Method for monitoring a working machine using a male only, and working machine using a male only

Abstract

The invention relates to a method for monitoring the operation of a machine, which comprises a control unit, a detection device, a carrier unit, and a mast attached thereto, on which a tool, in particular a piling or drilling tool, is mounted. During operation of the machine, the detection device detects at least one force currently acting on a connection point and / or a piston-cylinder unit and provides this information to the control unit. According to the invention, the control unit determines the amplitude of the measured force, compares the amplitude and / or a value derived therefrom against at least one limit value, and automatically executes an action when a limit value is reached.The invention further relates to a work machine, in particular a civil engineering machine, comprising a carrier unit, a marker attached thereto, a detection device, and a control system for carrying out the method according to the invention. The invention further relates to a corresponding computer program product.

Description

[0001] The present invention relates to a method according to the preamble of claim 1, as well as a working machine with a control system for carrying out the method and a corresponding computer program product.

[0002] Such drilling machines typically comprise a carrier unit with a chassis that supports a superstructure, which may be rotatably mounted. The superstructure, in turn, includes a mast for mounting the required tool, such as a pile driver for driving or vibrating in material, or a drill for Kelly drilling. The mast's inclination can usually be varied via support or neck cylinders. In a rotary drilling rig for Kelly drilling, the drill is operated via a cable pull and a telescopic Kelly bar. The mast may include a feed system with a carriage adjustable along the mast, with the feed typically generated by a hydraulic feed cylinder or a feed cable.

[0003] Document DE 10 2017 002 674 A1 discloses the preamble to the subject matter of claim 1.

[0004] Depending on the work process, operating parameters, and the condition of the machine, critical situations can arise during operation. For example, Kelly extensions are frequently used with drilling rigs to increase the achievable drilling or mixing depths during continuous drilling and mixing operations. At certain critical speeds, there is a risk of the tool oscillating or vibrating, potentially damaging both the tool and the machine. However, the vibration behavior of the drilling tool is difficult to predict, as it depends on many factors such as the free length, stiffness, straightness, and imbalance of the tool, the support of the mast (mast support foot), and the interaction with the ground. Play in the tool's or mast's connecting elements also influences the vibration behavior.

[0005] Up to now, the control of vibration is typically based on the subjective feeling or experience of the machine operator. Furthermore, for safety reasons, the operating range or application spectrum of the machine is often limited, for example, by restricting the maximum speed of the drilling tool and requiring the activation of a release switch to enable higher speeds. In drilling, for instance, it is common practice not to allow the use of a Kelly bar extension for certain high-speed applications, such as soil mixing.

[0006] The present invention is based on the objective of increasing the safety of such work machines during operation and, in particular, of expanding their safe operating range.

[0007] According to the invention, this problem is solved by a method with the features of claim 1, a machine with the features of claim 14, and a computer program product with the features of claim 15. Advantageous embodiments of the invention are described in the dependent claims and the following description.

[0008] Accordingly, a method for monitoring the operation of a machine is proposed. The machine comprises a control unit, a detection device, a carrier unit, and a mast attached to the carrier unit, on which a tool, in particular a piling or drilling tool, is mounted. During operation, the detection device records at least one force currently acting on a connection point and / or a piston-cylinder unit of the machine and transmits it to the control unit.

[0009] According to the invention, the control system determines the vibration amplitude of the force measured by the detection device. This is achieved in particular by an amplitude detection algorithm, which may be known from the prior art. The vibration amplitude determined from the measurement data and / or a value derived therefrom is then compared by the control system against at least one limit value. If a limit value is reached (or exceeded or fallen below), the control system automatically takes action.

[0010] The determined vibration amplitude is not an absolute force value, but a relative value that, for example, represents the maximum deviation (or the amount of the deviation) of the recorded force from a mean force value or the difference between a maximum force value and a minimum force value (so-called peak-to-peak amplitude) in a specific interval (e.g., a vibration cycle).

[0011] The at least one limit value can, in principle, be a limit value dynamically calculated by the controller during operation. In the simplest case, however, the at least one limit value can be stored, for example, in the controller or in a data storage device connected to the controller.

[0012] A key concept of the present invention is to detect operationally critical conditions early and reliably by analyzing the vibration behavior of a piston-cylinder unit and / or a connection point of the machine and to automatically take appropriate countermeasures. The analysis is based on force measurements at a piston-cylinder unit and / or a connection point of the machine. In particular, no absolute force values, such as an average or mean value, are used for the analysis, but rather changes in the measured force over time.

[0013] The term "vibration amplitude" is not limited to specific vibrations such as a pure sinusoidal oscillation, but generally encompasses force profiles that vary, fluctuate, or oscillate over time. These vibrations can be periodic or non-periodic, or a combination of periodically oscillating and non-periodically decreasing segments or components. Such force oscillations can occur particularly in rotating components of a machine, such as a drill bit or drill string, and can have a frequency that depends on the rotational speed of the driven component. However, vibrations in the measured force can also occur during other processes, such as the driving or ramming of piles, and these can be used for monitoring and analysis.

[0014] By analyzing the temporal changes in the measured force, determining the vibration amplitude, and monitoring it against relevant limit values, the control system can automatically detect critical operating conditions, such as the oscillation or vibration of a drilling tool within specific speed ranges, and independently take countermeasures (e.g., warning the operator and / or intervening in the machine's control system). This eliminates the need for the operator to recognize such critical conditions in a timely manner, thus ensuring safe operation. Simultaneously, this expands the machine's operating range, enabling safe work even in areas previously inaccessible or requiring prior authorization. As long as the vibration amplitude, or any derived parameter, remains within the specified limits, operation can proceed.

[0015] In principle, the analysis of the vibration behavior of the measured force can be combined with the measurement and analysis of any other quantities and operating conditions. Other operating principles, such as the measurement of accelerations (e.g., via one or more vibration sensors), can also be used.

[0016] The term "piling tool" is used here to encompass both vibratory tools and classic pile-driving devices such as hydraulic hammers. The carrier vehicle can include a chassis, for example, a wheeled chassis or a tracked chassis. The pile driver can be attached to a superstructure that is rotatable around a vertical axis on the carrier vehicle (undercarriage).

[0017] The mast is preferably pivotally connected to the carrier device and / or an adjustment mechanism (also referred to as mast kinematics) connecting the mast to the carrier device via a horizontal pivot axis. This connection point is, in particular, an articulated connection between the mast and the carrier device and / or the adjustment mechanism. In principle, however, it can be any connection point between two components of the machine.

[0018] The adjustment mechanism can include one or more neck cylinders for aligning the mast and / or a parallelogram linkage for moving the mast between a transport position and an upright working position and / or a rocker arm to which the mast is articulated. The parallelogram linkage can include one or more base arm cylinders.

[0019] The mast can include a mast guide on which a slide adjustable along the longitudinal axis of the mast is mounted. The slide can carry a component such as a drill drive, an exciter cell for generating vibrations, or a hydraulic hammer. The slide can be actively adjustable via a feed system with a feed cable and / or feed cylinder.

[0020] The control system can be a central control unit of the working machine, a separate control unit, or several such control units.

[0021] The detection device preferably comprises one or more sensors arranged on one or more components of the machine. The analyzed force can be detected indirectly, e.g., by measuring the pressure in a hydraulic cylinder.

[0022] In one possible embodiment, the force currently acting on a neck cylinder for aligning or tilting the mast relative to the vertical and / or on a base arm cylinder of a parallelogram linkage for moving the mast between a transport position and an upright working position is detected and made available to the control system for monitoring the work process. These hydraulic cylinders are arranged between the mast and the carrier device, so that vibrations of the mast or the tool affect them. By detecting the forces (which can be derived in particular from the pressures prevailing in the cylinders), the vibration behavior of the mast or the tool attached to it can therefore be monitored.

[0023] Alternatively or additionally, a force currently acting on a mast support leg or any other force acting on the mast can be detected and made available to the control system for monitoring.

[0024] In another possible embodiment, the control system is designed to detect changes in the vibration amplitude and / or a derived quantity over time and compare them against at least one limit value. For example, a strong and / or rapid change in the vibration amplitude could indicate a speed range of a tool or drill drive that leads to oscillation.

[0025] In another possible embodiment, the action automatically taken by the control system includes the output of a visual and / or acoustic signal, in particular a warning signal, to an operator. A warning can thus be displayed on a display unit in the operator's cab of the machine and / or on a mobile device. The signal can be transmitted via cable or wirelessly.

[0026] Alternatively or additionally, the action taken automatically by the control system can include the output of a control signal or an automatic intervention in the current operation of the machine. In particular, the control system can slow down (e.g., reduce speed), stop, or reverse a machine movement that influences the vibration amplitude, such as the rotational speed of a drill string or drill drive. For this purpose, the control system is connected to corresponding actuators of the machine, which control the movement of various machine components, such as the drill drive, mast kinematics, superstructure, Kelly bar, and / or feed system.

[0027] The control system can therefore represent or include a corresponding assistance system for the operator, which automatically warns the operator of critical operating conditions and / or automatically intervenes in the machine control.

[0028] In another possible embodiment, the vibration amplitude is provided to be a peak-to-peak amplitude (also called peak-to-valley value) of the detected force.

[0029] In the vibration analysis for the monitoring according to the invention, preferably no averaged value (e.g., average, median, long-term maximum, long-term minimum, etc.) of the measured force is considered. Alternatively or additionally, preferably no vibration frequency is considered in the vibration analysis for the monitoring according to the invention. In the simplest case, only the vibration amplitude is determined and analyzed, which is possible quickly, easily, and reliably using appropriate algorithms. Of course, the measured force can be used for additional analyses / monitoring, whereby averaged values ​​and / or vibration frequencies can also be analyzed.

[0030] In another possible embodiment, the detection device additionally detects one or more of the following quantities and makes them available to the control system for monitoring the operation and for comparison against at least one corresponding limit value.

[0031] The control system can receive the current position of a piston-cylinder unit, in particular a neck cylinder and / or a base arm cylinder and / or a feed cylinder and / or a mast support cylinder or mast support foot, via the detection device. This can be the extension position of a piston rod of the cylinder.

[0032] Alternatively or additionally, the control system can receive a current speed and / or acceleration of a component of the machine via the detection device, for example a current rotational speed of a drilling drive and / or a drill string or drilling tool.

[0033] Alternatively or additionally, the control system can receive a current cylinder pressure from a piston-cylinder unit of the machine via the sensing device, in particular a hydraulic pressure in a neck cylinder and / or base arm cylinder and / or feed cylinder and / or boom support cylinder. The corresponding force can be calculated from the sensed pressure, whereby a change in pressure oscillation translates into a change in the corresponding force.

[0034] Alternatively or additionally, the control system can receive a current position of a component of the machine via the detection device, in particular a current position of the mast (e.g. detection of the mast's extension and / or inclination) and / or a slide mounted on the mast and / or a drilling tool and / or a superstructure (e.g. detection of the superstructure's rotation angle) and / or a gantry arranged at the mast tip and / or a partial component of a parallelogram kinematics such as a base arm and / or a rocker arm connected to the mast.

[0035] Alternatively or additionally, the control system can receive a current drilling depth from the detection device.

[0036] In another possible embodiment, the current drilling depth is recorded via the detection unit and related to the determined vibration amplitude. The control system then uses this relationship to determine soil properties and / or create a soil model, particularly in the form of a soil depth profile. This allows the measured values ​​used for monitoring according to the invention to be used simultaneously for evaluating soil conditions or creating a soil depth profile. Additional data and / or measured values ​​can be used for this purpose.

[0037] In another possible embodiment, the measured vibration amplitude is used to infer the current state of at least one component of the machine. This includes the state of connections with other components of the machine. For example, wear-related play in a connection between a slide mounted on the mast and the mast itself, or between the mast and the carrier device, or an adjustment mechanism, affects the vibration amplitude. Analyzing the vibration amplitude of the measured force thus allows conclusions to be drawn about the current state of the machine. For this purpose, the measured vibration amplitude or a time-dependent profile of the vibration amplitude is preferably compared with a previous measurement or recorded profile in order to infer the current state of the machine, particularly by detecting any deviations.

[0038] In another possible embodiment, the at least one limit value for the vibration amplitude and / or for a value derived therefrom is based on previous measurement data from the same machine. This limit value can be determined, for example, by measurements on a test bench. It is also conceivable that the measurement data of the recorded force are archived in a data storage device, and a corresponding limit value for the tool used and / or the operating mode under consideration is determined from this data, which then serves as the basis for monitoring subsequent operation. Alternatively or additionally, measurement data from several machines in a fleet can be evaluated. These machines preferably store their recorded measurements on corresponding data storage devices so that they can be evaluated later.

[0039] Alternatively, it is of course conceivable that at least one limit value is not determined from previous measurement data, but is set in another way, for example by a simulation and / or a calculation.

[0040] In another possible embodiment, the control system determines the difference or ratio of the detected vibration amplitude to a defined reference value and / or to a previous measured value of the vibration amplitude, compares the difference or ratio against at least one limit value, and automatically takes action when a limit value is reached. This allows the control system to react to a sudden change in the vibration amplitude. If this change is greater than a defined reference value and / or a specific previous measured value (for example, the previously detected value), action is automatically taken. The difference or ratio can relate to a change towards larger or smaller vibration amplitudes.

[0041] In another possible embodiment, the control system calculates a prediction for the future state of at least one component of the machine based on the determined vibration amplitude and / or a value derived therefrom, and preferably on previous measured values ​​of the detected force. The prediction can be based on a time-dependent profile of the detected vibration amplitude or a value derived therefrom. Furthermore, a model of the machine and / or a current machine configuration and / or at least one other state value can be taken into account. This makes it possible, for example, to predict when one or more components of the machine (e.g., a drill bit or drill string) will reach a defined wear limit or when future maintenance work will be required ("predictive maintenance").

[0042] In another possible embodiment, the control system for monitoring the work process takes the current machine configuration into account. This configuration can be stored in the control system and / or automatically detected by sensors in the detection device. Alternatively or additionally, the machine can include an input unit through which an operator can enter the current machine configuration (e.g., the type of tool being used) and, if necessary, other settings or machine parameters.

[0043] The invention further relates to a working machine comprising a carrier unit, a mast attached to the carrier unit, a detection device, and a control system, wherein the control system is configured to carry out the method according to the invention. The working machine is preferably a civil engineering machine, in particular a rotary drilling rig or a vibratory hammer, whereby in principle any working machine with a mast is suitable. A working machine with a mast to which a trench cutter is attached is also conceivable. The same properties and advantages obviously arise in this case as for the method according to the invention, which is why a repetitive description is omitted.

[0044] The invention further relates to a computer program product comprising commands which, when the program is executed on the control system of the machine according to the invention, cause the steps of the method according to the invention to be carried out. Here, too, the same properties and advantages are evident as for the method according to the invention, which is why a repetitive description is omitted.

[0045] Further features, details and advantages of the invention will become apparent from the exemplary embodiments explained below with reference to the figures. The figures show: Figure 1: a side view of a preferred embodiment of the machine according to the invention; and Figure 2: an example of a time course of the detected force during drilling operation at varying drilling drive speed.

[0046] The Figure 1Figure 1 shows a preferred embodiment of the machine 10 according to the invention in a side view, wherein the embodiment discussed here is a rotary drilling rig 10 for Kelly drilling with casing. However, the present invention is not limited to such machines. For example, it could also be a vibratory hammer, a pile driver with a hydraulic hammer, or a carrier unit with a trench cutter. A rotary drilling rig can also have different drilling tools, for example, for continuous flight auger drilling or double-head drilling.

[0047] The working machine 10 of this embodiment comprises a carrier unit 11, which in turn comprises an undercarriage 12 with crawler tracks and a superstructure 13 rotatably mounted on the undercarriage 12 about a vertical axis of rotation. A boom 14 is mounted on the superstructure 13, which is adjustable relative to the superstructure 13 by means of an adjustment mechanism 20. The adjustment mechanism 20 can be, as shown in the Figure 1 The system shown comprises a parallelogram kinematic mechanism with several parallel base supports or base arms, which are articulatedly connected to a rocker arm and pivotable about horizontal pivot axes relative to the superstructure 13 via one or more hydraulic base arm cylinders. This allows the mast 14 to be moved from a substantially horizontal transport position to the upright working position shown.

[0048] The boom 14 can be adjusted relative to the vertical via one or more hydraulic neck cylinders 22 (also referred to as support cylinders). In the following, two neck cylinders 22 are assumed. These are connected to the boom and to the boom 14 and pivot the boom 14 by extending or retracting the respective piston rod. However, alternative adjustment mechanisms with neck cylinder(s) are also conceivable. For example, one or more neck cylinders could connect the boom 14 directly to the carrier unit 11 or superstructure 13, or to a frame anchored in the ground. In all these configurations, the method according to the invention can be carried out by measuring the force on the at least one neck cylinder.

[0049] At the in Fig. 1In the illustrated embodiment, the mast 14 carries a drill string 17, in particular a telescopic one, in the form of a Kelly bar, at the lower end of which a drill bit 16 (= tool) is located. The mast 14 can have a mast guide via which a slide 18 is mounted on the mast 14 so as to be displaceable along its longitudinal direction. Such a slide 18 is not necessarily required in the machine 10 according to the invention. In the illustrated embodiment, the slide 18 carries a drill drive 19, which rotates the Kelly bar 17, and can be actively adjustable along the mast 14 by means of a feed system (not shown), which may include a hydraulic feed cylinder or a feed cable actuated by a feed winch. The machine 10 can also have a pressure pipe, which can be driven rotatably via the drill drive 19, to drive a support pipe (not shown) into the ground.

[0050] The Kelly bar 17 is operated in particular by a Kelly rope (only partially shown), which runs from the Kelly bar 17 over a gallows 15 located at the upper end or head of the mast 14 to a Kelly winch, which may also be arranged on the mast 14. The drill 16 can be lowered into the ground via the Kelly rope and the Kelly bar 17 as the drilling progresses.

[0051] At certain / critical speeds of the drill drive 19 or the Kelly bar 17, there is a risk that the tool 16 may vibrate and cause damage to the tool 16 and the machine 10. The vibration behavior of the tool 16 is difficult to predict, as it depends on many factors, such as the free length of the tool 16, its stiffness, its straightness, any contamination of the tool 16, any imbalance of the tool 16 about its axis of rotation, the ground interaction, any play in the connecting elements between the tool 16, drill string 17, mast 14, carriage 18, adjustment mechanism 20 and / or upper carriage 13, etc.

[0052] The working machine 10 includes a control unit 30, which is located in the Figure 1The control unit 30 is schematically indicated by a box 30. It can be located at any point on or in the machine 10 and can correspond to the machine control system. The control unit 30 can comprise a single or several interconnected control units.

[0053] The machine 10 further comprises a detection device 32, which includes at least one sensor, preferably a plurality of sensors, connected to the control unit 30 and providing it with measurement data. One of the sensors of the detection device 32 detects a current force acting on a piston-cylinder unit and / or at least one connection point of the machine 10 and provides it to the control unit 30 for evaluation. Critical operating conditions of the machine 10 are monitored based on the detected force, as explained below using an exemplary embodiment in which the detection device 32 detects the force acting on one or both neck cylinders 22 and transmits it to the control unit 30.

[0054] An example of the described vibration behavior of tool 16 is shown in the Figure 2shown. Here, curve 40 represents the force detected in the neck cylinder 22 during operation. The force can be determined, for example, via a pressure sensor that detects the pressure prevailing in the neck cylinder 22, or directly via a force sensor. This can be the force detected on a single neck cylinder 22 or, for example, a force averaged / added, etc., across both neck cylinders 22. In the Figure 1 The force acting in the neck cylinder 22 and the corresponding counterforce are each indicated by an arrow.

[0055] The diagram of Figure 2The x-axis represents time and the left y-axis the measured force in the neck cylinder 22. The right y-axis represents the rotational speed of the drill drive 19 and thus the rotational speed of the drill bit 16. The corresponding rotational speed curve is labelled with reference numeral 42. It can be seen that in the underlying experiment, the rotational speed was increased incrementally and that in certain rotational speed ranges, the oscillation amplitude of the measured force, i.e., the peak-to-peak amplitude of the force curve 40, increases significantly. A first increase can be observed in the example shown here at approximately 42 revolutions per minute (see vertical line 44), a second increase at approximately...62 revolutions per minute (see vertical line 46) (these values ​​are of course only exemplary and depend on the exact construction of the working machine 10 and on the design of the experimental setup - but they demonstrate the underlying principle of oscillation at higher speeds).

[0056] The absolute values ​​of the measured force are not critical in themselves. The amplification of the vibrations represents the critical operating condition. It also becomes clear that this critical condition is not reflected in an average force value, a maximum value of the measured force, or in a vibration frequency or excitation frequency, but rather in a change in the vibration amplitude.

[0057] The control unit 30 of the machine 10 according to the invention determines the vibration amplitude (in particular peak to peak) from the detected force and compares it with at least one limit value in order to detect critical operating conditions early and to react to them.

[0058] For example, the operator of machine 10 can be warned if an amplitude limit is exceeded. The amplitude limits can be determined using measurement data from the machine itself or from measurements taken from an entire fleet of such machines, followed by an analysis of this data. In addition to warning the operator, it is also conceivable to implement an assistance system that automatically reacts to the measured vibration amplitudes and initiates countermeasures. In the described case, this could, for example, involve reducing the drilling drive speed to return to a non-critical range.

[0059] In addition to the force measurement on the at least one neck cylinder 22, further measuring sensors can be installed on the working machine 10, for example at least one acceleration sensor on the drilling drive 19, at least one optical displacement sensor on the neck cylinder 22, at least one pressure sensor in a base arm cylinder, at least one tilt sensor on a base arm, at least one tilt sensor on a rocker arm and / or at least one tilt sensor on the gallows 15.

[0060] In addition to the described application, further analysis and monitoring possibilities of the recorded force are conceivable: For example, by recording the vibration amplitude as a function of a recorded instantaneous drilling depth, an assessment of the soil conditions could be carried out over the drilling depth, i.e. a soil profile could be determined.

[0061] The vibration behavior of the force at or within the neck cylinder 22 can alternatively or additionally provide information about the current condition of the machine 10 or at least one component of the machine 10. It would be conceivable to evaluate all mechanical connections with play. For example, if guide elements of a slide 18 for guiding and supporting the slide 18 on the mast 14 are worn, or if a bolt fit on the adjustment mechanism is worn, this can be measured in the vibration amplitudes of the neck cylinder(s) 22. Based on the current condition of the machine 10 detected in this way, predictions for future maintenance work are also possible.For this purpose, the recorded vibration amplitudes or a trend of the vibration amplitudes over a specific period could be compared with previous data from other machines (or the same machine before previous maintenance work). From the previous data, it could be deduced, for example, that when a certain vibration amplitude is reached at a specific rotational speed, a replacement or maintenance must be carried out within a predetermined time.

[0062] During drilling, the drilling tool 16 occasionally gets stuck in the ground, for example, when it encounters a boulder. These sudden loads pose significant challenges for the mechanical design and, for example, for a hydraulic drive unit on the drilling drive 19. If such events occur only sporadically, the machine 10 is generally designed to withstand them. In these cases, the static loads specified in the design are not exceeded. However, frequent repetition can lead to damage to the machine 10. By measuring and analyzing the cylinder force in the neck cylinder 22, the base arm cylinder, and / or a mast support, the number, extent, and frequency of these events can be recorded. This allows the operator of the machine 10 and / or a site manager to be warned. Furthermore, this data can be used for future design of the carrier equipment.

[0063] In other applications within specialist foundation engineering, monitoring the load on the neck cylinder could also detect 22 operator errors. This will be illustrated using an example involving a vibratory hammer: Two planks are driven into the ground using a single clamping jaw. When positioning a double plank, one of the planks slips a few centimeters. The operator cannot see this because the plank is not in their field of vision. As a result, the slipped plank can only be gripped minimally by the tip of the clamping jaw. Despite the poor grip, the operator attempts to drive the planks into place. This asymmetrical load on the clamping jaw can damage both the jaw and the plank. Furthermore, the operator may not be able to fully insert the plank and will have to reposition it, which is time-consuming.This problem of suboptimal clamping can be detected by analyzing the measured force, particularly the vibration amplitude, as the force signal differs compared to previously clamped screeds. This allows the operator to be automatically warned and / or the vibration process to be stopped so that the slipped screed can be gripped correctly. This prevents damage and saves time that would otherwise be spent notifying the operator.

[0064] Another possible application is a comparison of the force acting in the neck cylinder 22 and / or any connection point with a dynamically calculated force limit. The force limit can be determined, for example, based on a currently permissible limit for the maximum structural load of a component of the machine (e.g., drill drive 19 and / or drill bit 16 and / or drill string 17). This currently permissible structural load limit can, in turn, be calculated from the current machine configuration and at least one state value (e.g., a recorded cable pull force and / or a recorded mast position).This would result in effective and continuous monitoring of the structural load of individual structural elements of the working machine, by not monitoring each loaded component individually for structural overload, but by using a suitable measurement variable (namely an acting force, e.g. in neck cylinder 22) as a representative for monitoring the structural load of one or more specific machine components based on physical relationships.

[0065] The method according to the invention can alternatively or additionally be based on a detected force acting on any connection point of the working machine.

[0066] The method according to the invention can be applied to any working machine with a mast and therefore has a wide field of application. Reference symbol list:

[0067] 10 Working machine 11 Carrier 12 Undercarriage 13 Upper carriage 14 Leader 15 Gallows 16 Tool 17 Drill rod 18 Slide 19 Drilling drive 20 Adjustment mechanism 22 Neck cylinder 30 Control 32 Detection device 40 Detection force 42 Speed ​​44 Oscillation 46 Oscillation

Claims

1. Method for monitoring the working operation of a work machine (10), which comprises a controller (30), a sensing device (32), a carrier device (11), and a leader (14) fastened thereto, on which leader a tool (16), in particular a pile-driving or drilling tool, is mounted, wherein, in a working operation of the work machine (10), by means of the sensing device at least one force currently acting on a connection point and / or on a piston-cylinder unit is sensed and provided to the controller, characterized in that the controller (30) determines a vibration amplitude of the measured force as a peak-to-peak amplitude, wherein the peak-to-peak amplitude is defined as the maximum deviation of the force within a vibration cycle from an average force value, the controller (30) compares the vibration amplitude and / or a value derived therefrom with at least one limit value and automatically carries out a measure upon reaching a limit value, wherein the at least one limit value is calculated dynamically by the controller (30) during the working operation.

2. Method according to claim 1, wherein a force currently acting on a backstay cylinder (22) for aligning the leader (14) and / or on a base-arm cylinder (24) of a parallelogram linkage is sensed and provided to the controller (30) for monitoring the working operation.

3. Method according to claim 1 or 2, wherein a force currently acting on a bearing point of the leader (14) on the carrier device (11) and / or on an adjustment mechanism (20) is sensed and provided to the controller (30) for monitoring.

4. Method according to one of the preceding claims, wherein the controller (30) determines a change of the vibration amplitude and / or of a variable derived therefrom over time and compares it with at least one limit value.

5. Method according to one of the preceding claims, wherein the measure comprises outputting an optical and / or acoustic signal to an operator and / or an automatic intervention in a current working operation of the work machine (10), in particular a slowing down, a stop, or a reversal of a machine movement influencing the vibration amplitude.

6. Method according to one of the preceding claims, wherein the vibration amplitude is a peak-to-peak amplitude of the sensed force, wherein preferably no averaged value of the sensed force is taken into account.

7. Method according to one of the preceding claims, wherein the sensing device (32) additionally senses one or more of the following variables and provides them to the controller (30) for monitoring the working operation and comparison with at least one corresponding limit value: - a current position of a piston-cylinder unit of the work machine (10), - a current speed of a component of the work machine (10), - a current acceleration of a component of the work machine (10), - a current cylinder pressure of a piston-cylinder unit of the work machine (10), - a current position of a component of the work machine (10), in particular of a base arm, of the leader (14), or of a gantry (15), a current drilling depth.

8. Method according to one of the preceding claims, wherein a current drilling depth is sensed and is set in relation to the determined vibration amplitude, wherein the controller (30) determines a soil condition therefrom and / or creates a soil model, in particular in the form of a soil depth profile.

9. Method according to one of the preceding claims, wherein, from the determined vibration amplitude, a conclusion is drawn regarding a current state of at least one component of the work machine (10), wherein, for this purpose, preferably the determined vibration amplitude or a temporal profile of the vibration amplitude is compared with an earlier measurement value or a sensed profile.

10. Method according to one of the preceding claims, wherein the at least one limit value for the vibration amplitude and / or for a value derived therefrom is based on earlier measurement data of the same work machine (10) and / or on earlier measurement data of one or more further work machines.

11. Method according to one of the preceding claims, wherein the controller (30) determines a difference or a ratio of the sensed vibration amplitude to a specified reference value and / or to an earlier measurement value of the vibration amplitude, compares the difference or the ratio with at least one limit value, and automatically carries out a measure upon reaching a limit value.

12. Method according to one of the preceding claims, wherein the controller (30) calculates, from the determined vibration amplitude and / or a value derived therefrom and preferably from earlier measurement values, a prognosis for a future state of at least one component of the work machine (10).

13. Method according to one of the preceding claims, wherein the controller (30) takes into account a current machine configuration for monitoring the working operation.

14. Work machine (10), in particular a deep foundation machine, with a carrier device (11), a leader (14) fastened thereto, a sensing device, and a controller (30), wherein the controller (30) is designed to carry out the method according to one of the preceding claims.

15. Computer program product comprising instructions which, when the program is executed on the controller (30) of the work machine (10) according to the preceding claim, cause the steps of the method according to claims 1-13 to be carried out.

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