Excavation drive device for underground construction and method of operating the excavation drive device for underground construction

Abstract

Remove any attached soil material from the excavation tool. [Solution] The drilling drive device 80 for underground construction includes a drilling drive carriage 38 mounted so as to be displaceable along the mast 20 of the drilling rig 10 for underground construction. A rotary drive 36 is positioned on the drilling drive carriage 38 to rotate a drilling tool 34 and drill into the ground, and the rotary drive 36 is configured as an electric motor. A control unit that controls the electric motor is provided with a drilling mode that drills into the ground with the drilling tool while excavating soil material, and a removal mode that removes soil material from the drilling tool. In the removal mode, the current and / or voltage for supplying electrical energy to the electric motor are automatically controlled to cause the drilling tool to repeatedly perform rotational stopping motion with or without reversal of the direction of rotation.

Description

Technical Field

[0001] The present invention relates to an excavation driving device for underground construction according to the preamble of claim 1, comprising an excavation drive machine carriage mounted so as to be displaceable along the mast of an excavation rig for underground construction, and at least one rotary drive machine for rotationally driving an excavation tool and excavating into the ground is disposed on the excavation drive machine carriage, and the rotary drive machine is configured as an electric motor.

[0002] The present invention further relates to an operation method of an excavation driving device for underground construction according to the preamble of claim 12, wherein the excavation driving device comprises an excavation drive machine carriage mounted so as to be displaceable along the mast of an excavation rig for underground construction, and at least one rotary drive machine for rotationally driving an excavation tool to perform excavation of the ground is disposed on the excavation drive machine carriage, and the rotary drive machine is configured as an electric motor.

Background Art

[0003] Purely electric-driven underground construction machines have been known hitherto and are particularly used at sites where noise, vibration and exhaust gas are undesirable. Those troublesome factors can occur, for example, in underground construction machines powered by combustion engines. In that kind of electric-powered underground construction machines, high energy is essential, and therefore, a power supply device for supplying electric energy from an external power source, particularly having it from a power distribution network, is often provided. For this reason, it is necessary to provide an appropriate conductive cable.

[0004] Furthermore, electric-powered underground construction machines are invariably equipped with a rechargeable battery unit, which is particularly useful for supplying sufficient electric energy to the mobile underground construction machine during movement or transfer in which the conductive cable connection is frequently disconnected.

[0005] For the efficient operation of underground construction machinery, it is essential that energy is distributed to the machinery in a demand-oriented manner. The electrically powered underground construction machine disclosed in Patent Document 1 has an excavation drive unit and an intermediate circuit for demand-oriented distribution of electrical energy. The intermediate circuit is configured as a conductor, and a consumption unit, particularly a battery unit and an electric motor, is connected to it. This ensures that electrical energy is efficiently transmitted to the excavation drive unit, particularly the electric motor, during the operation of the underground construction machine. Electrical energy can be supplied from the intermediate circuit to the electric motor via an inverter unit, and the inverter unit is configured to return energy to the intermediate circuit when the electric motor is in regenerative mode. [Prior art documents] [Patent Documents]

[0006] [Patent Document 1] European Patent No. 4245923 [Overview of the Initiative] [Problems that the invention aims to solve]

[0007] This invention addresses the problem of realizing an excavation drive machine for underground construction and its operating method, enabling exceptionally economical and efficient operation of the excavation drive device.

[0008] This problem is solved, on the one hand, by an excavation drive device for underground construction having the features of claim 1, and on the other hand, by a method of operating the excavation drive device for underground construction having the features of claim 12. Preferred embodiments are expressed in the individual dependent claims. [Means for solving the problem]

[0009] The features of the drilling drive device according to the present invention are that the control unit that controls at least one electric motor is configured to have a drilling mode in which the drilling tool drills into the ground while excavating soil material, and a removal mode in which the soil material is removed from the drilling tool, and in the removal mode, the current and / or voltage for supplying electrical energy to at least one electric motor is automatically controlled so that the drilling tool repeatedly performs rotational stopping motion with or without reversal of the direction of rotation.

[0010] One of the fundamental ideas of this invention is to operate the drilling drive device in various operating modes using an electric motor. To achieve this, a control unit is provided for target control of the electric motor, allowing the electric motor to initiate various operating states of the drilling drive device. Depending on the application of the drilling drive device, the electric motor can be selectively operated by the control unit in either drilling mode or removal mode, and these drilling and removal modes differ particularly in terms of rotational speed and torsional force. This enables exceptionally flexible and economical use of the drilling drive device. The machine operator can operate the drilling drive device safely and efficiently by simply selecting the desired mode.

[0011] Another aspect of the present invention is to enable the removal of soil material adhering to the drilling drive unit through special control of the electric motor. For this purpose, the current and / or voltage of the electric motor are varied in such a manner that the direction of rotation or rotational speed changes in a short period of time. This means that the current and / or voltage are automatically controlled so that the electric motor performs a rotational stopping motion that shakes off soil material by temporarily changing the rotational speed and torque. This makes it possible to remove soil material adhering to the drilling drive unit after drilling operation quickly and easily, resulting in a more economical drilling operation overall. This automatic control can be performed in such a way that a strong removal force is applied, which is virtually impossible with manual control of the electric motor.

[0012] One preferred embodiment of the present invention is one in which two or more electric motors are provided. Particularly preferred is that at least two electric motors are arranged on the drilling drive carriage, and these motors can rotate the drive shaft, in particular the hollow drive shaft, to drive the drilling tool via a samation gear mechanism. This makes it possible to transmit driving force from the drilling drive device according to the present invention to the drilling tool with exceptional efficiency. The samation gear mechanism is a power integration gear mechanism that integrates and outputs the power or torque of multiple prime movers (electric motors, heat engines, etc.), and a planetary gear mechanism is one example thereof. It is advantageous to transmit driving force from at least two electric motors to the hollow shaft via a planetary gear mechanism and, if necessary, further gear stages. This makes it possible to make the configuration of the drilling drive device exceptionally compact.

[0013] In principle, at least two electric motors can be operated either synchronously or asynchronously. However, synchronous operation of both electric motors is particularly advantageous.

[0014] An inverter unit for current and / or voltage conversion can be provided, in particular, for bidirectional power supply to electric motors. It is advantageous to interconnect at least two electric motors so that they rotate together or as a single unit via at least one transmission device.

[0015] One further advantageous configuration of the present invention is that at least two electric motors are torque-controlled by a control unit in removal mode. This makes it possible to achieve a higher rotational speed change rate, particularly one higher than 6000 rpm / s. Such a high rotational speed change rate is particularly suitable for operating the drilling drive in removal mode. Preferably, the torque control of these at least two electric motors in removal mode is configured such that the drilling drive can be synchronously controlled by these at least two electric motors. Preferably, a target torque equivalent to half the combined torque of the first and second electric motors is set for this torque control. This makes it possible to operate the drilling drive according to the present invention with exceptional efficiency.

[0016] One further useful development of the drilling drive device according to the present invention involves controlling the rotational speed of at least two electric motors by a control unit in drilling mode, particularly enabling control in master-slave operation. It is advantageous to enable the at least two electric motors to synchronize with each other so that the drilling drive device is driven with the same torque. Alternatively or in addition to this, in master-slave operation, it is advantageous to control the rotational speed of the first electric motor, particularly one equipped with an additional control unit, and to control the torque of the second electric motor. This makes it possible to flexibly implement various types of drives for the drilling drive device.

[0017] In certain cases, such as when higher torque is required or when mounting space is limited and only smaller motors can be installed, it is possible to install three, four, or even more electric motors.

[0018] One further development of the present invention is to allow specifying at least one of the following for rotational stopping motion in removal mode: rotation angle, rotational direction reversal, number of rotational stopping steps, and cycle time. This makes it possible to individually set these parameters according to individual conditions, such as soil type, thereby achieving particularly efficient soil removal from the excavation tool in removal mode. In particular, this makes it possible to keep the removal duration, i.e., the duration required for nearly complete removal of soil material, relatively short, significantly improving the cost-effectiveness of the excavation process. Similarly, in removal mode, the time variation or progression of rotational speed and / or torque can also be specified as target values. It is advantageous to be able to store these specified removal mode parameters in the control unit and to be able to adjust them as needed and required, for example, according to soil conditions. An input device suitable for operator input, such as a keyboard or touchscreen, may be provided. When individual parameters are input or changed, the control unit can automatically adjust other parameters in the selected operating mode to ensure efficient operation of at least one electric motor.

[0019] One particularly useful further development of the present invention is that the machine operator and / or the control unit can specify the rotational speed in drilling mode. This makes it possible to flexibly and individually adapt the drilling operation to various conditions, such as soil conditions and / or drilling depth. This also simplifies the control of the drilling drive unit. It is useful to provide an input device, particularly a mobile information processing unit, for the machine operator to input the rotational speed. In principle, such a mobile information processing unit can be provided to supply control commands to the control unit. It is advantageous to configure the control unit as an information processing unit that processes input data, particularly set points in drilling and / or removal modes.

[0020] In general, at least one electric motor can be configured as desired. However, one particularly preferred embodiment of the present invention is that at least one electric motor is controlled by a control unit and operated in regenerative mode, thereby recovering electrical energy in regenerative mode. In other words, the electric motor can be switched from drive mode to regenerative mode and from regenerative mode to drive mode by the control unit. It is advantageous to configure the control unit to operate the electric motor in regenerative mode depending on the rotational speed and / or torque of the rotary drive. This makes it possible to flexibly adapt the drilling drive device to changes in the operating conditions of the drilling rig.

[0021] By operating at least one electric motor in regenerative mode, energy generated during the operation of the drilling drive unit can be recovered in an advantageous manner. Specifically, when at least one electric motor is in regenerative mode, braking energy generated during rotational stopping motion of the drilling tool, with or without reversal of the direction of rotation, and which can be converted into usable or storable electrical energy, can be recovered.

[0022] In this regard, it is particularly preferable to connect an intermediate circuit, which distributes electrical energy as needed, to the drilling drive unit via a line, and to provide at least one surplus energy consumption unit, especially a brake chopper, from the intermediate circuit to absorb the power peak of the drilling drive unit during drilling and / or removal operations. In this case, the intermediate circuit can be configured particularly for DC transmission and distribution. It is particularly advantageous to configure the intermediate circuit with a power supply unit that connects the intermediate circuit to the local power distribution network. The power supply unit may also have a converter for current and / or voltage conversion. It is advantageous to provide at least one electric motor with an inverter unit that supplies and / or recovers electrical energy from the intermediate circuit, and to configure the inverter unit for bidirectional DC-AC conversion. This makes it possible to connect the at least one electric motor to the intermediate circuit in a particularly efficient manner. In relation to this, the intermediate circuit is configured to allocate surplus electrical energy from at least one electric motor to at least one surplus energy consumption unit, thereby preventing overload of electrical components even if an overvoltage occurs.

[0023] One particularly reliable embodiment of the present invention is achieved by assigning a control system to at least one surplus energy consumption unit to supply and release electrical energy as needed. It is advantageous to make the supply and release of electrical energy dependent on state values, particularly the voltage of the intermediate circuit. This makes it possible to detect and avoid overvoltages early. In this way, short-term overvoltages occurring in the intermediate circuit can also be reduced very quickly by the control system. The control system may consist of a control unit that controls at least one electric motor, or it may consist of additional control units. The control system for at least one electric motor and surplus energy consumption units can generally be implemented centrally or distributed by several control units.

[0024] According to a development form of the present invention, advantageously, at least one rechargeable built-in battery unit for receiving and storing electrical energy is provided, and depending on the state of charge of the battery unit, electrical energy is supplied therefrom to at least one electric motor. It is advantageous to connect the battery unit to an intermediate circuit, and the battery unit may be configured with or without a converter unit for supplying electrical energy to and / or discharging it from the intermediate circuit. Preferably, the voltage level of the intermediate circuit is associated with the voltage level of the battery unit depending on its state of charge. It is also desirable to configure the battery unit as a surplus energy consumption unit for reducing power peaks. This enables flexible and, if necessary, supply of electrical energy to the electric motor. By directly connecting the battery unit to the intermediate circuit, the need for an additional converter unit is eliminated, thereby reducing costs.

[0025] The excavation drive device according to the present invention can be used in various ways. The present invention particularly relates to an excavation rig for underground construction in which a carrier device is preferably configured to be movable together with a chassis and a mast is disposed on the carrier device, and the excavation drive device according to the present invention is disposed on an excavation drive carriage, particularly mounted so as to be displaceable along the mast.

[0026] The excavation tool of the excavation rig can preferably be configured as a discontinuous excavation tool, such as an auger or a box drill, which is drawn out of the ground and emptied at certain intervals.

[0027] The method according to the present invention is characterized in that a control unit for controlling at least one electric motor is configured to have a drilling mode in which a drilling tool drills into the ground and a removal mode in which soil material is removed from the drilling tool. In the removal mode, the control unit automatically controls or changes the current and / or voltage for power supply to at least one electric motor, so that the drilling tool repeatedly executes a rotational stop motion with or without reversal of the rotational direction.

[0028] This method can be particularly executed by the drilling drive device according to the above-described invention. Thereby, the above-mentioned various advantages can be achieved.

[0029] One preferred method variant of the present invention is to provide at least one surplus energy consumption device and adjust the power output from the drilling drive device to the surplus energy consumption device in the drilling mode and / or the removal mode according to the detected limit value. What can be included in the limit value are electrical condition data, particularly the current and / or voltage values of the intermediate circuit and / or at least one electric motor. When the detected limit value is exceeded, the surplus or accumulated electrical energy can be released to the surplus energy consumption device, and the release of the electrical energy can be controlled by the control unit or separately. And the limit value can be measured by a measuring device that detects electrical condition data. Thereby, overvoltage caused by the braking process is prevented, and related damage is thereby prevented.

[0030] Another preferred embodiment of the method according to the present invention is to adapt the control algorithm to the previous and / or current overload condition data of the drilling drive device, preferably by machine learning, in order to comply with at least one set of limit values, and attribute the control of the power output of the drilling drive device to the control algorithm.

[0031] The control algorithm can be implemented within or separately within a control unit that controls at least one electric motor. The overload condition data of the drilling drive unit can preferably include current or voltage and can be measured by a measuring device. This allows for dynamic and rapid adjustment of power release, and consequently, the prediction of the feedback power to avoid power peaks and overloads of electrical components. This also reduces wear on affected components. In particular, when at least one electric motor is in regenerative mode, the braking energy generated during rotational stopping motion, with or without reversal of the direction of rotation of the drilling tool, can be converted into usable or storable electrical energy. This power recovery enables energy-saving removal operations.

[0032] One particularly useful development of the method according to the present invention also relates to adjusting power recovery in at least one additional power recovery unit in response to power recovery from at least one electric motor. This means that when the power recovery limit of that at least one electric motor is exceeded, power recovery from other mechanical functions that can receive feedback, particularly from the main winch, is blocked or its limit is restricted. This prevents, in particular, overloading of surplus energy consumption devices and intermediate circuits due to overvoltage. It is advantageous to record the total recovered power in various power recovery units in real time and reduce power recovery in a particular power recovery unit when it exceeds a limit. This means that power recovery from the first and / or second electric motors is adjusted to a certain set point depending on the total recovered power of the first and second electric motors.

[0033] The present invention will be further described below using preferred exemplary embodiments schematically depicted in the figures. The drawings show the following: [Brief explanation of the drawing]

[0034] [Figure 1] This is a side view of the drilling drive device according to the present invention. [Figure 2] This is a schematic diagram of a circuit layer configuration according to the present invention, which includes an intermediate circuit and potentially adopted components. [Figure 3] This is a schematic diagram of the circuit configuration according to the present invention, which includes an additional battery converter unit. [Figure 4] This is a schematic side view of an excavation drive carriage according to the present invention, equipped with two electric motors. [Figure 5] This is a schematic rear view of the excavation drive carriage according to the present invention, which is equipped with two electric motors. [Modes for carrying out the invention]

[0035] Figure 1 shows an excavation drive device 80 according to the present invention, which includes a carrier device 12. The excavation drive device 80 can be referred to as an excavation drive machine assembly. The carrier device 12 can preferably include a tracked vehicle which is a lower carriage 14, on which an upper structure 16 can be mounted, and in particular, it can be mounted in a rotatable manner. A control device 60 for the excavation drive device 80 can be located in the operator's cab of the upper structure 16. In particular, the mast 20 can preferably be mounted on the upper structure 16 via a linkage mechanism 18 in an adjustable manner, and can be in a substantially vertical position during operation.

[0036] According to the illustrated exemplary embodiment, the mast 20 can preferably be configured as a leader 21 with a linear guide 24 on its front side. A drilling drive carriage 38 equipped with a rotary drive 36 can be mounted, for example, so as to be able to move vertically along the linear guide 24. This allows the drilling rig 10 to be realized as an underground construction machine. The figure shows the position of the rotary drive 36 when raised, and the position when lowered is shown by a dashed line.

[0037] The cable 40 can be guided over the mast head 22 at the upper end of the mast 20, and one end thereof may be provided with a preferably retractable Kelly bar 32, which is exemplary equipped with a drilling tool 34 to form an underground construction tool 30. The Kelly bar 32 can be guided by a sleeve-shaped drive wheel of a rotary drive 36 on a drilling drive carriage 38, and torque can be transmitted from the rotary drive 36 to the Kelly bar 32, for example, via a driver bar (not shown). A drilling tool 34 for creating a borehole in the ground can be positioned at the lower end of the Kelly bar 32. The drilling tool 34 may be configured in basically any way, but in particular may have a drill auger or a drill bucket.

[0038] The cable 40 can be guided from the Kelly bar 32, along the mast 20 via the deflection roller 26 on the mast head 22, to the cable winch 46 in the superstructure 16. The motor 50 that drives the cable winch 46 can also be operated in regenerative mode. The Kelly bar 32 with the drilling tool 34 attached can be raised and lowered using the cable 40 by the cable winch 46. During descent, as will be described in detail later, the potential energy can be converted into electrical energy by the motor 50 and sent to the intermediate circuit 98.

[0039] The drilling carriage 38, equipped with a rotary drive 36, can be pulled upward via a further adjustment cable 29 by an actuator 28 equipped with a winch on the mast 20. The drilling carriage 38 equipped with the rotary drive 36 can also be lowered by correspondingly driving the actuator 28 in the reverse direction. The rotary drive 36 can be formed by at least one electric motor 84, which can regenerate the braking energy generated during rotational stopping motion, in particular, with or without reversal of the rotational direction of the drilling tool 34, into usable or storable electrical energy. The actuator 28 can also be equipped with an electric motor (not shown), which can operate in regenerative mode similar to the electric motor 84. The drilling carriage 38 equipped with the rotary drive 36 can also be considered as part of the underground construction tool 30.

[0040] In the illustrated exemplary embodiment, the force measuring device 62 is preferably located on a deflection roller 26 on the mast head 22. The force measuring device 62 can be configured, for example, as a force measuring bolt, through which the cable tensile force on the cable 40 can be detected. The force measuring device 62 is connected to a control device 60 on the superstructure 16.

[0041] The control device 60 controls at least one motor 50 to operate the cable winch 46, and preferably also controls an electric motor 84 to operate the rotary drive 36. The control device 60 can be configured in particular as a control unit 88.

[0042] Figure 2 schematically shows a circuit configuration for operating the drilling drive device 80 according to the present invention. Here, the circuit configuration is set up to supply and recover electrical energy to a first electric motor 84 and a second electric motor 86. The first electric motor 84 can preferably be configured to supply and recover mechanical energy to a mechanical consumption unit 125, for example, during a braking or descent process. Similarly, the second electric motor 86 can preferably be configured to supply and recover mechanical energy to a mechanical consumption unit 130. The first electric motor 84 and the second electric motor 86 can each be operated selectively or simultaneously in regenerative or drive mode. To supply or recover electrical energy from the DC intermediate circuit 98 as needed, the first inverter unit 91 can be assigned to the first electric motor 84 and / or the second inverter unit 93 can be assigned to the second electric motor 86, as shown in Figure 2. In the case of direct motor control, basically, the first motor control unit 90 can be assigned to the first electric motor 84 and the second motor control unit 92 to the second electric motor 86. Here, motor control can be performed in master-slave operation, particularly by the control unit, which is a higher-level control device 88, and the first and second motor control units 90 and 92. Generally, the control unit 88 can also be specially configured to directly control the first electric motor 84 and / or the second electric motor 86 of the drilling drive device 80 according to the present invention.

[0043] As further shown in Figure 2, additional consumption units 120, such as peripheral devices, can be preferably connected to the intermediate circuit 98 to perform demand-compliant distribution of electrical energy. The intermediate circuit 98 can preferably be configured to transmit a DC voltage with a voltage level of approximately 400V to 800V. In particular, the intermediate circuit can be configured to transmit a voltage level of 750V.

[0044] Furthermore, the intermediate circuit 98 schematically shown in Figure 2 can be configured to include a power supply unit 104 that supplies and recovers electrical energy from an external energy source 106 as needed. In this regard, the external energy source 106 can be configured in particular as a local energy distribution network, and in particular as an AC voltage network. Preferably, the power supply unit can have an introduction device, such as a plug connection. An inverter unit that converts the AC voltage from the local energy distribution network to a DC voltage can also be provided to the power supply unit. A control device may be assigned to the power supply unit 104 to control the inflow of electrical energy into and outflow of electrical energy from the intermediate circuit 98.

[0045] In general, the voltage level in the intermediate circuit 98, and in particular the energy distribution, can be centrally controlled by, for example, a control unit 88. Similarly, the voltage level and energy distribution in the intermediate circuit 98 can also be distributed control by, for example, individual control devices for the components electrically connected to the intermediate circuit. As schematically shown in Figure 2, the individual control devices for the electrical components connected to the intermediate circuit 98 and the control unit 88 can be connected via a communication network 134. Control devices in this sense include, in particular, the first motor control unit 90 and the second motor control unit 92. As shown in Figure 2, such control units may also include the first battery control unit 94 and the second battery control unit 96, for example, those provided to control the first battery unit 110 and the second battery unit 112.

[0046] Among the components electrically connected to the intermediate circuit 98, a surplus energy consumption unit 100 for buffering and smoothing power peaks may be included. It would be desirable for the surplus energy consumption unit 100 to have its own control device, which is connected to the communication network 134. In this way, surplus electrical energy generated by the electric motor can be supplied, for example, from the intermediate circuit 98 to the surplus energy consumption unit 100 and / or battery units 110, 112.

[0047] As can be seen from Figure 3, the first converter unit 114 can be specifically assigned to the first battery unit 110, and the second converter unit 116 can be assigned to the second battery unit 112. This means that the voltage level in the intermediate circuit 98 can be determined independently of the voltage level of the first battery unit 110, specifically its charge state, and / or the voltage level of the second battery unit 112, specifically its charge state. This means that the components electrically connected to the intermediate circuit 98 can be operated independently of the voltage level of the first battery unit 110 and / or the voltage level of the second battery unit 112.

[0048] Figure 4 shows a side view of the electric rotary drive unit 36, which has a first electric motor 84 and a second electric motor 86 mounted on the drilling drive carriage 38, and Figure 5 shows a rear view. The rotary drive unit 36 ​​can preferably be bolted to the drilling drive carriage 38 and moved on the mast. The first electric motor 84 and the second electric motor 86 can preferably drive a hollow shaft via a common samation gear mechanism, and the drive torque is transmitted to a drilling tool (not shown) via the hollow shaft.

Claims

1. An underground construction drilling drive system comprising a drilling drive carriage movable along the mast of an underground construction drilling rig, wherein at least one rotary drive unit is mounted on the drilling drive carriage to rotate and drive a drilling tool toward the ground, and the rotary drive unit is configured as an electric motor, A control unit is provided to control at least one of the electric motors, and this control unit is A drilling mode in which soil material is removed while drilling into the ground with the drilling tool, and A removal mode for removing soil material from the aforementioned excavation tool, It has, In the removal mode, the drilling drive device is characterized by automatically controlling the current and / or voltage for supplying electrical energy to the at least one electric motor, thereby causing the drilling tool to repeatedly perform rotational stopping motions with or without reversal of the direction of rotation.

2. An excavation drive device according to claim 1, A drilling drive device characterized in that at least two electric motors are arranged on the drilling drive carriage, and these motors can jointly rotate a drive shaft, particularly a hollow drive shaft, for driving the drilling tool, via a saturation gear mechanism.

3. An excavation drive device according to claim 2, In the removal mode, the drilling drive device is characterized in that the control unit controls the torque of at least two electric motors.

4. The drilling drive device according to claim 2, In the drilling mode, the drilling drive device is characterized in that the rotational speed of at least two electric motors is controlled by the control unit, particularly in master-slave operation.

5. The drilling drive device according to claim 1, An excavation drive device characterized in that at least one of the following—the rotation angle, the reversal of the rotation direction, the number of rotation stop steps, and the cycle time—can be predetermined for the rotation stop motion in the removal mode.

6. The drilling drive device according to claim 1, An excavation drive device characterized in that the rotational speed in the excavation mode can be predetermined by the machine operator and / or the control unit.

7. The drilling drive device according to claim 1, An excavation drive device characterized in that at least one electric motor is controlled by the control unit to operate the electric motor in regenerative mode, thereby enabling the recovery of electrical energy in regenerative mode.

8. The drilling drive device according to claim 1, A drilling drive is characterized in that an intermediate circuit for distributing electrical energy as needed is connected to the drilling drive by a line, and at least one surplus energy consumption unit, in particular a brake chopper, is provided to absorb the power peak of the drilling drive from the intermediate circuit during drilling and / or removal operations.

9. The drilling drive device according to claim 8, The drilling drive device is characterized in that a control system is assigned to at least one of the surplus energy consumption units to supply and release electrical energy as needed.

10. The drilling drive device according to claim 1, An excavation drive device characterized by having at least one built-in rechargeable battery unit for receiving and storing electrical energy, and providing at least one built-in rechargeable battery unit that supplies electrical energy to the at least one electric motor according to the charge state of the battery unit.

11. A carrier device, preferably configured to move together with the chassis, A mast placed on the carrier device, An underground construction drilling rig equipped with, A drilling rig characterized in that the drilling drive device described in claim 1 is arranged on a drilling drive carriage, and the drilling drive carriage is mounted in such a way that it can be displaced along the mast.

12. A drilling drive device for underground construction, and more particularly a method for operating the drilling drive device described in claim 1, The drilling drive device comprises a drilling drive carriage mounted so as to be displaceable along the mast of a drilling rig for underground construction, and at least one rotary drive (36) is positioned on the drilling drive carriage to rotate and drive a drilling tool to drill into the ground, wherein the rotary drive is configured as an electric motor, The control unit that controls the at least one electric motor is configured to include an excavation mode for causing the excavation tool to excavate into the ground, and a removal mode for removing soil material from the excavation tool, In the removal mode, the control unit automatically controls or changes the current and / or voltage for supplying electrical energy to the at least one electric motor, thereby causing the excavation tool to repeatedly perform rotational stopping motion with or without reversal of the direction of rotation.

13. A method according to claim 12, A method characterized by providing at least one surplus energy consumption device, and adjusting the power output from the drilling drive device to the surplus energy consumption device during drilling and / or removal operations according to a detected limit value.

14. A method according to claim 12, A method characterized by adapting a control algorithm to previous and / or current overload condition data of the drilling drive unit, preferably by machine learning, in order to comply with at least one set of limit values, and controlling the power output of the drilling drive unit by the control algorithm.

15. The method according to claim 12, A method characterized by adjusting the power recovery of at least one further power recovery unit in accordance with the power recovery of the at least one electric motor.

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