EP4245923B1 - Electrically operated civil engineering machine and method for operating the machine - Google Patents

Electrically operated civil engineering machine and method for operating the machine Download PDF

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Publication number
EP4245923B1
EP4245923B1 EP22163043.7A EP22163043A EP4245923B1 EP 4245923 B1 EP4245923 B1 EP 4245923B1 EP 22163043 A EP22163043 A EP 22163043A EP 4245923 B1 EP4245923 B1 EP 4245923B1
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EP
European Patent Office
Prior art keywords
civil engineering
electric motor
intermediate circuit
energy
electrical energy
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Application number
EP22163043.7A
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German (de)
French (fr)
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EP4245923A1 (en
EP4245923C0 (en
Inventor
Matthias Osterland
Marco Voigt
Rupert HAAS
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Bauer Maschinen GmbH
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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 EP22163043.7A priority Critical patent/EP4245923B1/en
Priority to CN202380013994.8A priority patent/CN118103569A/en
Priority to PCT/EP2023/055087 priority patent/WO2023174679A1/en
Publication of EP4245923A1 publication Critical patent/EP4245923A1/en
Application granted granted Critical
Publication of EP4245923B1 publication Critical patent/EP4245923B1/en
Publication of EP4245923C0 publication Critical patent/EP4245923C0/en
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D11/00—Methods or apparatus specially adapted for both placing and removing sheet pile bulkheads, piles, or mould-pipes
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D17/00—Excavations; Bordering of excavations; Making embankments
    • E02D17/13—Foundation slots or slits; Implements for making these slots or slits
    • 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

Definitions

  • the invention relates to an electrically operated civil engineering machine with a mobile carrier device, at least one civil engineering tool, at least one electric motor which is designed both to drive an actuating unit in a drive mode and to generate electrical energy in a recuperation mode, at least one internal rechargeable battery unit for storing electrical energy and for supplying the at least one electric motor with electrical energy, a supply device for supplying electrical energy from an external energy source for electrically operating the civil engineering machine and a circuit arrangement by means of which the at least one electric motor, the at least one battery unit and the supply device are connected to one another by line, according to the preamble of claim 1.
  • the invention further relates to a method for electrically operating a civil engineering machine with a mobile carrier device, at least one civil engineering tool, at least one electric motor which is designed both to drive an actuating unit in a drive mode and to generate electrical energy in a recuperation mode, at least one internal rechargeable battery unit for storing electrical energy and for supplying the at least one electric motor with electrical energy, a supply device for supplying electrical energy from an external energy source and a circuit arrangement by means of which the at least one electric motor, the at least one battery unit and the supply device are connected to one another by line, according to the preamble of claim 10.
  • Purely electrically powered civil engineering machines have long been out of service, for example EP 3 467 209 A1 and are used in particular at work sites where noise, vibrations and exhaust gases are undesirable, such as those that occur more frequently in civil engineering machines powered by combustion engines. Due to the high energy requirements of such electrically powered civil engineering machines, they have a supply device for supplying electrical energy from an external electrical energy source, which is also referred to as a power source, in particular an electrical power network. For this purpose, the provision of an appropriate electrical cable is necessary.
  • electrically operated civil engineering machines are also provided with a rechargeable battery unit, which serves in particular to supply the mobile civil engineering machine with sufficient electrical energy during movement or processing in which the electrical line connection is often disconnected.
  • the storage of electrical energy in an internal battery unit also allows additional electrical energy to be drawn from the internal battery unit to cover peak energy requirements during energy consumption peaks of the civil engineering machine, which cannot be fully covered by the normal energy supply via the supply device from the connected external power grid.
  • the invention is based on the object of specifying an electrically operated civil engineering machine and a method for operating the same, with which a particularly economical and efficient operation of the civil engineering machine is possible.
  • the civil engineering machine is characterized in that the circuit arrangement has an intermediate circuit with voltage-controlled power control and that the power control is implemented in a decentralized manner, with an independent control component being assigned to the at least one electric motor, the at least one battery unit and the supply device, which controls a supply or output of electrical energy from or into the intermediate circuit depending on a voltage in the intermediate circuit.
  • the intermediate circuit can be an electrical conductor, in particular a busbar.
  • a basic idea of the invention is to move away from a central control system for power control or power management. This is achieved by providing a circuit arrangement with an intermediate circuit with voltage-controlled power control.
  • An independent control component is assigned to the at least one electric motor, the at least one battery unit and the feed device.
  • This control component is not controlled by a central control system. Rather, the individual independent control components determine the power consumption depending on a value measured in the intermediate circuit. Voltage from each control component independently supplies energy to the intermediate circuit or removes energy from the intermediate circuit.
  • This decentralized power control enables the system as a whole to react very quickly to load changes with a sudden increase or decrease in energy requirements. Even large amounts of recuperatively generated energy that are required at short notice can be fed to electrical consumers, the internal battery unit or, if necessary, to the external power grid, provided this is possible.
  • the respective control components can be provided in a suitable position.
  • the control components are interposed between the intermediate circuit and the respectively assigned electric motor, the assigned battery unit or the assigned supply device.
  • the control components can receive values for the current voltage in the intermediate circuit directly or via a corresponding measuring element.
  • Each control component is provided with a control logic which specifies that energy is to be supplied to the intermediate circuit or removed from the intermediate circuit at a certain voltage value or at a certain time profile of the voltage values in the intermediate circuit, in order to supply electric motors or other electrical consumers with the required energy as required or, if necessary, to supply energy generated in a recuperation mode to the battery unit for storage.
  • a further preferred embodiment of the invention consists in that an excess energy consumption unit, in particular a brake chopper and/or an electrical consumer with an independent control component is provided and is connected to the intermediate circuit.
  • the excess energy consumption unit in particular a so-called brake chopper, can convert excess energy from recuperation, which is not required and cannot be stored, in particular into heat.
  • the heat can be released into the environment, for example, if it cannot be used to heat the driver's cab. This can prevent overloading of the electrical system of the civil engineering machine and also the internal battery unit.
  • the service life of a battery unit can be significantly impaired. if too much energy is fed into the battery unit in too short a time. Excess energy can also be fed to another electrical consumer in order to avoid overvoltage peaks, for example.
  • the intermediate circuit can basically be designed in any suitable way. According to one embodiment of the invention, it is particularly advantageous that the intermediate circuit is designed to conduct and distribute energy on a direct current basis. An intermediate circuit for conducting direct current allows for particularly good and fast energy distribution.
  • At least one control component comprises a DC/DC controller.
  • several or all control components can have a DC/DC controller.
  • a direct voltage supplied to an input can be converted into a direct voltage with a higher, lower or inverted voltage level.
  • Such DC/DC controllers are in particular self-commutated power converters.
  • the supply device is designed to supply electrical energy from an alternating current source, with a current rectifier unit being provided on the supply device.
  • a current rectifier unit being provided on the supply device.
  • This can in particular be a rectifier by means of which an alternating current or an alternating voltage can be converted into a direct current or a direct voltage.
  • a further advantageous embodiment of the invention is that the at least one electric motor is assigned an inverter unit which is designed to convert direct current or voltage into alternating current or voltage and vice versa.
  • the inverter unit thus also represents a rectifier or inverter which can convert current and voltage in both directions.
  • direct current from the intermediate circuit can be supplied to the electric motor as alternating current, while on the other hand, electrical energy generated in a recuperation mode of the electric motor can be fed from a Alternating current can be converted into direct current for supply to the intermediate circuit.
  • reference is usually made to alternating current and direct current. In principle, reference could also be made to alternating voltage and direct voltage, since alternating current usually only occurs with alternating voltage and direct current only with direct voltage.
  • the actuating unit which is driven by the electric motor that can also be operated recuperatively, can be any actuating unit on the civil engineering machine that releases energy during a braking process or a lowering process or something similar. This energy can be used to operate the electric motor in recuperation mode so that this kinetic and/or potential energy can be converted into electrical energy.
  • the at least one electric motor drives a rotary power head and/or a cable winch or any other consumer such as a hydraulic pump.
  • the drilling device can in particular be an earth drilling device which can be used, for example, to create foundation piles in the ground.
  • the drilling tool is frequently raised and lowered.
  • an electric motor on the associated cable winch can regularly convert potential energy into electrical energy. This can significantly improve the energy efficiency of a civil engineering machine. It is also advantageous if at least two electric motors are provided.
  • the method according to the invention is characterized in that the circuit arrangement has an intermediate circuit with voltage-controlled power control, that the power control is carried out decentrally, wherein an independent control component is assigned to the at least one electric motor, the at least one battery unit and the feed device, and that by means of the independent control component, electrical energy is delivered from the at least one electric motor, which is connected to the at least one battery unit and the feed device, into the intermediate circuit or is fed to it from the intermediate circuit, depending on a voltage in the intermediate circuit.
  • the method can be used in particular with the civil engineering machine according to the invention described above.
  • the advantages described above can be achieved in this way.
  • a preferred method variant of the invention consists in that excess electrical energy that cannot be used to operate the civil engineering machine and to charge the batteries is fed to an excess energy consumption unit, in particular a brake chopper.
  • an excess energy consumption unit in particular a brake chopper.
  • a large amount of electrical energy can be generated in the short term, particularly when lowering heavy loads. Feeding too much electrical energy to the battery unit can damage the battery unit or significantly reduce the service life of the battery unit.
  • the construction machine can be operated in such a way that the energy generated is used in the battery unit or by electrical consumers and/or a power outage, for example by lowering a cable winch, is controlled in such a way that the lowering speed is reduced and the energy generated is distributed over a longer period of time.
  • a particularly good and fast energy distribution in the system can be achieved according to a process variant by conducting and distributing the electrical energy as direct current in the intermediate circuit.
  • electrical energy is supplied as alternating current from the external energy source via the supply device, wherein a current rectifier unit is arranged on the supply device, by which the alternating current is converted into direct current.
  • Converter units can also be provided on the control components, so that it is ensured that the desired type of current, in particular a direct current is supplied or removed and the desired voltage level is regulated.
  • the at least one electric motor is assigned an inverter unit, by means of which the direct current from the intermediate circuit is converted into alternating current in the drive mode and, conversely, an alternating current generated by the electric motor in the recuperation mode is converted into direct current.
  • the supply and discharge of electrical energy to and from the intermediate circuit takes place exclusively as direct current. If required, a corresponding conversion into or from alternating current is provided. This enables reliable and rapid energy distribution.
  • a civil engineering machine 10 according to the invention with a carrier device 12 is shown in Fig.1 shown.
  • the carrier device 12 comprises a crawler chassis as an undercarriage 14, on which a superstructure 16 is rotatably mounted.
  • a control 60 for the civil engineering machine 10 is located in an operator's cabin of the superstructure 16.
  • a mast 20 can be adjustably mounted on the superstructure 16 via a linkage mechanism 18, which mast has a substantially vertical position during operation.
  • the mast 20 can be designed as a leader 21 with a linear guide 24 on its front side.
  • a work carriage 38 with a rotary drilling drive 36 can be mounted so that it can move vertically along the linear guide 24.
  • the drawing shows an upper position of the rotary drilling drive 36 and a lower position with broken lines.
  • a cable 40 can be guided over a mast head 22 at the upper end of the mast 20, at one end of which a preferably telescopic Kelly bar 32 with an exemplary auger 34 can be provided for forming a civil engineering tool 30.
  • the Kelly bar 32 can be guided through a sleeve-shaped drive wheel of the rotary drilling drive 36 on the work carriage 38, so that a torque can be transmitted from the rotary drilling drive 36 to the Kelly bar 32 via driver strips (not shown).
  • the auger 34 can be arranged at the lower end of the Kelly bar 32 for creating a borehole in the ground.
  • the drilling tool can basically be designed in any way and in particular can have a auger 34 or a drilling bucket.
  • the cable 40 can be guided over pulleys 26 on the mast head 22 along the mast 20 to a cable winch 46 in the upper carriage 16.
  • the cable winch 46 is driven by an electric motor 50, which can also be operated in a recuperation mode.
  • the Kelly bar 32 with the auger 34 can be raised and lowered via the cable winch 46 using the cable 40.
  • potential energy can be converted into electrical energy by the electric motor 50 and delivered to an intermediate circuit, which is described in more detail below.
  • the working carriage 38 with the rotary drilling drive 36 can be pulled upwards via an actuator 28 with a winch on the mast 20 using a further adjusting cable 29. By driving the actuator 28 in the opposite direction, the working carriage 38 with the rotary drilling drive can also be lowered downwards.
  • the rotary drilling drive can be formed by a power rotary head 36 with at least one further electric motor.
  • the actuator 28 can also be equipped with an electric motor (not shown), which can also be operated in recuperation mode.
  • the working carriage 38 with the rotary drilling drive 36 can also be regarded as part of the civil engineering tool 30.
  • a force measuring device 62 is preferably arranged on a deflection roller 26 on the mast head 22.
  • the force measuring device 62 can, for example, be designed as a force measuring bolt, by means of which a cable tensile force on the cable 40 can be detected.
  • the force measuring device 62 is connected to the control 60 on the upper carriage 16.
  • the at least one electric motor 50 for operating the cable winch 46 and preferably also the further electric motor for operating the actuator 28 designed as a winch are controlled via the controller 60.
  • the electric motor 50 can be controlled by the controller 60.
  • a circuit arrangement 70 according to the invention is shown schematically with an intermediate circuit 72, which is designed in particular as a direct current-operated DC link, for example with a defined voltage of 750 volts.
  • the intermediate circuit 72 can be connected as a main power supply to a supply device 80, which is connected to an energy source 82 via a detachable connection 81.
  • the energy source 82 can in particular be an alternating current network.
  • the intermediate circuit 72 is connected to at least one further battery unit 58, which is rechargeable.
  • the at least one battery unit 58 can be charged via the intermediate circuit 72.
  • Energy from the external energy source 82 or electrical energy generated recuperatively on the civil engineering machine 10 can be used for this purpose.
  • At least one electric motor 50 is shown schematically, which is connected to the Fig.2
  • a cable winch (not shown) can raise and lower a schematically indicated civil engineering tool 30 along a mast.
  • the electric motor 50 for driving the cable winch is supplied with electrical energy from the intermediate circuit 72.
  • the tool device 30 when the tool device 30 is lowered in a recuperation mode of the electric motor 50, potential energy can be converted into electrical energy.
  • This electrical energy of the electric motor 50 is fed to the intermediate circuit 72 via an intermediate inverter unit 52, which can convert alternating current into direct current and vice versa.
  • This electrical energy can be fed from the intermediate circuit 72 to the at least one battery unit 58 or at least one further electrical consumer 64.
  • the internal battery unit 58 can in principle be designed to be replaceable, in particular as a removable accumulator.
  • the further electrical consumer can also be an electric motor, a heating coil or another electrically operated component.
  • the supply and discharge of electrical energy are not controlled by a central control system.
  • the supply device 80, the at least one battery unit 58, the electric motor 50 and the at least one electrical consumer 64, as well as a brake chopper 66 (to be described later) are each assigned an independent control component. This can be installed directly in the respective unit.
  • the control component can detect a voltage in the intermediate circuit 72.
  • electrical energy can be supplied or discharged depending on the current voltage value in the intermediate circuit 72 or a course of the voltage value. This enables a faster response to sharply increasing energy consumption or large amounts of energy that arise in the short term compared to a central control system.
  • this excess energy can be supplied to a brake chopper 66, which represents an example of a surplus energy consumption unit. It converts this excess energy into heat, for example.
  • the supply device 80 can also be assigned an inverter unit, particularly in the case of the supply of alternating current from the external energy source 82. This ensures that only direct current is supplied to the intermediate circuit 72 in the exemplary embodiment shown.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Paleontology (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Earth Drilling (AREA)
  • Operation Control Of Excavators (AREA)

Description

Die Erfindung betrifft eine elektrisch betriebene Tiefbaumaschine mit einem mobilen Trägergerät, mindestens einem Tiefbauwerkzeug, mindestens einem Elektromotor, welcher sowohl zum Antreiben einer Betätigungseinheit in einem Antriebsmodus als auch zum Erzeugen von elektrischer Energie in einem Rekuperationsmodus ausgebildet ist, mindestens einer internen aufladbaren Batterieeinheit zum Speichern von elektrischer Energie und zum Versorgen des mindestens einen Elektromotors mit elektrischer Energie, einer Zuführeinrichtung zum Zuführen elektrischer Energie von einer externen Energiequelle zum elektrischen Betreiben der Tiefbaumaschine und einer Schaltungsanordnung, durch welche der mindestens eine Elektromotor, die mindestens eine Batterieeinheit und die Zuführeinrichtung miteinander leitungsverbunden sind, gemäß dem Oberbegriff des Anspruchs 1.The invention relates to an electrically operated civil engineering machine with a mobile carrier device, at least one civil engineering tool, at least one electric motor which is designed both to drive an actuating unit in a drive mode and to generate electrical energy in a recuperation mode, at least one internal rechargeable battery unit for storing electrical energy and for supplying the at least one electric motor with electrical energy, a supply device for supplying electrical energy from an external energy source for electrically operating the civil engineering machine and a circuit arrangement by means of which the at least one electric motor, the at least one battery unit and the supply device are connected to one another by line, according to the preamble of claim 1.

Die Erfindung betrifft weiterhin ein Verfahren zum elektrischen Betreiben einer Tiefbaumaschine mit einem mobilen Trägergerät, mindestens einem Tiefbauwerkzeug, mindestens einem Elektromotor, welcher sowohl zum Antreiben einer Betätigungseinheit in einem Antriebsmodus als auch zum Erzeugen von elektrischer Energie in einem Rekuperationsmodus ausgebildet ist, mindestens einer internen aufladbaren Batterieeinheit zum Speichern von elektrischer Energie und zum Versorgen des mindestens einen Elektromotors mit elektrischer Energie, einer Zuführeinrichtung zum Zuführen elektrischer Energie von einer externen Energiequelle und einer Schaltungsanordnung, durch welche der mindestens eine Elektromotor, die mindestens eine Batterieeinheit und die Zuführeinrichtung miteinander leitungsverbunden sind, gemäß dem Oberbegriff des Anspruchs 10.The invention further relates to a method for electrically operating a civil engineering machine with a mobile carrier device, at least one civil engineering tool, at least one electric motor which is designed both to drive an actuating unit in a drive mode and to generate electrical energy in a recuperation mode, at least one internal rechargeable battery unit for storing electrical energy and for supplying the at least one electric motor with electrical energy, a supply device for supplying electrical energy from an external energy source and a circuit arrangement by means of which the at least one electric motor, the at least one battery unit and the supply device are connected to one another by line, according to the preamble of claim 10.

Rein elektrisch angetriebene Tiefbaumaschinen sind seit längerem beispielsweise aus der EP 3 467 209 A1 bekannt und werden insbesondere an Arbeitsorten eingesetzt, an denen Lärm, Erschütterungen und Abgase unerwünscht sind, wie sie beispielsweise bei mit Verbrennungsmotor betriebenen Tiefbaumaschinen verstärkt auftreten. Aufgrund des hohen Energiebedarfs derartiger elektrisch betriebener Tiefbaumaschine weisen diese eine Zuführeinrichtung zum Zuführen elektrischer Energie von einer externen elektrischen Energiequelle, welche auch als Stromquelle bezeichnet wird, auf, insbesondere einem elektrischen Stromnetz. Hierfür ist das Vorsehen einer entsprechenden elektrischen Leitung erforderlich.Purely electrically powered civil engineering machines have long been out of service, for example EP 3 467 209 A1 and are used in particular at work sites where noise, vibrations and exhaust gases are undesirable, such as those that occur more frequently in civil engineering machines powered by combustion engines. Due to the high energy requirements of such electrically powered civil engineering machines, they have a supply device for supplying electrical energy from an external electrical energy source, which is also referred to as a power source, in particular an electrical power network. For this purpose, the provision of an appropriate electrical cable is necessary.

Weiterhin sind elektrisch betriebene Tiefbaumaschinen auch mit einer wiederaufladbaren Batterieeinheit versehen, welche insbesondere dazu dient, die mobile Tiefbaumaschine bei einem Bewegen oder Verfahren, bei welchen häufig eine Trennung der elektrischen Leitungsverbindung erfolgt, mit ausreichender elektrischer Energie zu versorgen.Furthermore, electrically operated civil engineering machines are also provided with a rechargeable battery unit, which serves in particular to supply the mobile civil engineering machine with sufficient electrical energy during movement or processing in which the electrical line connection is often disconnected.

Die Speicherung von elektrischer Energie in einer internen Batterieeinheit erlaubt zudem, bei Energie-Verbrauchsspitzen der Tiefbaumaschine, welche nicht vollständig durch die normale Energiezuführung über die Zuführeinrichtung aus dem angeschlossenen externen Stromnetz aufgebracht werden kann, dass zusätzlich elektrische Energie aus der internen Batterieeinheit zur Deckung des Spitzenenergiebedarfs abgerufen werden kann.The storage of electrical energy in an internal battery unit also allows additional electrical energy to be drawn from the internal battery unit to cover peak energy requirements during energy consumption peaks of the civil engineering machine, which cannot be fully covered by the normal energy supply via the supply device from the connected external power grid.

Weiter ist es bekannt, an einer Tiefbaumaschine vorgesehene Elektromotore so auszubilden, dass diese auch rekuperativ zur Rückgewinnung von Energie betrieben werden können. Insbesondere beim Betrieb von Seilwinden, mit welchen Lasten, beispielsweise vertikal oder schräg, gehoben und gesenkt werden können, kann bei einem Absenken mittels eines Elektromotors im Rekuperationsmodus Lageenergie der Last in elektrische Energie rückgewandelt werden. Hierdurch sinkt der Energiebedarf der Tiefbaumaschine und der Betrieb wird insgesamt wirtschaftlicher und umweltfreundlicher.It is also known to design electric motors on a civil engineering machine in such a way that they can also be operated recuperatively to recover energy. In particular, when operating cable winches, with which loads can be raised and lowered, for example vertically or diagonally, the potential energy of the load can be converted back into electrical energy when lowering using an electric motor in recuperation mode. This reduces the energy requirement of the civil engineering machine and makes operation more economical and environmentally friendly overall.

Für einen effizienten Betrieb der Tiefbaumaschine ist dabei eine bedarfsgerechte Steuerung und Verteilung der Energie an der Tiefbaumaschine von wesentlicher Bedeutung. Grundsätzlich ist es üblich, wie bei elektrisch betriebenen Fahrzeugen, insbesondere bei Kraftfahrzeugen mit rekuperativ betreibbaren Elektromotoren, eine Energieverteilung durch eine zentrale Steuerung zu leisten. Einem zentralen Rechner werden etwa über entsprechende Sensoren Werte zum Energiebedarf der einzelnen elektrischen Verbraucher übermittelt, wobei der Rechner dann eine Energiebereitstellung über die Zuführeinrichtung und die Batterieeinheit steuert.For efficient operation of the civil engineering machine, it is essential that the energy is controlled and distributed as required. Basically, as with electrically powered vehicles, especially In motor vehicles with recuperative electric motors, energy distribution is provided by a central control system. Values relating to the energy requirements of the individual electrical consumers are transmitted to a central computer via appropriate sensors, and the computer then controls the energy supply via the supply device and the battery unit.

Im Betrieb einer Tiefbaumaschine können große Lastwechsel auftreten, welche zu kurzfristig erhöhtem Energieverbrauch beziehungsweise zu kurzfristig anfallenden Energiemengen führen, welche rekuperativ erzeugt werden.During operation of a civil engineering machine, large load changes can occur, which lead to short-term increases in energy consumption or to short-term amounts of energy that are generated recuperatively.

Der Erfindung liegt die A u f g a b e zugrunde, eine elektrisch betriebene Tiefbaumaschine und ein Verfahren zum Betreiben hierfür anzugeben, mit welchen ein besonders wirtschaftlicher und effizienter Betrieb der Tiefbaumaschine ermöglicht wird.The invention is based on the object of specifying an electrically operated civil engineering machine and a method for operating the same, with which a particularly economical and efficient operation of the civil engineering machine is possible.

Die Aufgabe wird zum einen durch eine Tiefbaumaschine mit den Merkmalen des Anspruchs 1 und zum anderen durch ein Verfahren mit den Merkmalen des Anspruchs 10 gelöst. Bevorzugte Ausführungsformen der Erfindung sind in den abhängigen Ansprüchen angegeben.The object is achieved on the one hand by a civil engineering machine with the features of claim 1 and on the other hand by a method with the features of claim 10. Preferred embodiments of the invention are specified in the dependent claims.

Die erfindungsgemäße Tiefbaumaschine ist dadurch gekennzeichnet, dass die Schaltungsanordnung einen Zwischenkreis mit spannungsgeführter Leistungsregelung aufweist und dass die Leistungsregelung dezentral ausgeführt ist, wobei jeweils dem mindestens einen Elektromotor, der mindestens einen Batterieeinheit und der Zuführeinrichtung eine eigenständige Regelkomponente zugeordnet ist, welche jeweils abhängig von einer Spannung im Zwischenkreis eine Zuführung oder Abgabe von elektrischer Energie aus dem beziehungsweise in den Zwischenkreis regelt. Der Zwischenkreis kann ein elektrischer Leiter, insbesondere eine Stromschiene sein.The civil engineering machine according to the invention is characterized in that the circuit arrangement has an intermediate circuit with voltage-controlled power control and that the power control is implemented in a decentralized manner, with an independent control component being assigned to the at least one electric motor, the at least one battery unit and the supply device, which controls a supply or output of electrical energy from or into the intermediate circuit depending on a voltage in the intermediate circuit. The intermediate circuit can be an electrical conductor, in particular a busbar.

Eine Grundidee der Erfindung besteht darin, bei einer Leistungsregelung oder einem Powermanagement von einer zentralen Steuerung abzugehen. Dies wird dadurch erreicht, dass eine Schaltungsanordnung mit einem Zwischenkreis mit spannungsgeführter Leistungsregelung vorgesehen ist. Dem mindestens einen Elektromotor, der mindestens einen Batterieeinheit und der Zuführeinrichtung wird dabei eine eigenständige Regelkomponente zugeordnet. Diese Regelkomponente wird nicht von einer zentralen Steuerung angesteuert. Vielmehr werden durch die einzelnen eigenständigen Regelkomponenten abhängig von einer im Zwischenkreis gemessenen Spannung von jeder Regelkomponente eigenständig Energie dem Zwischenkreis zugeführt oder Energie aus dem Zwischenkreis abgeführt. Durch diese dezentrale Leistungsregelung kann das System insgesamt sehr schnell auf Lastwechsel mit einem sprunghaften Anstieg oder Abfall des Energiebedarfs reagieren. Auch kurzfristig anstehende größere Mengen an rekuperativ erzeugter Energie können so auf elektrische Verbraucher, die interne Batterieeinheit oder nötigenfalls, sofern die Möglichkeit hierzu besteht, an das externe Stromnetz abgegeben werden.A basic idea of the invention is to move away from a central control system for power control or power management. This is achieved by providing a circuit arrangement with an intermediate circuit with voltage-controlled power control. An independent control component is assigned to the at least one electric motor, the at least one battery unit and the feed device. This control component is not controlled by a central control system. Rather, the individual independent control components determine the power consumption depending on a value measured in the intermediate circuit. Voltage from each control component independently supplies energy to the intermediate circuit or removes energy from the intermediate circuit. This decentralized power control enables the system as a whole to react very quickly to load changes with a sudden increase or decrease in energy requirements. Even large amounts of recuperatively generated energy that are required at short notice can be fed to electrical consumers, the internal battery unit or, if necessary, to the external power grid, provided this is possible.

Grundsätzlich können die jeweiligen Regelkomponenten an einer geeigneten Position vorgesehen sein. Besonders bevorzugt ist es nach einer Weiterbildung der Erfindung, dass die Regelkomponenten zwischen dem Zwischenkreis und dem jeweils zugeordneten Elektromotor, der zugeordneten Batterieeinheit beziehungsweise der zugeordneten Zuführeinrichtung zwischengeschaltet sind. Die Regelkomponenten können unmittelbar oder über ein entsprechendes Messelement Werte zur aktuellen Spannung im Zwischenkreis erhalten. Jede Regelkomponente ist dabei mit einer Regel- oder Steuerungslogik versehen, durch welche vorgegeben ist, bei einem bestimmten Spannungswert oder bei einem bestimmten zeitlichen Verlauf der Spannungswerte im Zwischenkreis Energie dem Zwischenkreis zuzuführen beziehungsweise aus dem Zwischenkreis abzuführen, um so etwa Elektromotore oder andere elektrische Verbraucher bedarfsgerecht mit der benötigten Energie zu versorgen oder nötigenfalls in einem Rekuperationsbetrieb erzeugte Energie der Batterieeinheit zum Speichern zuzuleiten.In principle, the respective control components can be provided in a suitable position. According to a further development of the invention, it is particularly preferred that the control components are interposed between the intermediate circuit and the respectively assigned electric motor, the assigned battery unit or the assigned supply device. The control components can receive values for the current voltage in the intermediate circuit directly or via a corresponding measuring element. Each control component is provided with a control logic which specifies that energy is to be supplied to the intermediate circuit or removed from the intermediate circuit at a certain voltage value or at a certain time profile of the voltage values in the intermediate circuit, in order to supply electric motors or other electrical consumers with the required energy as required or, if necessary, to supply energy generated in a recuperation mode to the battery unit for storage.

Eine weitere bevorzugte Ausgestaltung der Erfindung besteht darin, dass eine Überschussenergie-Verbrauchseinheit, insbesondere ein Bremschopper und/oder ein elektrischer Verbraucher mit einer eigenständigen Regelkomponente vorgesehen und mit dem Zwischenkreis leitungsverbunden ist. Durch die Überschussenergie-Verbrauchseinheit, insbesondere einen sogenannten Bremschopper, kann überschüssige Energie aus der Rekuperation, welche nicht benötigt wird und auch nicht gespeichert werden kann, insbesondere in Wärme umgesetzt werden. Die Wärme kann, soweit diese nicht zum Heizen etwa der Fahrerkabine nutzbar ist, etwa an die Umgebung abgegeben werden. Hierdurch kann eine Überlastung des elektrischen Systems der Tiefbaumaschine und auch der internen Batterieeinheit verhindert werden. Insbesondere kann die Lebensdauer einer Batterieeinheit erheblich beeinträchtigt werden, wenn zu viel Energie in zu kurzer Zeit der Batterieeinheit zugeführt wird. Überschussenergie kann auch einem sonstigen elektrischen Verbraucher zugeleitet werden, um etwa Überspannungsspitzen zu vermeiden.A further preferred embodiment of the invention consists in that an excess energy consumption unit, in particular a brake chopper and/or an electrical consumer with an independent control component is provided and is connected to the intermediate circuit. The excess energy consumption unit, in particular a so-called brake chopper, can convert excess energy from recuperation, which is not required and cannot be stored, in particular into heat. The heat can be released into the environment, for example, if it cannot be used to heat the driver's cab. This can prevent overloading of the electrical system of the civil engineering machine and also the internal battery unit. In particular, the service life of a battery unit can be significantly impaired. if too much energy is fed into the battery unit in too short a time. Excess energy can also be fed to another electrical consumer in order to avoid overvoltage peaks, for example.

Der Zwischenkreis kann grundsätzlich in jeder geeigneten Weise ausgeführt sein. Besonders vorteilhaft ist es nach einer Ausgestaltung der Erfindung, dass der Zwischenkreis zum Leiten und Verteilen von Energie auf Gleichstrombasis ausgebildet ist. Ein Zwischenkreis zum Leiten von Gleichstrom erlaubt eine besonders gute und schnelle Energieverteilung.The intermediate circuit can basically be designed in any suitable way. According to one embodiment of the invention, it is particularly advantageous that the intermediate circuit is designed to conduct and distribute energy on a direct current basis. An intermediate circuit for conducting direct current allows for particularly good and fast energy distribution.

Insbesondere beim Leiten und Verteilen der Energie im Zwischenkreis als Gleichstrom ist es nach einer Ausführungsvariante der Erfindung vorteilhaft, dass mindestens eine Regelkomponente einen DC/DC-Steller umfasst. Vorzugsweise können mehrere oder alle Regelkomponenten einen DC/DC-Steller aufweisen. Durch einen solchen Steller kann eine an einem Eingang zugeführte Gleichspannung in eine Gleichspannung mit höherem, niedrigem oder invertiertem Spannungsniveau umgewandelt werden. Derartige DC/DC-Steller sind insbesondere selbstgeführte Stromrichter.In particular when conducting and distributing the energy in the intermediate circuit as direct current, it is advantageous according to an embodiment variant of the invention that at least one control component comprises a DC/DC controller. Preferably, several or all control components can have a DC/DC controller. By means of such a controller, a direct voltage supplied to an input can be converted into a direct voltage with a higher, lower or inverted voltage level. Such DC/DC controllers are in particular self-commutated power converters.

Bei Bezug von elektrischer Energie aus einem externen Wechselstromnetz ist es nach einer Weiterbildung der Erfindung vorteilhaft, dass die Zuführeinrichtung zum Zuführen von elektrischer Energie aus einer Wechselstromquelle ausgebildet ist, wobei an der Zuführeinrichtung eine Stromgleichrichtereinheit vorgesehen ist. Es kann sich hierbei insbesondere um einen Gleichrichter handeln, durch welchen ein Wechselstrom beziehungsweise eine Wechselspannung in einen Gleichstrom beziehungsweise eine Gleichspannung gewandelt werden kann.When drawing electrical energy from an external alternating current network, it is advantageous according to a development of the invention that the supply device is designed to supply electrical energy from an alternating current source, with a current rectifier unit being provided on the supply device. This can in particular be a rectifier by means of which an alternating current or an alternating voltage can be converted into a direct current or a direct voltage.

Eine weitere vorteilhafte Ausgestaltung der Erfindung besteht darin, dass dem mindestens einen Elektromotor eine Invertereinheit zugeordnet ist, welche zur Umsetzung von Gleichstrom beziehungsweise -spannung in Wechselstrom beziehungsweise -spannung und umgekehrt ausgebildet ist. Die Invertereinheit stellt somit ebenfalls einen Gleich- bzw. Wechselrichter dar, welcher in beide Richtungen Strom und Spannung wandeln kann. So kann einerseits Gleichstrom aus dem Zwischenkreis dem Elektromotor als Wechselstrom zugeführt werden, während andererseits eine in einem Rekuperationsbetrieb des Elektromotors erzeugte elektrische Energie von einem Wechselstrom in einen Gleichstrom zur Abgabe an den Zwischenkreis gewandelt werden kann. Im Rahmen der Erläuterung der Erfindung wird meist auf Wechsel- und Gleichstrom bezuggenommen. Grundsätzlich könnte hier bei auch auf Wechselspannung und Gleichspannung bezuggenommen werden, da in der Regel Wechselstrom nur mit Wechselspannung und Gleichstrom nur mit Gleichspannung auftritt.A further advantageous embodiment of the invention is that the at least one electric motor is assigned an inverter unit which is designed to convert direct current or voltage into alternating current or voltage and vice versa. The inverter unit thus also represents a rectifier or inverter which can convert current and voltage in both directions. On the one hand, direct current from the intermediate circuit can be supplied to the electric motor as alternating current, while on the other hand, electrical energy generated in a recuperation mode of the electric motor can be fed from a Alternating current can be converted into direct current for supply to the intermediate circuit. When explaining the invention, reference is usually made to alternating current and direct current. In principle, reference could also be made to alternating voltage and direct voltage, since alternating current usually only occurs with alternating voltage and direct current only with direct voltage.

Die Betätigungseinheit, welche von dem auch rekuperativ betreibbaren Elektromotor angetrieben wird, kann an der Tiefbaumaschine jede Betätigungseinheit sein, welche etwa bei einem Abbremsvorgang oder bei einem Absenkvorgang oder Ähnlichem Energie freisetzt. Diese Energie kann zum Betreiben des Elektromotors im Rekuperationsmodus eingesetzt werden, so dass diese Bewegungs- und/oder Lageenergie in elektrische Energie gewandelt werden kann.The actuating unit, which is driven by the electric motor that can also be operated recuperatively, can be any actuating unit on the civil engineering machine that releases energy during a braking process or a lowering process or something similar. This energy can be used to operate the electric motor in recuperation mode so that this kinetic and/or potential energy can be converted into electrical energy.

Gemäß einer bevorzugten Ausgestaltung der Erfindung ist es vorgesehen, dass diese als ein Bohrgerät ausgebildet ist und dass der mindestens eine Elektromotor einen Kraftdrehkopf und/oder eine Seilwinde antreibt oder einen beliebigen weiteren Verbraucher wie z. B. eine Hydraulikpumpe. Das Bohrgerät kann insbesondere ein Erdbohrgerät sein, welches etwa zum Erstellen von Gründungspfählen im Boden eingesetzt werden kann. Insbesondere an einem derartigen Bohrgerät, insbesondere wenn es für ein diskontinuierliches Bohren etwa mit einem Bohreimer eingesetzt wird, erfolgt ein häufiges Heben und Senken des Bohrwerkzeuges. Insbesondere beim Absenken kann so ein Elektromotor an der zugehörigen Seilwinde regelmäßig Lageenergie in elektrische Energie wandeln. Hierdurch kann die Energieeffizienz einer Tiefbaumaschine erheblich verbessert werden. Ferner ist es vorheilhaft, wenn mindestes zwei Elektromotoren vorgesehen sind.According to a preferred embodiment of the invention, it is provided that it is designed as a drilling device and that the at least one electric motor drives a rotary power head and/or a cable winch or any other consumer such as a hydraulic pump. The drilling device can in particular be an earth drilling device which can be used, for example, to create foundation piles in the ground. In particular on such a drilling device, especially when it is used for discontinuous drilling, for example with a drilling bucket, the drilling tool is frequently raised and lowered. In particular when lowering, an electric motor on the associated cable winch can regularly convert potential energy into electrical energy. This can significantly improve the energy efficiency of a civil engineering machine. It is also advantageous if at least two electric motors are provided.

Das erfindungsgemäße Verfahren ist dadurch gekennzeichnet, dass die Schaltungsanordnung einen Zwischenkreis mit spannungsgeführter Leistungsregelung aufweist, dass die Leistungsregelung dezentral ausgeführt wird, wobei jeweils dem mindestens einen Elektromotor, der mindestens einen Batterieeinheit und der Zuführeinrichtung eine eigenständige Regelkomponente zugeordnet ist, und dass durch die eigenständige Regelungskomponente elektrische Energie von dem mindestens einen Elektromotor, der mit der mindestens einen Batterieeinheit und der Zuführeinrichtung jeweils abhängig von einer Spannung im Zwischenkreis in den Zwischenkreis abgegeben beziehungsweise diesen aus dem Zwischenkreis zugeführt wird.The method according to the invention is characterized in that the circuit arrangement has an intermediate circuit with voltage-controlled power control, that the power control is carried out decentrally, wherein an independent control component is assigned to the at least one electric motor, the at least one battery unit and the feed device, and that by means of the independent control component, electrical energy is delivered from the at least one electric motor, which is connected to the at least one battery unit and the feed device, into the intermediate circuit or is fed to it from the intermediate circuit, depending on a voltage in the intermediate circuit.

Das Verfahren kann insbesondere bei der zuvor beschriebenen erfindungsgemäßen Tiefbaumaschine eingesetzt werden. Dabei können die zuvor beschriebenen Vorteile erzielt werden.The method can be used in particular with the civil engineering machine according to the invention described above. The advantages described above can be achieved in this way.

Eine bevorzugte Verfahrensvariante der Erfindung besteht darin, dass elektrische Überschussenergie, welche zum Betrieb der Tiefbaumaschine und zum Laden der Batterien nicht genutzt werden kann, einer Überschussenergie-Verbrauchseinheit, insbesondere einem Bremschopper, zugeleitet wird. Im Rekuperationsbetrieb kann insbesondere beim Absenken schwerer Lasten kurzfristig eine große Menge elektrischer Energie anfallen. Das Zuführen einer zu großen Menge an elektrischer Energie zu der Batterieeinheit kann zu einer Beschädigung der Batterieeinheit oder zu einer merklichen Verringerung der Lebensdauer der Batterieeinheit führen. In einem solchen Fall ist es zweckmäßig, eine nicht-nutzbare Überschussenergie einer entsprechenden Verbrauchseinheit, insbesondere einem sogenannten Bremschopper, zuzuführen. Dieser kann die Überschussenergie verbrauchen und abbauen, etwa indem diese in Wärme umgesetzt wird. Die Wärme kann, soweit nicht anderweitig nutzbar, an die Umgebung abgegeben werden. Grundsätzlich stellt ein Verbrauch von Energie durch den Bremschopper eine Maßnahme dar, die möglichst vermieden und nur im Bedarfsfall eingesetzt werden soll. Grundsätzlich kann ein Betrieb der Baumaschine so erfolgen, dass maßgeblich anfallende Energie in der Batterieeinheit oder durch elektrische Verbraucher genutzt wird und/oder ein Stromanfall etwa durch einen Senkbetrieb einer Seilwinde so gesteuert wird, dass eine Absenkgeschwindigkeit verringert und so die anfallende Energie über einen längeren Zeitraum verteilt wird.A preferred method variant of the invention consists in that excess electrical energy that cannot be used to operate the civil engineering machine and to charge the batteries is fed to an excess energy consumption unit, in particular a brake chopper. In recuperation mode, a large amount of electrical energy can be generated in the short term, particularly when lowering heavy loads. Feeding too much electrical energy to the battery unit can damage the battery unit or significantly reduce the service life of the battery unit. In such a case, it is expedient to feed unusable excess energy to a corresponding consumption unit, in particular a so-called brake chopper. This can consume and reduce the excess energy, for example by converting it into heat. The heat can be released into the environment if it cannot be used for other purposes. In principle, energy consumption by the brake chopper is a measure that should be avoided as far as possible and only used when necessary. In principle, the construction machine can be operated in such a way that the energy generated is used in the battery unit or by electrical consumers and/or a power outage, for example by lowering a cable winch, is controlled in such a way that the lowering speed is reduced and the energy generated is distributed over a longer period of time.

Eine besonders gute und schnelle Energieverteilung in dem System kann nach einer Verfahrensvariante dadurch erzielt werden, dass in dem Zwischenkreis die elektrische Energie als Gleichstrom geleitet und verteilt wird.A particularly good and fast energy distribution in the system can be achieved according to a process variant by conducting and distributing the electrical energy as direct current in the intermediate circuit.

Nach einer weiteren Verfahrensvariante ist es bevorzugt, dass über die Zuführeinrichtung aus der externen Energiequelle elektrische Energie als Wechselstrom zugeführt wird, wobei an der Zuführeinrichtung eine Stromgleichrichtereinheit angeordnet ist, durch welche der Wechselstrom in Gleichstrom umgewandelt wird. Auch an den Regelkomponenten können entsprechend Wandlereinheiten vorgesehen sein, so dass sichergestellt wird, dass im Zwischenkreis die gewünschte Art des Stroms, insbesondere ein Gleichstrom zu- oder abgeführt wird sowie die gewünschte Spannungshöhe eingeregelt wird.According to a further method variant, it is preferred that electrical energy is supplied as alternating current from the external energy source via the supply device, wherein a current rectifier unit is arranged on the supply device, by which the alternating current is converted into direct current. Converter units can also be provided on the control components, so that it is ensured that the desired type of current, in particular a direct current is supplied or removed and the desired voltage level is regulated.

In entsprechender Weise ist es nach einer Weiterbildung der Erfindung bevorzugt, dass dem mindestens einen Elektromotor eine Invertereinheit zugeordnet ist, durch welche im Antriebsmodus der Gleichstrom aus dem Zwischenkreis in Wechselstrom umgewandelt und umgekehrt ein im Rekuperationsmodus vom Elektromotor erzeugter Wechselstrom in Gleichstrom gewandelt wird. In diesem Fall erfolgt das Zuführen und Abführen von elektrischer Energie in den beziehungsweise aus dem Zwischenkreis ausschließlich als Gleichstrom. Bei Bedarf ist eine entsprechende Wandlung in Wechselstrom oder aus Wechselstrom vorgesehen. Dies ermöglicht eine zuverlässige und schnelle Energieverteilung.In a corresponding manner, according to a further development of the invention, it is preferred that the at least one electric motor is assigned an inverter unit, by means of which the direct current from the intermediate circuit is converted into alternating current in the drive mode and, conversely, an alternating current generated by the electric motor in the recuperation mode is converted into direct current. In this case, the supply and discharge of electrical energy to and from the intermediate circuit takes place exclusively as direct current. If required, a corresponding conversion into or from alternating current is provided. This enables reliable and rapid energy distribution.

Die Erfindung wird nachfolgend anhand von bevorzugten Ausführungsbeispielen weiter erläutert, welche schematisch in den Zeichnungen dargestellt sind. In den Zeichnungen zeigen:

Fig. 1
eine Seitenansicht einer erfindungsgemäßen Tiefbaumaschine; und
Fig. 2
eine schematische Darstellung einer Schaltungsanordnung nach der Erfindung mit möglichen Komponenten.
The invention is explained in more detail below using preferred embodiments, which are shown schematically in the drawings. In the drawings:
Fig.1
a side view of a civil engineering machine according to the invention; and
Fig.2
a schematic representation of a circuit arrangement according to the invention with possible components.

Eine erfindungsgemäße Tiefbaumaschine 10 mit einem Trägergerät 12 ist in Fig. 1 gezeigt. Das Trägergerät 12 umfasst ein Raupenfahrwerk als Unterwagen 14, auf welchem drehbar ein Oberwagen 16 gelagert ist. In einer Bedienkabine des Oberwagens 16 befindet sich eine Steuerung 60 für die Tiefbaumaschine 10. Über einen Anlenkmechanismus 18 kann an dem Oberwagen 16 verstellbar ein Mast 20 gelagert sein, welcher im Betrieb eine im Wesentlichen vertikale Position aufweist.A civil engineering machine 10 according to the invention with a carrier device 12 is shown in Fig.1 shown. The carrier device 12 comprises a crawler chassis as an undercarriage 14, on which a superstructure 16 is rotatably mounted. A control 60 for the civil engineering machine 10 is located in an operator's cabin of the superstructure 16. A mast 20 can be adjustably mounted on the superstructure 16 via a linkage mechanism 18, which mast has a substantially vertical position during operation.

Gemäß dem dargestellten Ausführungsbeispiel kann der Mast 20 als ein Mäkler 21 mit einer Linearführung 24 an seiner Vorderseite ausgebildet sein. Entlang der Linearführung 24 kann ein Arbeitsschlitten 38 mit einem Drehbohrantrieb 36 vertikal verfahrbar gelagert sein. Hierdurch kann die Tiefbaumaschine 10 als ein Bohrgerät ausgeführt werden. In der Zeichnung ist eine obere Position des Drehbohrantriebes 36 sowie eine untere Position mit unterbrochener Linienführung dargestellt.According to the embodiment shown, the mast 20 can be designed as a leader 21 with a linear guide 24 on its front side. A work carriage 38 with a rotary drilling drive 36 can be mounted so that it can move vertically along the linear guide 24. This allows the civil engineering machine 10 to be designed as a drilling device. The drawing shows an upper position of the rotary drilling drive 36 and a lower position with broken lines.

Über einen Mastkopf 22 am oberen Ende des Mastes 20 kann ein Seil 40 geführt sein, an dessen einem Ende eine vorzugsweise teleskopierbare Kellystange 32 mit einer beispielhaften Bohrschnecke 34 zum Bilden eines Tiefbauwerkzeuges 30 vorgesehen sein kann. Die Kellystange 32 kann durch ein hülsenförmiges Antriebsrad des Drehbohrantriebes 36 am Arbeitsschlitten 38 geführt sein, so dass ein Drehmoment von dem Drehbohrantrieb 36 über nicht dargestellte Mitnehmerleisten auf die Kellystange 32 übertragen werden kann. Am unteren Ende der Kellystange 32 kann die Bohrschnecke 34 zum Erstellen eines Bohrloches im Boden angeordnet sein. Das Bohrwerkzeug kann grundsätzlich beliebig ausgebildet sein und insbesondere eine Bohrschnecke 34 oder einen Bohreimer aufweisen.A cable 40 can be guided over a mast head 22 at the upper end of the mast 20, at one end of which a preferably telescopic Kelly bar 32 with an exemplary auger 34 can be provided for forming a civil engineering tool 30. The Kelly bar 32 can be guided through a sleeve-shaped drive wheel of the rotary drilling drive 36 on the work carriage 38, so that a torque can be transmitted from the rotary drilling drive 36 to the Kelly bar 32 via driver strips (not shown). The auger 34 can be arranged at the lower end of the Kelly bar 32 for creating a borehole in the ground. The drilling tool can basically be designed in any way and in particular can have a auger 34 or a drilling bucket.

Von der Kellystange 32 kann das Seil 40 über Umlenkrollen 26 am Mastkopf 22 entlang des Mastes 20 bis zu einer Seilwinde 46 im Oberwagen 16 geführt sein. Die Seilwinde 46 ist erfindungsgemäß über einen Elektromotor 50 angetrieben, welcher auch in einem Rekuperationsmodus betrieben werden kann. Über die Seilwinde 46 kann mittels des Seiles 40 die Kellystange 32 mit der Bohrschnecke 34 gehoben und gesenkt werden. Beim Senken kann Lageenergie durch den Elektromotor 50 in elektrische Energie umgewandelt und an einen Zwischenkreis abgegeben werden, welcher nachfolgend näher beschrieben wird.From the Kelly bar 32, the cable 40 can be guided over pulleys 26 on the mast head 22 along the mast 20 to a cable winch 46 in the upper carriage 16. According to the invention, the cable winch 46 is driven by an electric motor 50, which can also be operated in a recuperation mode. The Kelly bar 32 with the auger 34 can be raised and lowered via the cable winch 46 using the cable 40. When lowering, potential energy can be converted into electrical energy by the electric motor 50 and delivered to an intermediate circuit, which is described in more detail below.

Über einen Stellantrieb 28 mit Winde am Mast 20 kann über ein weiteres Stellseil 29 der Arbeitsschlitten 38 mit dem Drehbohrantrieb 36 nach oben gezogen werden. Durch entsprechendes Antreiben des Stellantriebes 28 in die gegengesetzte Richtung kann der Arbeitsschlitten 38 mit dem Drehbohrantrieb auch nach unten abgelassen werden. Der Drehbohrantrieb kann durch einen Kraftdrehkopf 36 mit mindestens einem weiteren Elektromotor gebildet sein. Der Stellantrieb 28 kann ebenfalls mit einem nicht dargestellten Elektromotor ausgestattet sein, welcher ebenso im Rekuperationsmodus betrieben werden kann. Der Arbeitsschlitten 38 mit dem Drehbohrantrieb 36 kann ebenfalls als Teil des Tiefbauwerkzeugs 30 angesehen werden.The working carriage 38 with the rotary drilling drive 36 can be pulled upwards via an actuator 28 with a winch on the mast 20 using a further adjusting cable 29. By driving the actuator 28 in the opposite direction, the working carriage 38 with the rotary drilling drive can also be lowered downwards. The rotary drilling drive can be formed by a power rotary head 36 with at least one further electric motor. The actuator 28 can also be equipped with an electric motor (not shown), which can also be operated in recuperation mode. The working carriage 38 with the rotary drilling drive 36 can also be regarded as part of the civil engineering tool 30.

Im dargestellten Ausführungsbeispiel ist vorzugsweise an einer Umlenkrolle 26 am Mastkopf 22 eine Kraftmesseinrichtung 62 angeordnet. Die Kraftmesseinrichtung 62 kann beispielsweise als ein Kraftmessbolzen ausgebildet sein, durch welchen eine Seilzugkraft am Seil 40 erfasst werden kann. Die Kraftmesseinrichtung 62 steht mit der Steuerung 60 am Oberwagen 16 in Verbindung.In the embodiment shown, a force measuring device 62 is preferably arranged on a deflection roller 26 on the mast head 22. The force measuring device 62 can, for example, be designed as a force measuring bolt, by means of which a cable tensile force on the cable 40 can be detected. The force measuring device 62 is connected to the control 60 on the upper carriage 16.

Über die Steuerung 60 wird der mindestens eine Elektromotor 50 zum Betreiben der Seilwinde 46 und vorzugsweise auch der weitere Elektromotor zum Betreiben des als Winde ausgebildeten Stellantriebes 28 angesteuert. Die Ansteuerung des Elektromotors 50 kann durch die Steuerung 60 erfolgen.The at least one electric motor 50 for operating the cable winch 46 and preferably also the further electric motor for operating the actuator 28 designed as a winch are controlled via the controller 60. The electric motor 50 can be controlled by the controller 60.

In Fig. 2 ist schematisch eine erfindungsgemäße Schaltungsanordnung 70 mit einem Zwischenkreis 72 dargestellt, welcher insbesondere als ein gleichstrombetriebener DC-Link, etwa mit einer definierten Spannung von beispielsweise 750 Volt, ausgebildet ist. Der Zwischenkreis 72 kann als wesentliche Energieversorgung mit einer Zuführeinrichtung 80 verbunden sein, welche über eine lösbare Verbindung 81 mit einer Energiequelle 82 leitungsverbunden ist. Die Energiequelle 82 kann insbesondere ein Wechselstromnetz sein.In Fig.2 a circuit arrangement 70 according to the invention is shown schematically with an intermediate circuit 72, which is designed in particular as a direct current-operated DC link, for example with a defined voltage of 750 volts. The intermediate circuit 72 can be connected as a main power supply to a supply device 80, which is connected to an energy source 82 via a detachable connection 81. The energy source 82 can in particular be an alternating current network.

Zur weiteren Energieversorgung ist der Zwischenkreis 72 mit mindestens einer weiteren Batterieeinheit 58 verbunden, welche aufladbar ist. Über den Zwischenkreis 72 kann die mindestens eine Batterieeinheit 58 geladen werden. Hierfür kann Energie aus der externen Energiequelle 82 oder an der Tiefbaumaschine 10 rekuperativ erzeugte elektrische Energie eingesetzt werden.For further energy supply, the intermediate circuit 72 is connected to at least one further battery unit 58, which is rechargeable. The at least one battery unit 58 can be charged via the intermediate circuit 72. Energy from the external energy source 82 or electrical energy generated recuperatively on the civil engineering machine 10 can be used for this purpose.

In Fig. 2 ist weiter schematisch mindestens ein Elektromotor 50 dargestellt, welcher über die in Fig. 2 nicht gezeigte Seilwinde ein schematisch angedeutetes Tiefbauwerkzeug 30 entlang eines Mastes heben und senken kann. Für ein Heben wird der Elektromotor 50 zum Antreiben der Seilwinde von dem Zwischenkreis 72 mit elektrischer Energie versorgt.In Fig.2 Furthermore, at least one electric motor 50 is shown schematically, which is connected to the Fig.2 A cable winch (not shown) can raise and lower a schematically indicated civil engineering tool 30 along a mast. For lifting, the electric motor 50 for driving the cable winch is supplied with electrical energy from the intermediate circuit 72.

Weiterhin kann bei einem Absenken der Werkzeugeinrichtung 30 in einem Rekuperationsmodus des Elektromotors 50 Lageenergie in elektrische Energie umgewandelt werden. Diese elektrische Energie des Elektromotors 50 wird über eine zwischengeschaltete Invertereinheit 52, welche Wechselstrom in Gleichstrom und vice versa wandeln kann, dem Zwischenkreis 72 zugeführt. Von dem Zwischenkreis 72 kann diese elektrische Energie der mindestens einen Batterieeinheit 58 oder mindestens einem weiteren elektrischen Verbraucher 64 zugeführt werden. Die interne Batterieeinheit 58 kann grundsätzlich wechselbar, insbesondere als ein Wechselakkumulator, ausgebildet sein. Der weitere elektrische Verbraucher kann ebenfalls ein Elektromotor, eine Heizspule oder eine sonstige elektrisch betriebene Komponente sein.Furthermore, when the tool device 30 is lowered in a recuperation mode of the electric motor 50, potential energy can be converted into electrical energy. This electrical energy of the electric motor 50 is fed to the intermediate circuit 72 via an intermediate inverter unit 52, which can convert alternating current into direct current and vice versa. This electrical energy can be fed from the intermediate circuit 72 to the at least one battery unit 58 or at least one further electrical consumer 64. The internal battery unit 58 can in principle be designed to be replaceable, in particular as a removable accumulator. The further electrical consumer can also be an electric motor, a heating coil or another electrically operated component.

Die Zuführung und Abführung von elektrischer Energie werden gemäß der Erfindung nicht über eine zentrale Steuerung gesteuert. Vielmehr sind der Zuführeinrichtung 80, der mindestens einen Batterieeinheit 58, dem Elektromotor 50 wie dem mindestens einen elektrischen Verbraucher 64 sowie einem noch zu beschreibenden Bremschopper 66 jeweils eine eigenständige Regelkomponente zugeordnet. Diese kann in der jeweiligen Einheit unmittelbar verbaut sein. Durch die Regelkomponente kann eine Spannung im Zwischenkreis 72 erfasst werden. Abhängig von einer hinterlegten Steuerlogik in jeder Regelkomponente kann abhängig von dem aktuellen Spannungswert im Zwischenkreis 72 oder einem Verlauf des Spannungswertes jeweils elektrische Energie zugeführt oder abgeführt werden. Hierdurch kann gegenüber einer zentralen Steuerung eine schnellere Reaktion auf stark ansteigende Energieverbräuche oder kurzfristig anfallende hohe Energiemengen erfolgen.According to the invention, the supply and discharge of electrical energy are not controlled by a central control system. Rather, the supply device 80, the at least one battery unit 58, the electric motor 50 and the at least one electrical consumer 64, as well as a brake chopper 66 (to be described later) are each assigned an independent control component. This can be installed directly in the respective unit. The control component can detect a voltage in the intermediate circuit 72. Depending on a stored control logic in each control component, electrical energy can be supplied or discharged depending on the current voltage value in the intermediate circuit 72 or a course of the voltage value. This enables a faster response to sharply increasing energy consumption or large amounts of energy that arise in the short term compared to a central control system.

Kann elektrische Energie, welche rekuperativ erzeugt wird, in der Schaltungsanordnung 70 nicht in der mindestens einen Batterieeinheit 58 gespeichert oder einer anderen Komponente zur Nutzung zugeführt werden, so kann diese überschüssige Energie einem Bremschopper 66 zugeleitet werden, welcher beispielhaft eine Überschussenergie-Verbrauchseinheit darstellt. Er wandelt diese überschüssige Energie beispielsweise in Wärme um.If electrical energy that is generated recuperatively cannot be stored in the at least one battery unit 58 in the circuit arrangement 70 or supplied to another component for use, this excess energy can be supplied to a brake chopper 66, which represents an example of a surplus energy consumption unit. It converts this excess energy into heat, for example.

Darüber hinaus kann der Zuführeinrichtung 80, insbesondere im Falle des Bezuges von Wechselstrom aus der externen Energiequelle 82, ebenfalls eine Invertereinheit zugeordnet sein. Hierdurch wird sichergestellt, dass dem Zwischenkreis 72 in dem dargestellten Ausführungsbeispiel ausschließlich Gleichstrom zugeführt wird.In addition, the supply device 80 can also be assigned an inverter unit, particularly in the case of the supply of alternating current from the external energy source 82. This ensures that only direct current is supplied to the intermediate circuit 72 in the exemplary embodiment shown.

Claims (14)

  1. Electrically operated civil engineering machine (10) comprising
    - a mobile carrier device (12),
    - at least one civil engineering tool (30),
    - at least one electric motor (50) configured for both driving an actuator in a drive mode and for generating electrical energy in a recuperation mode,
    - at least one internal rechargeable battery unit (58) for storing electrical energy and for supplying the at least one electric motor (50) with electrical energy,
    - feeding means (80) for supplying electrical energy from an external energy source (82) for electrically operating the civil engineering machine (10), and
    - a circuit arrangement (70) by means of which the at least one electric motor (50), the at least one battery unit (58) and the feeding means (80) are line-connected to each other,
    characterized in that
    - the circuit arrangement (70) has an intermediate circuit (72) with voltage-controlled power control, and
    - the power control is decentralized wherein an independent control component is respectively assigned to the at least one electric motor (50), the at least one battery unit (58) and the feeding means (80) which is configured to respectively control a supply or an output of electric energy from or to the intermediate circuit (72) depending on a voltage in the intermediate circuit (72).
  2. Electrically operated civil engineering machine (10) according to claim 1, characterized in that
    the control components are interposed between the intermediated circuit (72) and the respectively assigned electric motor (50), the assigned battery unit (58) or the assigned feeding means (80).
  3. Electrically operated civil engineering machine (10) according to claim 1 or 2, characterized in that
    an excess energy consumption unit, in particular a break chopper (66) and/or an electrical consumer (64) with an independent control component is provided and line-connected to the intermediate circuit (72).
  4. Electrically operated civil engineering machine (10) according to one of the claims 1 to 3,
    characterized in that
    the intermediate circuit (72) is configured to conduct and distribute direct current.
  5. Electrically operated civil engineering machine (10) according to one of the claims 1 to 4,
    characterized in that
    at least one control component comprises a DC/DC controller.
  6. Electrically operated civil engineering machine (10) according to one of the claims 1 to 5,
    characterized in that
    the feeding means (80) is configured to supply electrical energy from an alternating current source, wherein a current rectifier unit is arranged on the feeding means (80).
  7. Electrically operated civil engineering machine (10) according to one of the claims 1 to 6,
    characterized in that
    an inverter unit (52) is assigned to the at least one electric motor (50) configured to convert direct current into alternating current and vice versa.
  8. Electrically operated civil engineering machine (10) according to one of the claims 1 to 7,
    characterized in that
    the latter one being configured as a boring machine and
    the at least one electric motor (50) drives a power-rotary head (36) and/or a rope winch (46).
  9. Electrically operated civil engineering machine (10) according to one of the claims 1 to 8,
    characterized in that
    there are at least two electric motors (50) provided.
  10. Method for electrically operating a civil engineering machine (10), in particular according to one of the claims 1 to 9, comprising:
    - a mobile carrier (12),
    - at least one civil engineering tool (30),
    - at least one electric motor (50) configured to both drive an actuator in a drive mode and generate electrical energy in a recuperation mode,
    - at least one internal rechargeable battery unit (58) for storing electrical energy and for supplying the at least one electric motor (50) with electrical energy,
    - feeding means (80) for supplying electrical energy from an external energy source (82), and
    - a circuit arrangement (70) by means of which the at least one electric motor (50), the at least one battery unit (58) and the feeding means (80) are line-connected to each other,
    characterized in that
    - the circuit arrangement (70) has in intermediate circuit (72) with voltage controlled power control,
    - the power control is decentralized wherein an independent control component is respectively assigned to the at least one electric motor (50), the at least one battery unit (58) and the feeding means (80), and
    - electrical energy is released respectively dependent on a voltage in the intermediate circuit (72) from the at least one electric motor (50), the at least one battery unit (58) and the feeding means (80) by means of the independent control component into the intermediate circuit (72) or supplied to from the intermediate circuit (72).
  11. Method according to claim 10,
    characterized in that
    electrical excess energy, which cannot be used to operate the civil engineering machine (10) and charge the battery unit (58), is supplied to an excess energy consumption unit, in particular a break chopper (66).
  12. Method according to claim 10 or 11,
    characterized in that
    in the intermediate circuit (72) the electric energy is conducted and distributed as direct current.
  13. Method according to one of the claims 10 to 12,
    characterized in that
    electrical energy is supplied as alternating current from the external energy source (82) via the feeding means (80), wherein a current rectifier unit is arranged on the feeding means (80) by means of which the alternating current is converted into direct current.
  14. Method according to claim 12 or 13,
    characterized in that
    an inverter unit is assigned to the at least one electric motor (50) by means of which the direct current from the intermediate circuit (72) is converted into alternating current in the drive mode and reversely an alternating current generated by the electric motor (50) is converted into direct current in the recuperation mode.
EP22163043.7A 2022-03-18 2022-03-18 Electrically operated civil engineering machine and method for operating the machine Active EP4245923B1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP22163043.7A EP4245923B1 (en) 2022-03-18 2022-03-18 Electrically operated civil engineering machine and method for operating the machine
CN202380013994.8A CN118103569A (en) 2022-03-18 2023-03-01 Electrically operated civil engineering machine and method therefor
PCT/EP2023/055087 WO2023174679A1 (en) 2022-03-18 2023-03-01 Electrically operated civil engineering machine, and method therefor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP22163043.7A EP4245923B1 (en) 2022-03-18 2022-03-18 Electrically operated civil engineering machine and method for operating the machine

Publications (3)

Publication Number Publication Date
EP4245923A1 EP4245923A1 (en) 2023-09-20
EP4245923B1 true EP4245923B1 (en) 2024-05-15
EP4245923C0 EP4245923C0 (en) 2024-05-15

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EP (1) EP4245923B1 (en)
CN (1) CN118103569A (en)
WO (1) WO2023174679A1 (en)

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010004596A1 (en) * 2010-01-13 2011-07-14 HYTRAC GmbH, 45139 Hybrid drive controlling method for mobile working machine of motor vehicle, involves connecting hydraulic motor with input shafts of planetary gears, and transmitting power of hydrostatic and hydrostatic propulsion system to input shaft
EP3228756B2 (en) * 2016-04-04 2023-03-01 BAUER Maschinen GmbH Machine tool and method for machining a soil
IT201700112156A1 (en) * 2017-10-06 2019-04-06 Soilmec Spa EXCAVATION TOOL FOR DIAPHRAGM AND RELATIVE EXCAVATION EQUIPMENT
EP3779117A1 (en) * 2019-08-16 2021-02-17 BAUER Maschinen GmbH Kelly bar assembly for a drill and method for working soil

Also Published As

Publication number Publication date
CN118103569A (en) 2024-05-28
EP4245923A1 (en) 2023-09-20
EP4245923C0 (en) 2024-05-15
WO2023174679A1 (en) 2023-09-21

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