given range.

8. Ground drill device (1) according to anyone of the preceding claims, characterized - in that at least one detecting means (51) for detecting a position of a mast supporting boom (12) is provided, - in that at least one detecting means (52) for detecting an angle of rotation of an upper carriage (11) is provided, - in that at least one detecting means (53) for detecting a pull and / or push force in a feed system for a sledge (15) is provided, - in that at least one detecting means (56, 57) for detecting at least one run-in angle of the auxiliary rope (44) is provided, - in that at least one detecting means (58) for detecting at least one angle of inclination of the carrier unit (10) is provided, - in that at least one detecting means (59) for detecting at least one angle of inclination of a mast (14) is provided, - in that at least one detecting means (60) for detecting a rope-end position of the auxiliary rope (44) is provided, - in that at least one detecting means (61) for detecting a wind speed is provided, - in that at least one detecting means (62) for detecting a rotational speed of the upper carriage (11) is provided, - in that at least one detecting means (63) for detecting a rope-end position of a feed rope (49) is provided, and / or - in that at least one detecting means (64) for detecting a rope-end position of the main rope (41) is provided.

9. Ground drill device (1) according to anyone of the preceding claims, characterized - in that an indication means (24) is provided, with which the adjustment range can be indicated together with the current position of the actuation unit (18), and - in that the indication means (24) is adapted to represent the adjustment range as well as the current position in one common sketch-map.

10. Method for operating the ground drill device (1), according to anyone of the claims 1 to 9.

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