EP2275604B1 - Machine with scaffold - Google Patents

Machine with scaffold Download PDF

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Publication number
EP2275604B1
EP2275604B1 EP09007945A EP09007945A EP2275604B1 EP 2275604 B1 EP2275604 B1 EP 2275604B1 EP 09007945 A EP09007945 A EP 09007945A EP 09007945 A EP09007945 A EP 09007945A EP 2275604 B1 EP2275604 B1 EP 2275604B1
Authority
EP
European Patent Office
Prior art keywords
support arm
chassis
mast
rotary encoder
encoder
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP09007945A
Other languages
German (de)
French (fr)
Other versions
EP2275604A1 (en
Inventor
Martin Dipl.-Ing. Lanzl
Manuel Peter Ostermeier
Markus Dipl.-Ing. Mayr
Stefan Dipl.-Ing. Schnitzler
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bauer Maschinen GmbH
Original Assignee
Bauer Maschinen GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bauer Maschinen GmbH filed Critical Bauer Maschinen GmbH
Priority to AT09007945T priority Critical patent/ATE554233T1/en
Priority to ES09007945T priority patent/ES2383238T3/en
Priority to EP09007945A priority patent/EP2275604B1/en
Priority to US12/797,199 priority patent/US8483915B2/en
Priority to CN2010102116771A priority patent/CN101929157B/en
Publication of EP2275604A1 publication Critical patent/EP2275604A1/en
Priority to HK11101721.1A priority patent/HK1147784A1/en
Application granted granted Critical
Publication of EP2275604B1 publication Critical patent/EP2275604B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D7/00—Methods or apparatus for placing sheet pile bulkheads, piles, mouldpipes, or other moulds
    • E02D7/02—Placing by driving
    • E02D7/06—Power-driven drivers
    • E02D7/14—Components for drivers inasmuch as not specially for a specific driver construction
    • E02D7/16—Scaffolds or supports for drivers
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/006—Pivot joint assemblies
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/003—Drilling with mechanical conveying means
    • E21B7/005—Drilling with mechanical conveying means with helical conveying means
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting

Definitions

  • the invention relates to a construction equipment for civil engineering according to the preamble of claim 1.
  • a construction equipment is formed with a chassis, a mast for guiding at least one harrow and a support mechanism for the mast, via which the mast is arranged on the chassis adjustable, wherein the Supporting mechanism has at least one support arm, which is articulated on its one side about a pivot axis pivotally mounted on the chassis, and which is coupled on its opposite other side with the mast.
  • a generic construction equipment goes for example from the DE 200 11 371 U1 out.
  • Another construction equipment with an adjustable support mechanism with parallelogram kinematics is for example from the EP 1 717 375 A1 known.
  • the supporting mechanism of EP 1 717 375 A1 can be used to lift the mast from a horizontal transport position to a vertical operating position.
  • the adjustment of the support mechanism can be accompanied by a significant shift in the center of gravity, since the mast actuated by the carrying mechanism and the soil cultivator arranged thereon can represent the largest masses on the construction equipment.
  • an unintentional excessive actuation of the support mechanism could even lead to a fall of the construction equipment in extreme cases.
  • the object of the invention is to provide a construction equipment for civil engineering, which has a particularly high operational reliability.
  • the construction device according to the invention is characterized in that a rotary encoder for detecting the pivot angle of the support arm is provided relative to the chassis as a measure of an adjustment position of the mast.
  • a first basic idea of the invention can be seen to sensory detect the setting of the support mechanism and thus the adjustment of the mast. Based on the data obtained in this case, for example, an alarm can be issued if a critical in terms of tilt stability is given setting, or it can also be actively ensured by a control that the adjustment position of the mast remains in a range which in terms of the current mode of operation, ie depending on whether the device is being transported or in operation, is safe. Since such an inventive sensor merely detects the setting of the support mechanism, and since it does not mechanically limit the operating range of the support mechanism in contrast to the aforementioned support bracket, such a sensor can basically remain in any operating position on the support mechanism. In contrast to the aforementioned support clamp, in particular it does not have to be removed for transport. Thus, according to the invention, the risk can be minimized that the safety measure is inadvertently inactive against undesired shifting of center of gravity. Thus, according to the invention, a particularly high operational reliability is given.
  • the pivot angle of the support arm about the pivot axis is detected as a measure of the adjustment position of the support mechanism and thus as a measure of the adjustment position of the mast, so that provided as a sensor for the adjustment of the mast, a rotary encoder is, which is arranged between the support arm and the chassis.
  • the invention has recognized that on the one hand, the pivot angle of the support arm relative to the chassis provides particularly meaningful information about the adjustment of the mast and thus the tipping stability, and that on the other hand, this tilt angle can be detected by sensors even in rough work operation in a particularly simple and reliable manner. Because a swivel angle measurement can be performed with compact sensors and in a range that are well shielded by the drilling tool. By the use according to the invention of a rotary encoder on the support arm, the reliability of operation can thus be further increased, since particularly meaningful values can be obtained via the adjustment position in a particularly reliable manner.
  • the construction device can be, for example, a drilling device, so that the soil cultivation device is preferably a drill.
  • the construction equipment may, however, also be, for example, a vibrator, in which case the cultivator is a vibrator, or the construction equipment may be a trench wall cutter, in which case the cultivator may be a milling device with cutting wheels.
  • the mast is expediently used to guide the harrow in a vertical direction displaced.
  • the chassis according to the invention may in particular be a crawler track running gear. Conveniently, the chassis also the drive units and / or controls for the operation of the construction equipment and / or a counterweight for the mast.
  • the mast is coupled to the chassis via the adjustable support mechanism.
  • the support mechanism carries at least the main load of the mast or even the entire mast weight.
  • the support mechanism may comprise at least one coupling gear, in particular a parallelogram, wherein the support arm preferably forms a member of this linkage.
  • the pivot axis about which the support arm is pivotally hinged to the chassis preferably runs horizontally.
  • the pivot axis can be understood to mean, in particular, an axis in the mathematical sense, that is to say a fictitious line.
  • at least one axle bolt, via which the support arm is mounted on the chassis is preferred.
  • the rotary encoder is expediently arranged between the support arm and the chassis, that is, a first transmitter part is rotatably mounted on the support arm and a second encoder member rotatably mounted on the chassis.
  • the rotary encoder according to the invention can also be referred to as an angle position meter.
  • an actuator for adjusting the mast is provided relative to the chassis.
  • the actuator can be used for pivoting the support arm relative to the chassis.
  • the actuator may in particular be a linear drive, for example a hydraulic cylinder, which is preferably articulated on the one hand to the chassis and on the other hand to the support arm.
  • a warning signal can be output if a critical range for the respective operating state has been assumed.
  • a control unit for controlling the actuator, which is in signal communication with the rotary encoder.
  • the control unit thus expediently controls the actuator as a function of the swivel angle values detected by the rotary encoder.
  • the control unit in the angle-dependent control of the actuator incorporates the current operating state, ie in particular takes into account whether the mast is in the vertical operating position or in the horizontal transport position. If further actuators are provided, the control unit can also be set up for pivoting angle-dependent control of at least one of these further actuators.
  • a preferred embodiment of the invention is that the control unit is arranged so that it counteracts at an excessive pivoting angles of the support arm relative to the chassis of an excessive adjustment of the mast by the actuator.
  • certain control commands which would make the adjustment of the mast even more critical, are no longer passed on by the control unit to the actuator when a certain pivot angle range has been reached.
  • the control unit when a specific pivoting angle range is present, actuates the actuating drive of its own accord such that the mast is returned to a safe area.
  • the support arm and / or the mast can be pivoted about the pivot axis with the actuator which can be controlled in particular with pivoting angle control by the control unit.
  • the control unit can thus act on such an actuator, with which the support arm and / or the mast is pivotable about the pivot axis.
  • the control sequences can be simplified because the control unit can directly influence the value, which is also the input variable for the control unit. If the control unit controls several actuators as a function of pivoting angle, at least one of the further actuators can also serve to carry out a different sequence of movements.
  • a constructionally particularly simple and at the same time reliable civil engineering device is given by the fact that the support arm is articulated on its one side about the pivot axis pivotally mounted on the chassis, and that the support arm is coupled on its opposite other side with the mast. Between the support arm and the mast even more coupling parts and / or actuators can be arranged for particularly complex mast movements.
  • the operational reliability can be further increased by the fact that the support mechanism for forming a parallelogram kinematics has a further support arm, which runs parallel to the first support arm.
  • the two support arms can then be connected at their sides facing away from the chassis by a coupling element, on which in turn arranged the mast, in particular articulated.
  • the first support arm whose pivot angle is detected by the rotary encoder, is articulated above the further support arm on the chassis.
  • the further support arm is arranged between the first support arm, whose angle is detected with the rotary encoder, and the mast.
  • the rotary encoder is provided on that support arm, which is particularly well protected during construction, so that the operational reliability is further improved.
  • the rotary encoder in particular its encoder housing, is arranged on the chassis.
  • the rotary encoder in particular can be used with fixed leads, which is advantageous in terms of reliability.
  • a further preferred embodiment of the invention is that the rotary encoder is arranged in the extension of the pivot axis. This makes it possible to directly detect the angle value of the support arm, which further increases the operational reliability.
  • the rotary encoder expediently has an encoder housing and an encoder shaft.
  • the encoder shaft may in particular be arranged coaxially to the pivot axis, which allows a particularly simple construction.
  • the encoder housing is non-rotatably coupled to the chassis and the encoder shaft rotatably connected to the support arm. As a result, a particularly compact encoder arrangement can be realized.
  • a further advantageous embodiment of the invention is that the encoder shaft of the rotary encoder for a rotationally fixed connection with an actuating element on its jacket has a flattening.
  • a flattening By such preferably along the encoder shaft extending flattening can be ensured that an actuator for the encoder can be attached only in a defined angular position on the encoder shaft.
  • the encoder shaft may for example also have at least one transverse hole, with which a bolt connection can be made with the actuator.
  • a cover for the rotary encoder is provided, in which the rotary encoder, in particular its encoder housing, is received in a rotationally fixed manner.
  • the rotary encoder in particular its encoder housing
  • at least one screw can be provided for the non-rotatable mounting of the rotary encoder on the cover.
  • corresponding recesses and projections may be provided on the cover and on the rotary encoder, which form a positive connection.
  • the transmitter housing is expediently fixed rotationally fixed to the chassis.
  • the cover may be cup-shaped, wherein in the cup shape a sector-shaped recess may be provided for carrying out the leads of the rotary encoder.
  • the cover holes for a bolt connection in particular with the chassis or the support arm are formed.
  • the bolts of this bolt connection may in particular be threaded bolts.
  • the holes have an asymmetrical hole pattern. In this way it can be ensured that the cover and thus also the rotatably received therein encoder can be fixed only in a defined angular position.
  • a further preferred embodiment of the invention is that an actuating bracket is provided as an actuating element for the rotary encoder.
  • a turn bar is suitably connected on the one hand to the rotary encoder, in particular to its encoder shaft.
  • the actuating bow is preferably connected to the support arm.
  • the actuating bow suitably has a step profile, in particular a multi-step profile.
  • a bracket contour can be realized, which is particularly well adapted to the contour of the adjacent elements, ie in particular to the contour of the rotary encoder with cover. Projecting elements which might be critical in terms of operational reliability are thus avoided.
  • the multi-step profile can in particular have step edges that run transversely to the bracket.
  • the rotary encoder according to the invention is preferably an absolute value transmitter. Because of an absolute encoder the absolute Position is known, there is a reference trip, which would also lead by tilt critical angular ranges, not required.
  • the invention also relates to a method for operating a construction device according to the invention, in which by means of a control unit at certain pivoting angles of the support arm is counteracted relative to the chassis of an excessive adjustment of the mast by at least one actuator.
  • a control unit at certain pivoting angles of the support arm is counteracted relative to the chassis of an excessive adjustment of the mast by at least one actuator.
  • FIG. 1 An embodiment of a construction device according to the invention, which is exemplified as a drill, is in Fig. 1 shown.
  • the construction equipment shown has a mast 4, on which a carriage 42 is guided longitudinally displaceable with a drill drive 41. On the carriage 42 with the drill drive 41 turn a trained as a drill harrow 9 is guided longitudinally displaceable.
  • the mast 4 is supported by an adjustable support mechanism 6, which is arranged on a chassis 2 designed as a crawler chassis.
  • the support mechanism 6 has a parallelogram kinematics with two parallel support arms 61 and 62.
  • the support arm 61 is pivotable about a horizontal pivot axis 71 on Chassis 2 articulated.
  • the second support arm 62 is pivotally connected to the chassis 2 about a horizontally extending second pivot axis 72.
  • the two pivot axes 71 and 72 extend parallel to each other, wherein the second pivot axis 72 is disposed below the pivot axis 71 and mastizir runs.
  • the two support arms 61 and 62 are articulated to a coupling element 64, on which in turn the mast 4 is pivotally provided.
  • the coupling element 64 designed as a neck cylinder 65 actuator is provided.
  • a rotary encoder 1 is provided in the region of the chassis-side linkage of the first support arm, with which the pivot angle ⁇ of the support arm 61 relative to the chassis 2 can be detected.
  • This swivel angle ⁇ (compare Fig. 2 ) represents a measure of the position of the support mechanism 6 and thus a measure of the adjustment position of the mast 4.
  • Fig. 2 shows an enlarged sectional view of the construction equipment Fig. 1 in the area of the rotary encoder 1.
  • Fig. 2 shows a center support 70 is shown, on which the first support arm 61 is articulated.
  • the second support arm 62 is merely indicated.
  • the chassis has two bearing plates 78, 78 ', which run parallel to one another, and between which the two support arms 61 and 62 are articulated.
  • These bearing plates 78 and 78 'carry at least one in Fig. 2 only indicated axle pin 75, on which the first support arm 61 is pivotally mounted about the pivot axis 71, and at least one further, parallel pivot pin 76, on which the second support arm 62 is pivotally mounted about the pivot axis 72.
  • the rotary encoder 1 is arranged coaxially on the mathematical pivot axis 71 of the mastferneren, so rear closer, upper support arm 61.
  • the rotary encoder 1 is located on the side facing away from the support arm 61 outside of the bearing plate 78th
  • a control unit 20 for controlling the actuator 66 and preferably also of the neck cylinder 65 is provided.
  • This control unit 20 is connected to the rotary encoder 1 in preferably electrical signal connection, so that the actuator 66 and possibly also the neck cylinder 65 in response to the pivot angle ⁇ , which is detected by the encoder 1, can be controlled so that the mast 4 in a stable tilt Adjustment range 6 can be maintained.
  • the rotary encoder 1 has an approximately cylindrical encoder housing 10, on the lateral surface of which an electrical connection 19 for angular data signals is provided. At the front end, this encoder housing 10 projects beyond an encoder shaft 11. The rotary encoder 1 is set up so that the absolute rotation of the encoder shaft 11 relative to the encoder housing 10 is output as a signal.
  • the encoder shaft 11 and the cylindrical encoder housing 10 are arranged coaxially to the pivot axis 71 on the outside of the bearing plate 78 for the support arm 61, so that the encoder shaft 11 protrudes perpendicularly from the bearing plate 78.
  • a cover 21 is present for rotationally fixed fixing of the encoder housing 10 on the bearing plate 78 and thus on the chassis 2.
  • this cover 21 has a cylindrical holding portion 23.
  • the encoder housing 10 can be fixed in rotation on a flag 81 with radially projecting nose 82 via frontally arranged screws 29.
  • the screws 29 thereby surround an end-side passage opening 28 in the cover 21, which serves for the passage of the encoder shaft 11.
  • the nose 82 engages in a U-shaped receptacle 83, which is arranged on a holding plate 84 which is fixed to the bearing plate 78 in a defined position.
  • a concentric with the pivot axis 71 arranged bolt 80 penetrates the flag 81 and the support plate 82 and communicates with the axle 75 in connection.
  • an outer diameter larger flange portion 24 adjoins the holding portion 23 of the cover 21 coaxially.
  • These holes 22 are arranged with an asymmetrical hole pattern, so that the position of the cover 21 relative to the chassis 2 is clearly fixed.
  • an asymmetrical hole pattern can also be provided for the screws 29.
  • a sector-shaped recess 26 which extends through both the holding portion 23 and the flange portion 24, and allows access to the terminal 19.
  • the encoder shaft 11 is rotatably coupled via an actuating bracket 30 with the support arm 61.
  • This actuating bracket 30 is attached at its one end by means of a bolt 51 on the support arm 61.
  • the bracket 30 is rotatably connected by means of a bolt 52 with the encoder shaft 11.
  • the bolt 52 extends transversely through a mounting sleeve 53, which is arranged for mechanical reinforcement on the bracket 30, and which serves to receive the encoder shaft 11.
  • a corresponding, transverse hole 54 is provided, through which the bolt 52 is inserted for a rotationally fixed connection.
  • the otherwise cylindrical encoder shaft 11 has in its lateral surface a flattening 12, wherein in the mounting sleeve 53, a projection may be provided, which corresponds to the flattening 12.
  • the actuating bracket 30 is formed with a two-step profile, which simulates the contour of the bearing plate 78 and the cover 21.
  • This two-step profile is formed by first stage for adaptation to the bearing plate 78, which is formed at right angles, and by a second stage for adaptation to the cover 21, which is formed obliquely.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Structural Engineering (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • Physics & Mathematics (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Paleontology (AREA)
  • Buildings Adapted To Withstand Abnormal External Influences (AREA)
  • Component Parts Of Construction Machinery (AREA)
  • Earth Drilling (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Manipulator (AREA)
  • Consolidation Of Soil By Introduction Of Solidifying Substances Into Soil (AREA)
  • Foundations (AREA)

Abstract

The apparatus has a mast (4) guiding a ground working apparatus (9) during foundation construction. An adjustable support mechanism (6) supports the mast such that the mast is arranged in an adjustable manner on a chassis (2). The support mechanism comprises two parallel support arms (61) pivotably hinged about horizontal and horizontally running pivot axes (71, 72) on the chassis. A rotary encoder (1) i.e. absolute encoder, detects a pivot angle of the support arms relative to the chassis as a degree of an adjustment position of the mast. An independent claim is also included for a method for operating a construction apparatus.

Description

Die Erfindung betrifft ein Baugerät für den Tiefbau gemäß dem Oberbegriff des Anspruchs 1. Ein solches Baugerät ist ausgebildet mit einem Fahrgestell, einem Mast zur Führung zumindest eines Bodenbearbeitungsgerätes und einer Tragemechanik für den Mast, über welche der Mast am Fahrgestell verstellbar angeordnet ist, wobei die Tragemechanik zumindest einen Tragarm aufweist, welcher auf seiner einen Seite um eine Schwenkachse schwenkbar am Fahrgestell angelenkt ist, und welcher auf seiner gegenüberliegenden anderen Seite mit dem Mast gekoppelt ist.The invention relates to a construction equipment for civil engineering according to the preamble of claim 1. Such a construction equipment is formed with a chassis, a mast for guiding at least one harrow and a support mechanism for the mast, via which the mast is arranged on the chassis adjustable, wherein the Supporting mechanism has at least one support arm, which is articulated on its one side about a pivot axis pivotally mounted on the chassis, and which is coupled on its opposite other side with the mast.

Ein gattungsgemäßes Baugerät geht beispielsweise aus der DE 200 11 371 U1 hervor. Ein weiteres Baugerät mit einer verstellbaren Tragemechanik mit Parallelogramm-Kinematik ist beispielsweise aus der EP 1 717 375 A1 bekannt. Die Tragemechanik der EP 1 717 375 A1 kann verwendet werden, um den Mast aus einer horizontalen Transportposition in eine vertikale Betriebsposition anzuheben.A generic construction equipment goes for example from the DE 200 11 371 U1 out. Another construction equipment with an adjustable support mechanism with parallelogram kinematics is for example from the EP 1 717 375 A1 known. The supporting mechanism of EP 1 717 375 A1 can be used to lift the mast from a horizontal transport position to a vertical operating position.

Bei Baugeräten mit einer Tragemechanik für den Mast kann das Verstellen der Tragemechanik mit einer deutlichen Schwerpunktsverschiebung einhergehen, da der mit der Tragemechanik betätigte Mast sowie das hieran angeordnete Bodenbearbeitungsgerät mit die größten Massen am Baugerät darstellen können. Je nach Auslegung des Baugerätes könnte daher im Extremfall ein unbeabsichtigtes übermäßiges Betätigen der Tragemechanik sogar zu einem Umstürzen des Baugerätes führen.In construction equipment with a supporting mechanism for the mast, the adjustment of the support mechanism can be accompanied by a significant shift in the center of gravity, since the mast actuated by the carrying mechanism and the soil cultivator arranged thereon can represent the largest masses on the construction equipment. Depending on the design of the construction equipment, an unintentional excessive actuation of the support mechanism could even lead to a fall of the construction equipment in extreme cases.

Um ein solches unbeabsichtigtes Verstellen der Tragemechanik und damit eine Beeinträchtigung der Kippstabilität zu vermeiden, ist es bekannt, nach dem Aufrichten des Mastes am Betätigungszylinder der Tragemechanik eine Stützschelle vorzusehen, welche den Betätigungsweg der Tragemechanik begrenzt und somit ein unbeabsichtigtes Verfahren in einen kritischen Betriebsbereich verhindert. Diese Stützschelle muss allerdings nach dem Aufrichten des Mastes manuell angebracht werden und zum Transport des Baugerätes wieder manuell abgenommen werden, um das ordnungsgemäße Verbringen der Tragemechanik in die Transportposition nicht zu behindern. Somit kann aber nicht in jedem Fall sichergestellt werden, dass die Stützschelle im Betrieb auch korrekt angebracht ist.In order to avoid such an unintentional adjustment of the support mechanism and thus an impairment of the tilting stability, it is known to provide a support bracket after erecting the mast on the actuating cylinder of the support mechanism, which limits the actuation path of the support mechanism and thus prevents an unintentional process in a critical operating range. This support clamp However, it must be manually mounted after erecting the mast and removed again manually to transport the construction equipment in order not to obstruct the proper movement of the carrying mechanism into the transport position. Thus, however, it can not always be ensured that the support clamp is also correctly installed during operation.

Aus der EP 0 894 901 A2 ist ein Bagger bekannt, der am Baggerarm Winkelgeber aufweist.From the EP 0 894 901 A2 An excavator is known which has angle arm on the excavator arm.

Aufgabe der Erfindung ist es, ein Baugerät für den Tiefbau zur Verfügung zu stellen, welches eine besonders hohe Betriebszuverlässigkeit aufweist. The object of the invention is to provide a construction equipment for civil engineering, which has a particularly high operational reliability.

Die Aufgabe wird erfindungsgemäß durch ein Baugerät mit den Merkmalen des Anspruchs 1 gelöst. Bevorzugte Ausführungsbeispiele sind in den abhängigen Ansprüchen angegeben.The object is achieved by a construction device with the features of claim 1. Preferred embodiments are given in the dependent claims.

Das erfindungsgemäße Baugerät ist dadurch gekennzeichnet, dass ein Drehgeber zum Erfassen des Schwenkwinkels des Tragarms relativ zum Fahrgestell als Maß für eine Verstellposition des Mastes vorgesehen ist.The construction device according to the invention is characterized in that a rotary encoder for detecting the pivot angle of the support arm is provided relative to the chassis as a measure of an adjustment position of the mast.

Ein erster Grundgedanke der Erfindung kann darin gesehen werden, die Einstellung der Tragemechanik und somit die Verstellposition des Mastes sensorisch zu erfassen. Auf Grundlage der hierbei gewonnen Daten kann beispielsweise ein Alarm ausgegeben werden, wenn eine im Hinblick auf die Kippstabilität kritische Einstellung gegeben ist, oder es kann auch aktiv über eine Steuerung gewährleistet werden, dass die Verstellposition des Mastes in einem Bereich bleibt, welcher im Hinblick auf die aktuelle Betriebsweise, also je nachdem, ob das Gerät transportiert wird oder in Betrieb ist, sicher ist. Da ein solcher erfindungsgemäßer Sensor die Einstellung der Tragemechanik lediglich erfasst, und da er somit im Gegensatz zu der vorgenannten Stützschelle den Betriebsbereich der Tragemechanik nicht mechanisch begrenzt, kann ein solcher Sensor grundsätzlich in jeder Betriebsposition an der Tragemechanik verbleiben. Er muss im Gegensatz zur vorgenannten Stützschelle insbesondere nicht zum Transport abgenommen werden. Somit kann erfindungsgemäß das Risiko minimiert werden, dass die Sicherungsmaßnahme gegen unerwünschte Schwerpunktverschiebungen versehentlich inaktiv ist. Somit ist erfindungsgemäß eine besonders hohe Betriebszuverlässigkeit gegeben.A first basic idea of the invention can be seen to sensory detect the setting of the support mechanism and thus the adjustment of the mast. Based on the data obtained in this case, for example, an alarm can be issued if a critical in terms of tilt stability is given setting, or it can also be actively ensured by a control that the adjustment position of the mast remains in a range which in terms of the current mode of operation, ie depending on whether the device is being transported or in operation, is safe. Since such an inventive sensor merely detects the setting of the support mechanism, and since it does not mechanically limit the operating range of the support mechanism in contrast to the aforementioned support bracket, such a sensor can basically remain in any operating position on the support mechanism. In contrast to the aforementioned support clamp, in particular it does not have to be removed for transport. Thus, according to the invention, the risk can be minimized that the safety measure is inadvertently inactive against undesired shifting of center of gravity. Thus, according to the invention, a particularly high operational reliability is given.

Ein weiterer Grundgedanke der Erfindung kann darin gesehen werden, dass als Maß für die Verstellposition der Tragemechanik und somit als Maß für die Verstellposition des Mastes der Schwenkwinkel des Tragarms um die Schwenkachse erfasst wird, dass also als Sensor für die Verstellposition des Mastes ein Drehgeber vorgesehen wird, der zwischen dem Tragarm und dem Fahrgestell angeordnet ist. Die Erfindung hat erkannt, dass einerseits der Schwenkwinkel des Tragarms relativ zum Fahrgestell besonders aussagekräftige Informationen über die Verstellposition des Mastes und somit die Kippstabilität liefert, und dass andererseits dieser Schwenkwinkel auch im rauen Arbeitsbetrieb in besonders einfacher und zuverlässiger Weise sensorisch erfasst werden kann. Denn eine Schwenkwinkelmessung kann mit kompakten Sensoren und in einem Bereich durchgeführt werden, der vom Bohrwerkzeug gut abgeschirmt werden. Durch die erfindungsgemäße Verwendung eines Drehgebers am Tragarm kann somit die Betriebszuverlässigkeit noch weiter gesteigert werden, da in besonders zuverlässiger Weise besonders aussagekräftige Werte über die Verstellposition erhalten werden können.Another basic idea of the invention can be seen in the fact that the pivot angle of the support arm about the pivot axis is detected as a measure of the adjustment position of the support mechanism and thus as a measure of the adjustment position of the mast, so that provided as a sensor for the adjustment of the mast, a rotary encoder is, which is arranged between the support arm and the chassis. The invention has recognized that on the one hand, the pivot angle of the support arm relative to the chassis provides particularly meaningful information about the adjustment of the mast and thus the tipping stability, and that on the other hand, this tilt angle can be detected by sensors even in rough work operation in a particularly simple and reliable manner. Because a swivel angle measurement can be performed with compact sensors and in a range that are well shielded by the drilling tool. By the use according to the invention of a rotary encoder on the support arm, the reliability of operation can thus be further increased, since particularly meaningful values can be obtained via the adjustment position in a particularly reliable manner.

Bei dem Baugerät kann es sich beispielsweise um ein Bohrgerät handeln, so dass das Bodenbearbeitungsgerät bevorzugt ein Bohrer ist. Das Baugerät kann aber beispielsweise auch ein Rüttelgerät sein, wobei dann das Bodenbearbeitungsgerät ein Rüttler ist, oder das Baugerät kann eine Schlitzwandfräse sein, wobei dann das Bodenbearbeitungsgerät eine Fräseinrichtung mit Fräsrädern sein kann. Der Mast dient zweckmäßigerweise dazu, das Bodenbearbeitungsgerät in vertikaler Richtung verschiebbar zu führen. Bei dem erfindungsgemäßen Fahrgestell kann es sich insbesondere um ein Raupenkettenfahrwerk handeln. Zweckmäßigerweise weist das Fahrgestell auch die Antriebsaggregate und/oder Bedienelemente für den Betrieb des Baugerätes und/oder auch ein Gegengewicht für den Mast auf.The construction device can be, for example, a drilling device, so that the soil cultivation device is preferably a drill. The construction equipment may, however, also be, for example, a vibrator, in which case the cultivator is a vibrator, or the construction equipment may be a trench wall cutter, in which case the cultivator may be a milling device with cutting wheels. The mast is expediently used to guide the harrow in a vertical direction displaced. The chassis according to the invention may in particular be a crawler track running gear. Conveniently, the chassis also the drive units and / or controls for the operation of the construction equipment and / or a counterweight for the mast.

Erfindungsgemäß ist über die verstellbare Tragemechanik der Mast mit dem Fahrgestell gekoppelt. Insbesondere kann vorgesehen sein, dass die Tragemechanik zumindest die Hauptlast des Mastes oder sogar das gesamte Mastgewicht trägt. Vorzugsweise kann die Tragemechanik zumindest ein Koppelgetriebe, insbesondere ein Parallelogrammgetriebe aufweisen, wobei der Tragarm vorzugsweise ein Glied dieses Koppelgetriebes bildet.According to the mast is coupled to the chassis via the adjustable support mechanism. In particular, it can be provided that the support mechanism carries at least the main load of the mast or even the entire mast weight. Preferably, the support mechanism may comprise at least one coupling gear, in particular a parallelogram, wherein the support arm preferably forms a member of this linkage.

Die Schwenkachse, um welche der Tragarm schwenkbar am Fahrgestell angelenkt ist, verläuft vorzugsweise horizontal. Unter der Schwenkachse im Sinne der Erfindung kann insbesondere eine Achse im mathematischen Sinne verstanden werden, das heißt eine fiktive Linie. Längs der erfindungsgemäßen Schwenkachse ist bevorzugt zumindest ein Achsbolzen vorgesehen, über welchen der Tragarm am Fahrgestell gelagert ist.The pivot axis about which the support arm is pivotally hinged to the chassis, preferably runs horizontally. In the sense of the invention, the pivot axis can be understood to mean, in particular, an axis in the mathematical sense, that is to say a fictitious line. Along the pivot axis according to the invention is preferred provided at least one axle bolt, via which the support arm is mounted on the chassis.

Zum Erfassen des Schwenkwinkels des Tragarms ist der Drehgeber zweckmäßigerweise zwischen dem Tragarm und dem Fahrgestell angeordnet, das heißt ein erstes Geberteil ist drehfest am Tragarm angeordnet und ein zweites Geberteil drehfest am Fahrgestell angeordnet. Der erfindungsgemäße Drehgeber kann auch als Winkelstellungsmesser bezeichnet werden.For detecting the pivot angle of the support arm, the rotary encoder is expediently arranged between the support arm and the chassis, that is, a first transmitter part is rotatably mounted on the support arm and a second encoder member rotatably mounted on the chassis. The rotary encoder according to the invention can also be referred to as an angle position meter.

Besonders bevorzugt ist es, dass ein Stellantrieb zum Verstellen des Mastes relativ zum Fahrgestell vorgesehen ist. Insbesondere kann der Stellantrieb zum Verschwenken des Tragarms relativ zum Fahrgestell dienen. Beim Stellantrieb kann es sich insbesondere um einen Linearantrieb, beispielsweise um einen Hydraulikzylinder handeln, welcher vorzugsweise einerseits am Fahrgestell und andererseits am Tragarm angelenkt ist. Es können auch weitere Stellantriebe zum Verstellen des Mastes relativ zum Fahrgestell vorhanden sein.It is particularly preferred that an actuator for adjusting the mast is provided relative to the chassis. In particular, the actuator can be used for pivoting the support arm relative to the chassis. The actuator may in particular be a linear drive, for example a hydraulic cylinder, which is preferably articulated on the one hand to the chassis and on the other hand to the support arm. There may also be other actuators for adjusting the mast relative to the chassis.

Es kann vorgesehen sein, dass vom Drehgeber erhaltene Werte angezeigt werden und/oder dass ein Alarmsignal erzeugt wird, wenn eine Steuerung auf Grundlage der mittels des Drehgebers erhaltenen Werte eine kritische Verstellposition des Mastes feststellt. So kann beispielsweise ein Warnsignal ausgegeben werden, wenn ein für den jeweiligen Betriebszustand kritischer Winkelbereich eingenommen wurde.It can be provided that values obtained by the rotary encoder are displayed and / or that an alarm signal is generated when a controller determines a critical adjustment position of the mast on the basis of the values obtained by means of the rotary encoder. Thus, for example, a warning signal can be output if a critical range for the respective operating state has been assumed.

Besonders bevorzugt ist es, dass eine Steuereinheit zum Steuern des Stellantriebs vorgesehen ist, welche mit dem Drehgeber in Signalverbindung steht. Mittels einer solchen Steuereinheit können beim Vorliegen einer kritischen Verstellposition automatisch Gegenmaßnahmen gegen die kritische Position eingeleitet werden. Die Steuereinheit kontrolliert somit zweckmäßigerweise den Stellantrieb in Abhängigkeit von den mit dem Drehgeber erfassten Schwenkwinkelwerten. Insbesondere kann vorgesehen sein, dass die Steuereinheit bei der winkelabhängigen Kontrolle des Stellantriebes den aktuellen Betriebszustand einbezieht, also insbesondere berücksichtigt, ob sich der Mast in der vertikalen Betriebsposition oder in der horizontalen Transportposition befindet. Sofern weitere Stellantriebe vorgesehen sind, kann die Steuereinheit auch zum schwenkwinkelabhängigen Steuern zumindest eines dieser weiteren Stellantriebe eingerichtet sein.It is particularly preferred that a control unit is provided for controlling the actuator, which is in signal communication with the rotary encoder. By means of such a control unit countermeasures against the critical position can be initiated automatically in the presence of a critical adjustment position. The control unit thus expediently controls the actuator as a function of the swivel angle values detected by the rotary encoder. In particular, it can be provided that the control unit in the angle-dependent control of the actuator incorporates the current operating state, ie in particular takes into account whether the mast is in the vertical operating position or in the horizontal transport position. If further actuators are provided, the control unit can also be set up for pivoting angle-dependent control of at least one of these further actuators.

Eine bevorzugte Ausführungsform der Erfindung liegt darin, dass die Steuereinheit so eingerichtet ist, dass sie bei bestimmten Schwenkwinkeln des Tragarms relativ zum Fahrgestell einer übermäßigen Verstellung des Mastes durch den Stellantrieb entgegenwirkt. So kann beispielsweise vorgesehen sein, dass bestimmte Steuerbefehle, welche die Verstellposition des Mastes noch kritischer machen würden, von der Steuereinheit nicht mehr an den Stellantrieb weitergegeben werden, wenn ein bestimmter Schwenkwinkelbereich erreicht wurde. Alternativ oder zusätzlich kann vorgesehen sein, dass die Steuereinheit beim Vorliegen eines bestimmten Schwenkwinkelbereichs den Stellantrieb von sich aus so betätigt, dass der Mast in einen sicheren Bereich zurückgeführt wird.A preferred embodiment of the invention is that the control unit is arranged so that it counteracts at an excessive pivoting angles of the support arm relative to the chassis of an excessive adjustment of the mast by the actuator. Thus, for example, be provided that certain control commands, which would make the adjustment of the mast even more critical, are no longer passed on by the control unit to the actuator when a certain pivot angle range has been reached. Alternatively or additionally, it can be provided that the control unit, when a specific pivoting angle range is present, actuates the actuating drive of its own accord such that the mast is returned to a safe area.

Besonders zweckmäßig ist es, dass mit dem Stellantrieb, welcher mit der Steuereinheit insbesondere schwenkwinkelabhängig steuerbar ist, der Tragarm und/oder der Mast um die Schwenkachse verschwenkbar ist. Gemäß dieser Ausführungsform kann die Steuereinheit also auf solch einen Stellantrieb einwirken, mit welchem der Tragarm und/oder der Mast um die Schwenkachse verschwenkbar ist. Hierdurch können die Steuerabläufe vereinfacht werden, da mittels der Steuereinheit unmittelbar auf den Wert Einfluss genommen werden kann, welcher auch Eingangsgröße für die Steuereinheit ist. Sofern die Steuereinheit mehrere Stellantriebe schwenkwinkelabhängig kontrolliert, kann zumindest einer der weiteren Stellantriebe auch zur Durchführung eines unterschiedlichen Bewegungsablaufs dienen.It is particularly expedient that the support arm and / or the mast can be pivoted about the pivot axis with the actuator which can be controlled in particular with pivoting angle control by the control unit. According to this embodiment, the control unit can thus act on such an actuator, with which the support arm and / or the mast is pivotable about the pivot axis. As a result, the control sequences can be simplified because the control unit can directly influence the value, which is also the input variable for the control unit. If the control unit controls several actuators as a function of pivoting angle, at least one of the further actuators can also serve to carry out a different sequence of movements.

Ein konstruktiv besonders einfaches und zugleich zuverlässiges Tiefbaugerät ist dadurch gegeben, dass der Tragarm auf seiner einen Seite um die Schwenkachse schwenkbar am Fahrgestell angelenkt ist, und dass der Tragarm auf seiner gegenüberliegenden anderen Seite mit dem Mast gekoppelt ist. Zwischen dem Tragarm und dem Mast können für besonders komplexe Mastbewegungen auch noch weitere Koppelteile oder/und Stellantriebe angeordnet sein.A constructionally particularly simple and at the same time reliable civil engineering device is given by the fact that the support arm is articulated on its one side about the pivot axis pivotally mounted on the chassis, and that the support arm is coupled on its opposite other side with the mast. Between the support arm and the mast even more coupling parts and / or actuators can be arranged for particularly complex mast movements.

Die Betriebszuverlässigkeit kann weiter dadurch erhöht werden, dass die Tragemechanik zum Bilden einer Parallelogramm-Kinematik einen weiteren Tragarm aufweist, welcher parallel zum ersten Tragarm verläuft. Die beiden Tragarme können dann an ihren dem Fahrgestell jeweils abgewandten Seiten durch ein Koppelelement verbunden sein, an welchem wiederum der Mast angeordnet, insbesondere angelenkt ist.The operational reliability can be further increased by the fact that the support mechanism for forming a parallelogram kinematics has a further support arm, which runs parallel to the first support arm. The two support arms can then be connected at their sides facing away from the chassis by a coupling element, on which in turn arranged the mast, in particular articulated.

Sofern eine Parallelogramm-Kinematik vorgesehen ist, ist es besonders bevorzugt, dass der erste Tragarm, dessen Schwenkwinkel mit dem Drehgeber erfasst wird, oberhalb des weiteren Tragarms am Fahrgestell angelenkt ist. Zusätzlich oder alternativ kann vorgesehen sein, dass der weitere Tragarm zwischen dem ersten Tragarm, dessen Winkel mit dem Drehgeber erfasst wird, und dem Mast angeordnet ist. Gemäß diesen Ausführungsformen wird der Drehgeber an demjenigen Tragarm vorgesehen, welcher im Baubetrieb besonders gut geschützt ist, so dass die Betriebszuverlässigkeit weiter verbessert ist.If a parallelogram kinematics is provided, it is particularly preferred that the first support arm, whose pivot angle is detected by the rotary encoder, is articulated above the further support arm on the chassis. Additionally or alternatively, it may be provided that the further support arm is arranged between the first support arm, whose angle is detected with the rotary encoder, and the mast. According to these embodiments, the rotary encoder is provided on that support arm, which is particularly well protected during construction, so that the operational reliability is further improved.

Beispielsweise im Hinblick auf die Leitungslängen ist es vorteilhaft, dass der Drehgeber, insbesondere sein Gebergehäuse, am Fahrgestell angeordnet ist. In diesem Fall kann insbesondere mit festliegenden Zuleitungen gearbeitet werden, was im Hinblick auf die Zuverlässigkeit vorteilhaft ist.For example, with regard to the cable lengths, it is advantageous that the rotary encoder, in particular its encoder housing, is arranged on the chassis. In this case, in particular can be used with fixed leads, which is advantageous in terms of reliability.

Eine weitere bevorzugte Ausführungsform der Erfindung liegt darin, dass der Drehgeber in der Verlängerung der Schwenkachse angeordnet ist. Dies erlaubt es, den Winkelwert des Tragarms unmittelbar zu erfassen, was die Betriebszuverlässigkeit noch weiter steigert.A further preferred embodiment of the invention is that the rotary encoder is arranged in the extension of the pivot axis. This makes it possible to directly detect the angle value of the support arm, which further increases the operational reliability.

Zweckmäßigerweise weist der Drehgeber ein Gebergehäuse und eine Geberwelle auf. Die Geberwelle kann insbesondere koaxial zur Schwenkachse angeordnet sein, was eine besonders einfache Konstruktion ermöglicht.The rotary encoder expediently has an encoder housing and an encoder shaft. The encoder shaft may in particular be arranged coaxially to the pivot axis, which allows a particularly simple construction.

Ferner ist es vorteilhaft, dass das Gebergehäuse drehfest mit dem Fahrgestell und die Geberwelle drehfest mit dem Tragarm gekoppelt ist. Hierdurch kann eine besonders kompakte Geberanordnung realisiert werden.Further, it is advantageous that the encoder housing is non-rotatably coupled to the chassis and the encoder shaft rotatably connected to the support arm. As a result, a particularly compact encoder arrangement can be realized.

Eine weitere vorteilhafte Ausgestaltung der Erfindung besteht darin, dass die Geberwelle des Drehgebers für eine drehfeste Verbindung mit einem Betätigungselement an ihrem Mantel eine Abflachung aufweist. Durch eine solche vorzugsweise längs der Geberwelle verlaufende Abflachung kann sichergestellt werden, dass ein Betätigungselement für den Drehgeber lediglich in einer definierten Winkelposition an der Geberwelle befestigt werden kann. Die Geberwelle kann beispielsweise auch zumindest ein quer verlaufendes Loch aufweisen, mit welcher eine Bolzenverbindung mit dem Betätigungselement hergestellt werden kann.A further advantageous embodiment of the invention is that the encoder shaft of the rotary encoder for a rotationally fixed connection with an actuating element on its jacket has a flattening. By such preferably along the encoder shaft extending flattening can be ensured that an actuator for the encoder can be attached only in a defined angular position on the encoder shaft. The encoder shaft may for example also have at least one transverse hole, with which a bolt connection can be made with the actuator.

Weiterhin ist es vorteilhaft, dass eine Abdeckung für den Drehgeber vorgesehen ist, in welcher der Drehgeber, insbesondere sein Gebergehäuse, drehfest aufgenommen ist. Für die drehfeste Halterung des Drehgebers an der Abdeckung kann beispielsweise zumindest eine Schraube vorgesehen sein. Zusätzlich oder alternativ können an der Abdeckung und am Drehgeber korrespondierende Ausnehmungen und Vorsprünge vorgesehen sein, die eine Formschlussverbindung bilden. Durch die Abdeckung wird zweckmäßigerweise das Gebergehäuse drehfest am Fahrgestell festgelegt. Insbesondere kann die Abdeckung topfförmig ausgebildet sein, wobei in der Topfform eine sektorförmige Ausnehmung zum Durchführen der Zuleitungen des Drehgebers vorgesehen sein können.Furthermore, it is advantageous that a cover for the rotary encoder is provided, in which the rotary encoder, in particular its encoder housing, is received in a rotationally fixed manner. For example, at least one screw can be provided for the non-rotatable mounting of the rotary encoder on the cover. Additionally or alternatively, corresponding recesses and projections may be provided on the cover and on the rotary encoder, which form a positive connection. Through the cover the transmitter housing is expediently fixed rotationally fixed to the chassis. In particular, the cover may be cup-shaped, wherein in the cup shape a sector-shaped recess may be provided for carrying out the leads of the rotary encoder.

Eine andere Weiterbildung der Erfindung besteht darin, dass in der Abdeckung Löcher für eine Bolzenverbindung, insbesondere mit dem Fahrgestell oder dem Tragarm, ausgebildet sind. Bei den Bolzen dieser Bolzenverbindung kann es sich insbesondere um Schraubbolzen handeln. Zweckmäßigerweise weisen die Löcher ein unsymmetrisches Lochbild auf. Hierdurch kann sichergestellt werden, dass die Abdeckung und somit auch der drehfest hierin aufgenommene Drehgeber lediglich in einer definierten Winkelposition befestigt werden können.Another development of the invention is that in the cover holes for a bolt connection, in particular with the chassis or the support arm are formed. The bolts of this bolt connection may in particular be threaded bolts. Expediently, the holes have an asymmetrical hole pattern. In this way it can be ensured that the cover and thus also the rotatably received therein encoder can be fixed only in a defined angular position.

Eine weitere bevorzugte Ausführungsform der Erfindung besteht darin, dass als Betätigungselement für den Drehgeber ein Betätigungsbügel vorgesehen ist. Ein solcher Drehbügel ist zweckmäßigerweise einerseits mit dem Drehgeber, insbesondere mit seiner Geberwelle verbunden. Andererseits ist der Betätigungsbügel bevorzugt mit dem Tragarm verbunden.A further preferred embodiment of the invention is that an actuating bracket is provided as an actuating element for the rotary encoder. Such a turn bar is suitably connected on the one hand to the rotary encoder, in particular to its encoder shaft. On the other hand, the actuating bow is preferably connected to the support arm.

Für eine besonders kompakte Anordnung weist der Betätigungsbügel geeigneterweise ein Stufenprofil, insbesondere ein Mehrstufenprofil auf. Hierdurch kann eine Bügelkontur realisiert werden, welche an die Kontur der benachbarten Elemente, also insbesondere an die Kontur des Drehgebers mit Abdeckung, besonders gut angepasst ist. Vorstehende Elemente, welche im Hinblick auf die Betriebszuverlässigkeit kritisch sein könnten, werden somit vermieden. Das Mehrstufenprofil kann insbesondere Stufenkanten aufweisen, die quer zum Bügel verlaufen.For a particularly compact arrangement, the actuating bow suitably has a step profile, in particular a multi-step profile. In this way, a bracket contour can be realized, which is particularly well adapted to the contour of the adjacent elements, ie in particular to the contour of the rotary encoder with cover. Projecting elements which might be critical in terms of operational reliability are thus avoided. The multi-step profile can in particular have step edges that run transversely to the bracket.

Bevorzugt handelt es sich bei dem erfindungsgemäßen Drehgeber um einen Absolutwertgeber. Da bei einem Absolutwertgeber aufgrund des Sensoraufbaus die absolute Position bekannt ist, ist dort eine Referenzfahrt, welche unter Umständen auch durch kippkritische Winkelbereiche führen müsste, nicht erforderlich.The rotary encoder according to the invention is preferably an absolute value transmitter. Because of an absolute encoder the absolute Position is known, there is a reference trip, which would also lead by tilt critical angular ranges, not required.

Die Erfindung betrifft auch ein Verfahren zum Betrieb eines erfindungsgemäßen Baugerätes, bei dem mittels einer Steuereinheit bei bestimmten Schwenkwinkeln des Tragarms relativ zum Fahrgestell einer übermäßigen Verstellung des Mastes durch zumindest einen Stellantrieb entgegengewirkt wird. Insbesondere kann vorgesehen sein, dass mittels der Steuereinheit winkelsteigernde Steuereingaben auf den Stellantrieb unterdrückt werden, wenn der mit dem Drehgeber erfasste Schwenkwinkel einen Grenzwert erreicht oder übersteigt.The invention also relates to a method for operating a construction device according to the invention, in which by means of a control unit at certain pivoting angles of the support arm is counteracted relative to the chassis of an excessive adjustment of the mast by at least one actuator. In particular, it can be provided that by means of the control unit angle-increasing control inputs are suppressed to the actuator when the detected with the rotary encoder pivot angle reaches or exceeds a limit.

Die Erfindung wird nachfolgend anhand bevorzugter Ausführungsbeispiele näher erläutert, welche schematisch in den beigefügten Figuren dargestellt sind. In den Figuren zeigen:

Fig. 1
eine Seitenansicht eines erfindungsgemäßen Baugerätes mit Drehgeber;
Fig. 2
den Mittelträger des Fahrgestells des Baugerätes aus Fig. 1 mit hieran angeordnetem Drehgeber in einer vergrößerten perspektivischen Ansicht;
Fig. 3
eine vergrößerte perspektivische Ansicht des Drehgebers aus Fig. 2; und
Fig. 4
eine Explosionsdarstellung des Drehgebers aus Fig. 2.
The invention will be explained in more detail below with reference to preferred embodiments, which are shown schematically in the accompanying figures. In the figures show:
Fig. 1
a side view of a construction device according to the invention with rotary encoder;
Fig. 2
the center girder of the chassis of the construction equipment Fig. 1 with arranged thereon encoder in an enlarged perspective view;
Fig. 3
an enlarged perspective view of the encoder from Fig. 2 ; and
Fig. 4
an exploded view of the encoder from Fig. 2 ,

Ein Ausführungsbeispiel eines erfindungsgemäßen Baugerätes, welches beispielhaft als Bohrgerät ausgeführt ist, ist in Fig. 1 dargestellt. Das dargestellte Baugerät weist einen Mast 4 auf, an welchem ein Schlitten 42 mit einem Bohrantrieb 41 längsverschiebbar geführt ist. Am Schlitten 42 mit dem Bohrantrieb 41 wiederum ist ein als Bohrer ausgebildetes Bodenbearbeitungsgerät 9 längsverschiebbar geführt. Der Mast 4 wird von einer verstellbaren Tragemechanik 6 getragen, die an einem als Raupenkettenfahrwerk ausgebildeten Fahrgestell 2 angeordnet ist. Die Tragemechanik 6 weist eine Parallelogramm-Kinematik mit zwei parallelen Tragarmen 61 und 62 auf. Der Tragarm 61 ist dabei um eine horizontale Schwenkachse 71 schwenkbar am Fahrgestell 2 angelenkt. Analog ist der zweite Tragarm 62 um eine horizontal verlaufende zweite Schwenkachse 72 schwenkbar am Fahrgestell 2 angelenkt. Dabei verlaufen die beiden Schwenkachsen 71 und 72 parallel zueinander, wobei die zweite Schwenkachse 72 unterhalb der Schwenkachse 71 angeordnet ist und mastnäher verläuft.An embodiment of a construction device according to the invention, which is exemplified as a drill, is in Fig. 1 shown. The construction equipment shown has a mast 4, on which a carriage 42 is guided longitudinally displaceable with a drill drive 41. On the carriage 42 with the drill drive 41 turn a trained as a drill harrow 9 is guided longitudinally displaceable. The mast 4 is supported by an adjustable support mechanism 6, which is arranged on a chassis 2 designed as a crawler chassis. The support mechanism 6 has a parallelogram kinematics with two parallel support arms 61 and 62. The support arm 61 is pivotable about a horizontal pivot axis 71 on Chassis 2 articulated. Similarly, the second support arm 62 is pivotally connected to the chassis 2 about a horizontally extending second pivot axis 72. In this case, the two pivot axes 71 and 72 extend parallel to each other, wherein the second pivot axis 72 is disposed below the pivot axis 71 and mastnäher runs.

Auf ihren dem Fahrgestell 2 jeweils abgewandten Seiten sind die beiden Tragarme 61 und 62 an einem Koppelelement 64 angelenkt, an welchem wiederum der Mast 4 schwenkbar vorgesehen ist. Zum Verschwenken des Mastes 4 relativ zum Koppelelement 64 ist ein als Nackenzylinder 65 ausgebildeter Stellantrieb vorgesehen.On their sides facing away from the chassis 2, the two support arms 61 and 62 are articulated to a coupling element 64, on which in turn the mast 4 is pivotally provided. For pivoting the mast 4 relative to the coupling element 64 designed as a neck cylinder 65 actuator is provided.

Zum Verstellen der Parallelogramm-Kinematik mit den beiden Tragarmen 61, 62 ist ein als Hydraulikzylinder ausgebildeter Stellantrieb 66 vorgesehen, der einerseits am Fahrgestell 2 und andererseits am Koppelelement 64 angelenkt ist. Durch Ausfahren dieses Stellantriebs 66 kann die Tragemechanik 6 aus einer etwa horizontalen Transportstellung in die in Fig. 1 dargestellte vertikale Betriebsstellung verbracht werden.For adjusting the parallelogram kinematics with the two support arms 61, 62 designed as a hydraulic cylinder actuator 66 is provided which is articulated on the one hand on the chassis 2 and on the other hand on the coupling element 64. By extending this actuator 66, the support mechanism 6 from an approximately horizontal transport position in the in Fig. 1 shown vertical operating position can be spent.

Wie in Fig. 1 lediglich angedeutet ist, ist im Bereich der fahrgestellseitigen Anlenkung des ersten Tragarms 61 ein Drehgeber 1 vorgesehen, mit welchem der Schwenkwinkel α des Tragarms 61 relativ zum Fahrgestell 2 erfasst werden kann. Dieser Schwenkwinkel α (vergleiche Fig. 2) stellt ein Maß für die Lage der Tragemechanik 6 und somit ein Maß für die Verstellposition des Mastes 4 dar.As in Fig. 1 is merely indicated, 61, a rotary encoder 1 is provided in the region of the chassis-side linkage of the first support arm, with which the pivot angle α of the support arm 61 relative to the chassis 2 can be detected. This swivel angle α (compare Fig. 2 ) represents a measure of the position of the support mechanism 6 and thus a measure of the adjustment position of the mast 4.

Fig. 2 zeigt eine vergrößerte Ausschnittsansicht des Baugerätes aus Fig. 1 im Bereich des Drehgebers 1. Der Übersichtlichkeit halber ist in Fig. 2 vom Fahrgestell 2 nur ein Mittelträger 70 dargestellt, an welchem der erste Tragarm 61 angelenkt ist. Der zweite Tragarm 62 ist lediglich angedeutet. Fig. 2 shows an enlarged sectional view of the construction equipment Fig. 1 in the area of the rotary encoder 1. For the sake of clarity, see Fig. 2 from the chassis 2, only a center support 70 is shown, on which the first support arm 61 is articulated. The second support arm 62 is merely indicated.

Am Mittelträger 70 weist das Fahrgestell zwei Lagerplatten 78, 78' auf, welche parallel zueinander verlaufen, und zwischen denen die beiden Tragarme 61 und 62 angelenkt sind. Diese Lagerplatten 78 und 78' tragen zumindest einen in Fig. 2 nur angedeuteten Achsbolzen 75, an welchem der erste Tragarm 61 um die Schwenkachse 71 verschwenkbar gelagert ist, sowie zumindest einen weiteren, parallel verlaufenden Achsbolzen 76, an welchem der zweite Tragarm 62 um die Schwenkachse 72 verschwenkbar gelagert ist.At the center girder 70, the chassis has two bearing plates 78, 78 ', which run parallel to one another, and between which the two support arms 61 and 62 are articulated. These bearing plates 78 and 78 'carry at least one in Fig. 2 only indicated axle pin 75, on which the first support arm 61 is pivotally mounted about the pivot axis 71, and at least one further, parallel pivot pin 76, on which the second support arm 62 is pivotally mounted about the pivot axis 72.

Wie Fig. 2 zeigt, ist der Drehgeber 1 koaxial auf der mathematischen Schwenkachse 71 des mastferneren, also hecknäheren, oberen Tragarms 61 angeordnet. Der Drehgeber 1 befindet sich dabei auf der dem Tragarm 61 abgewandten Außenseite der Lagerplatte 78.As Fig. 2 shows, the rotary encoder 1 is arranged coaxially on the mathematical pivot axis 71 of the mastferneren, so rear closer, upper support arm 61. The rotary encoder 1 is located on the side facing away from the support arm 61 outside of the bearing plate 78th

Wie in den Figuren 1 und 2 angedeutet ist, ist auch eine Steuereinheit 20 zum Steuern des Stellantriebs 66 und vorzugsweise auch des Nackenzylinders 65 vorgesehen. Diese Steuereinheit 20 steht mit dem Drehgeber 1 in vorzugsweise elektrischer Signalverbindung, so dass der Stellantrieb 66 und unter Umständen auch der Nackenzylinder 65 in Abhängigkeit des Schwenkwinkels α, welcher vom Drehgeber 1 erfasst wird, gesteuert werden kann, so dass der Mast 4 in einem kippstabilen Verstellbereich 6 gehalten werden kann.As in the FIGS. 1 and 2 is indicated, a control unit 20 for controlling the actuator 66 and preferably also of the neck cylinder 65 is provided. This control unit 20 is connected to the rotary encoder 1 in preferably electrical signal connection, so that the actuator 66 and possibly also the neck cylinder 65 in response to the pivot angle α, which is detected by the encoder 1, can be controlled so that the mast 4 in a stable tilt Adjustment range 6 can be maintained.

Der Detailaufbau des Drehgebers ist insbesondere aus den Figuren 3 und 4 ersichtlich. Wie diese Figuren zeigen, weist der Drehgeber 1 ein etwa zylindrisches Gebergehäuse 10 auf, an dessen Mantelfläche ein elektrischer Anschluss 19 für Winkeldatensignale vorgesehen ist. Stirnseitig steht aus diesem Gebergehäuse 10 eine Geberwelle 11 vor. Der Drehgeber 1 ist dabei so eingerichtet, dass die absolute Verdrehung der Geberwelle 11 relativ zum Gebergehäuse 10 als Signal ausgegeben wird.The detailed structure of the rotary encoder is in particular from the Figures 3 and 4 seen. As these figures show, the rotary encoder 1 has an approximately cylindrical encoder housing 10, on the lateral surface of which an electrical connection 19 for angular data signals is provided. At the front end, this encoder housing 10 projects beyond an encoder shaft 11. The rotary encoder 1 is set up so that the absolute rotation of the encoder shaft 11 relative to the encoder housing 10 is output as a signal.

Die Geberwelle 11 und das zylindrische Gebergehäuse 10 sind koaxial zur Schwenkachse 71 auf der Außenseite der Lagerplatte 78 für den Tragarm 61 angeordnet, so dass die Geberwelle 11 senkrecht von der Lagerplatte 78 vorsteht. Zum drehfesten Festlegen des Gebergehäuses 10 an der Lagerplatte 78 und somit am Fahrgestell 2 ist eine Abdeckung 21 vorhanden. Wie insbesondere Fig. 4 zeigt, weist diese Abdeckung 21 einen zylindrischen Halteabschnitt 23 auf. Im zylindrischen Halteabschnitt 23 kann das Gebergehäuse 10 über stirnseitig angeordnete Schrauben 29 drehfest an einer Fahne 81 mit radial vorspringender Nase 82 festgelegt werden. Die Schrauben 29 umgeben dabei eine stirnseitige Durchgangsöffnung 28 in der Abdeckung 21, welche zum Durchtritt der Geberwelle 11 dient.The encoder shaft 11 and the cylindrical encoder housing 10 are arranged coaxially to the pivot axis 71 on the outside of the bearing plate 78 for the support arm 61, so that the encoder shaft 11 protrudes perpendicularly from the bearing plate 78. For rotationally fixed fixing of the encoder housing 10 on the bearing plate 78 and thus on the chassis 2, a cover 21 is present. In particular Fig. 4 shows, this cover 21 has a cylindrical holding portion 23. In the cylindrical holding portion 23, the encoder housing 10 can be fixed in rotation on a flag 81 with radially projecting nose 82 via frontally arranged screws 29. The screws 29 thereby surround an end-side passage opening 28 in the cover 21, which serves for the passage of the encoder shaft 11.

Zur Lagedefinierung der Fahne 81 greift die Nase 82 in eine U-förmige Aufnahme 83 ein, welche an einer Halteplatte 84 angeordnet ist, die an der Lagerplatte 78 in einer definierten Lage befestigt ist. Ein konzentrisch zur Schwenkachse 71 angeordneter Schraubbolzen 80 durchdringt die Fahne 81 und die Halteplatte 82 und steht mit dem Achsbolzen 75 in Verbindung.For positional definition of the flag 81, the nose 82 engages in a U-shaped receptacle 83, which is arranged on a holding plate 84 which is fixed to the bearing plate 78 in a defined position. A concentric with the pivot axis 71 arranged bolt 80 penetrates the flag 81 and the support plate 82 and communicates with the axle 75 in connection.

Auf der der Lagerplatte 78 zugewandten Seite schließt sich an den Halteabschnitt 23 der Abdeckung 21 koaxial ein außendurchmessergrößerer Flanschabschnitt 24 an. In diesem Flanschabschnitt 24 weist die Abdeckung 21 Löcher 22 zum Herstellen einer Bolzenverbindung, insbesondere Schraubbolzenverbindung, mit der Fahne 81 auf. Diese Löcher 22 sind mit einem unsymmetrischen Lochbild angeordnet, so dass die Position der Abdeckung 21 relativ zum Fahrgestell 2 eindeutig festliegt. In ähnlicher Weise kann auch für die Schrauben 29 ein asymmetrisches Lochbild vorgesehen sein.On the side facing the bearing plate 78, an outer diameter larger flange portion 24 adjoins the holding portion 23 of the cover 21 coaxially. In this flange portion 24, the cover 21 holes 22 for producing a bolt connection, in particular bolt connection, with the flag 81 on. These holes 22 are arranged with an asymmetrical hole pattern, so that the position of the cover 21 relative to the chassis 2 is clearly fixed. Similarly, an asymmetrical hole pattern can also be provided for the screws 29.

Zum elektrischen Anschluss des Drehgebers 1 weist die Abdeckung 21, wie insbesondere in Fig. 3 erkennbar, eine sektorförmige Ausnehmung 26 auf, die sich sowohl durch den Halteabschnitt 23 als auch den Flanschabschnitt 24 erstreckt, und die einen Zugang zum Anschluss 19 ermöglicht.For electrical connection of the rotary encoder 1, the cover 21, as in particular in Fig. 3 Recognizable, a sector-shaped recess 26, which extends through both the holding portion 23 and the flange portion 24, and allows access to the terminal 19.

Die Geberwelle 11 ist über einen Betätigungsbügel 30 drehfest mit dem Tragarm 61 gekoppelt. Dieser Betätigungsbügel 30 ist an seinem einen Ende mittels eines Schraubbolzens 51 am Tragarm 61 befestigt. An seinem anderen Ende ist der Bügel 30 mittels eines Schraubbolzens 52 drehfest mit der Geberwelle 11 verbunden. Der Bolzen 52 verläuft dabei quer durch eine Befestigungshülse 53, welche zur mechanischen Verstärkung am Bügel 30 angeordnet ist, und die zur Aufnahme der Geberwelle 11 dient. In der Geberwelle 11 ist ein korrespondierendes, quer verlaufendes Loch 54 vorgesehen, durch welches der Bolzen 52 für eine drehfeste Verbindung durchgesteckt wird. Für eine einfache Positionierung weist die ansonsten zylindrische Geberwelle 11 in ihrer Mantelfläche eine Abflachung 12 auf, wobei in der Befestigungshülse 53 ein Vorsprung vorgesehen sein kann, welcher mit der Abflachung 12 korrespondiert.The encoder shaft 11 is rotatably coupled via an actuating bracket 30 with the support arm 61. This actuating bracket 30 is attached at its one end by means of a bolt 51 on the support arm 61. At its other end, the bracket 30 is rotatably connected by means of a bolt 52 with the encoder shaft 11. The bolt 52 extends transversely through a mounting sleeve 53, which is arranged for mechanical reinforcement on the bracket 30, and which serves to receive the encoder shaft 11. In the encoder shaft 11, a corresponding, transverse hole 54 is provided, through which the bolt 52 is inserted for a rotationally fixed connection. For a simple positioning, the otherwise cylindrical encoder shaft 11 has in its lateral surface a flattening 12, wherein in the mounting sleeve 53, a projection may be provided, which corresponds to the flattening 12.

Der Betätigungsbügel 30 ist mit einem Zweistufenprofil ausgebildet, welches die Kontur der Lagerplatte 78 und der Abdeckung 21 nachbildet. Dieses Zweistufenprofil wird durch erste Stufe zur Anpassung an die Lagerplatte 78 gebildet, welche rechtwinklig ausgebildet ist, sowie durch eine zweite Stufe zur Anpassung an die Abdeckung 21, welche schrägwinklig ausgebildet ist.The actuating bracket 30 is formed with a two-step profile, which simulates the contour of the bearing plate 78 and the cover 21. This two-step profile is formed by first stage for adaptation to the bearing plate 78, which is formed at right angles, and by a second stage for adaptation to the cover 21, which is formed obliquely.

Claims (14)

  1. Construction apparatus for foundation construction comprising
    - a chassis (2),
    - a mast (4) for guidance of at least one ground working apparatus (9),
    and
    - a support mechanism (6) for the mast (4), by means of which the mast (4) is arranged in an adjustable manner on the chassis (2),
    - whereby the support mechanism (6) has at least one support arm (61), which is pivotably hinged about a pivot axis (71) on the chassis (2), and on its other opposite lying side the support arm (61) is coupled with the mast (4),
    characterized in that
    - a rotary encoder (1) is provided for detecting the pivot angle of the support arm (61) relative to the chassis (2) as a degree of an adjustment position of the mast (4).
  2. Construction apparatus for foundation construction according to claim 1,
    characterized in that
    - a positioning drive (66) for adjusting the mast (4) relative to the chassis (2) is provided, and
    - a control unit (20) for controlling the positioning drive (66) is provided, which is in signal connection with the rotary encoder (1).
  3. Construction apparatus for foundation construction according to claim 2,
    characterized in that
    the control unit (20) is adapted such that in the case of certain pivot angles of the support arm (61) relative to the chassis (2) it counteracts an excessive adjustment of the mast (4) by the positioning drive (66).
  4. Construction apparatus for foundation construction according to claim 2 or 3,
    characterized in that
    with the positioning drive (66), which can be controlled by the control unit, the support arm (61) can be pivoted about the pivot axis (71).
  5. Construction apparatus for foundation construction according to any one of the preceding claims,
    characterized in that
    in order to form a parallelogram kinematic mechanism the support mechanism (6) has a further support arm (62) which runs parallel to the first support arm (61), and the first support arm (61), whose pivot angle is detected by the rotary encoder (1), is hinged above the further support arm (62) on the chassis (2).
  6. Construction apparatus for foundation construction according to any one of the preceding claims,
    characterized in that
    the rotary encoder (1) is arranged in the extension of the pivot axis (71).
  7. Construction apparatus for foundation construction according to any one of the preceding claims,
    characterized in that
    the rotary encoder (1) has an encoder housing (10) and an encoder shaft (11), whereby the encoder housing (10) is coupled in a rotationally fixed manner with the chassis (2) and the encoder shaft (11) is coupled in a rotationally fixed manner with the support arm (61).
  8. Construction apparatus for foundation construction according to claim 7,
    characterized in that
    for a rotationally fixed connection with an actuation element the encoder shaft (11) of the rotary encoder (1) has a flattening (12) on its outer surface.
  9. Construction apparatus for foundation construction according to any one of the preceding claims,
    characterized in that
    a cover (21) is provided for the rotary encoder (1), in which the rotary encoder (1) is accommodated in a rotationally fixed manner.
  10. Construction apparatus for foundation construction according to claim 9,
    characterized in that
    in the cover (21) holes (22) for a bolt connection with the chassis (2) or the support arm (61) are formed, in which case the holes (22) have an asymmetrical hole pattern.
  11. Construction apparatus for foundation construction according to any one of the preceding claims,
    characterized in that
    as actuation element for the rotary encoder (1) an actuation bar (30) is provided, which is connected on the one hand to the rotary encoder (1) and on the other hand to the support arm (61).
  12. Construction apparatus for foundation construction according to claim 11,
    characterized in that
    the actuation bar (30) has a multi-stepped profile.
  13. Construction apparatus for foundation construction according to any one of the preceding claims,
    characterized in that
    the rotary encoder (1) is an absolute encoder.
  14. Method for operating a construction apparatus for foundation construction according to any one of the preceding claims, in which, in the case of certain pivot angles of the support arm (61) relative to the chassis (2), an excessive adjustment of the mast (4) by at least one positioning drive (66) is counteracted by means of a control unit (20).
EP09007945A 2009-06-17 2009-06-17 Machine with scaffold Active EP2275604B1 (en)

Priority Applications (6)

Application Number Priority Date Filing Date Title
AT09007945T ATE554233T1 (en) 2009-06-17 2009-06-17 CONSTRUCTION EQUIPMENT FOR CIVIL ENGINEERING
ES09007945T ES2383238T3 (en) 2009-06-17 2009-06-17 Construction apparatus for civil engineering
EP09007945A EP2275604B1 (en) 2009-06-17 2009-06-17 Machine with scaffold
US12/797,199 US8483915B2 (en) 2009-06-17 2010-06-09 Construction apparatus for foundation construction
CN2010102116771A CN101929157B (en) 2009-06-17 2010-06-17 Construction apparatus for foundation construction
HK11101721.1A HK1147784A1 (en) 2009-06-17 2011-02-22 Construction apparatus for foundation construction

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP09007945A EP2275604B1 (en) 2009-06-17 2009-06-17 Machine with scaffold

Publications (2)

Publication Number Publication Date
EP2275604A1 EP2275604A1 (en) 2011-01-19
EP2275604B1 true EP2275604B1 (en) 2012-04-18

Family

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EP09007945A Active EP2275604B1 (en) 2009-06-17 2009-06-17 Machine with scaffold

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US (1) US8483915B2 (en)
EP (1) EP2275604B1 (en)
CN (1) CN101929157B (en)
AT (1) ATE554233T1 (en)
ES (1) ES2383238T3 (en)
HK (1) HK1147784A1 (en)

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Also Published As

Publication number Publication date
ATE554233T1 (en) 2012-05-15
CN101929157A (en) 2010-12-29
EP2275604A1 (en) 2011-01-19
HK1147784A1 (en) 2011-08-19
US8483915B2 (en) 2013-07-09
US20100319222A1 (en) 2010-12-23
ES2383238T3 (en) 2012-06-19
CN101929157B (en) 2012-10-10

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