Classifications

• • 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
  • E02F—DREDGING; SOIL-SHIFTING
  • E02F3/00—Dredgers; Soil-shifting machines
  • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
  • E02F3/46—Dredgers; Soil-shifting machines mechanically-driven with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor
  • E02F3/47—Dredgers; Soil-shifting machines mechanically-driven with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor with grab buckets
  • E02F3/475—Dredgers; Soil-shifting machines mechanically-driven with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor with grab buckets for making foundation slots
• • 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
  • E02F9/20—Drives; Control devices
  • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
  • E02F9/2095—Control of electric, electro-mechanical or mechanical equipment not otherwise provided for, e.g. ventilators, electro-driven fans
• • 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
  • E02F9/20—Drives; Control devices
  • E02F9/22—Hydraulic or pneumatic drives
  • E02F9/2217—Hydraulic or pneumatic drives with energy recovery arrangements, e.g. using accumulators, flywheels

Definitions

• the invention relates to a rope grab with a grab frame, at least two grab blades which are adjustable at a lower end of the grab frame between a closed position and an open position, a retaining rope for holding the rope grab and an actuating device with an actuating rope for actuating the grab blades, according to the preamble of claim 1.
• the invention further relates to a method for operating a rope grab or a grab device, according to the preamble of claim 16.
• Grab devices essentially comprise a grab with grab buckets, the grab suspended from a carrier device, typically a boom crane, by a tether cable.
• the tether cable allows the grab to be lowered into the ground.
• soil material can be excavated and collected in the grab.
• the grab is then pulled back out of the ground by the tether cable and swung by the carrier device to a discharge position, where the grab buckets are opened to release the soil material.
• the grab is then swung back into its working position and inserted into the trench in the ground for another grab operation.
• a hydraulic gripper for example, is made from... EP 3 798 367 A1 known.
• the movement for opening and closing the gripper blades is generated by a hydraulic cylinder which is located on the gripper frame.
• hydraulic lines are required for the supply and return of hydraulic fluid, running parallel to the support cable.
• the carrier unit must be equipped with appropriate hose reels for the hydraulic lines, along with corresponding winch drives and a suitably designed hydraulic system. This increases the size and cost of the gripper device.
• rope grabs offer a significantly simplified design.
• One such generic rope grab is, for example, made from the... EP 4 134 489 A1 or EP 4 134 490 A1
• This actuating cable runs essentially parallel to the retaining cable from the grab bucket actuation mechanism to the carrier machine.
• the grab buckets can be opened or closed by unwinding or winding the cable onto the winch.
• the invention is based on the objective of providing a rope grab and a method for operating the rope grab, in which a simple design and in particular a simple suspension of the rope grab and at the same time a simple operation of the rope grab in the ground are given.
• the rope gripper according to the invention is characterized in that at least one actuating element is adjustable on the rope gripper, which can be adjusted between different positioning positions by means of an energy-operated actuator.
• a fundamental idea of the invention is to arrange one or more actuating elements on the rope grab itself, which can be adjusted by means of an energy-driven mechanism. This allows for additional functionalities to be created on a rope grab, such as actuating elements for position control or for assisting the opening or closing of the grab buckets.
• An actuating element is essentially an adjustable element that can assume defined different positions by means of an actuator.
• the at least one energy-driven actuator can be arranged on the rope grab itself or separately from it, for example on a carrier device.
• a Continuous or discontinuous adjustment or actuation of at least one adjusting element may occur, for example, when the cable grab is pulled out of the ground and is close to the carrier device.
• the cable grab can be equipped with an independent power supply, such as a battery or a pressure accumulator, so that no power line needs to be run to the cable grab.
• At least one actuating element is designed with a control flap or a control frame, which is adjustably arranged on the grab for controlling the position of the rope grab in a slot in the ground.
• control flaps are known and frequently used in conventional hydraulic grabs.
• By extending or retracting control flaps on the grab frame the position and orientation of the rope grab relative to the vertical in the slot in the ground can be influenced and preferably precisely adjusted.
• this function can now also be implemented in rope grabs, thereby significantly simplifying and improving the functionality of a rope grab and, in particular, its position control in the ground.
• the control unit for actuating the at least one actuator can be located on the cable grab itself or remotely on the ground surface, particularly on a carrier vehicle.
• Another preferred embodiment of the invention consists in at least one actuating element being designed to exert, and in particular increase, a force for opening and/or closing the grab buckets. This allows, particularly in certain operating situations, such as when encountering a rock, a force to be exerted via the actuating element, preferably in addition to the force exerted by the actuating device, to open or, in particular, close the grab buckets. This increases the usability of the cable grab.
• the at least one actuating element for exerting a force to open and/or close the gripper blades comprises an actuating cylinder, in particular a hydraulic cylinder, which is configured to exert a force from the gripper frame to the positioning carriage or vice versa.
• an additional actuating force can be exerted for the relative displacement of the gripper frame and positioning carriage, so that a greater force can be exerted via the actuating device to open or close the gripper blades.
• the actuating cylinder can, in particular, be a hydraulic cylinder, so that a noticeable additional force can be transmitted to the gripper blades in addition to the force exerted by the actuating cable.
• the control of the at least one actuator can be performed, for example, by the carrier device or by a control unit on the rope grab itself.
• the control unit on the rope grab can preferably be connected to one or more sensors for detecting the position of the rope grab, such as at least one tilt sensor. It is also advantageous to detect the depth of the rope grab via a sensor; this can be achieved, for example, by a pressure sensor arranged on the rope grab.
• the control unit can autonomously actuate the at least one actuator according to a stored control logic (control program) to achieve a desired position and/or orientation. It is also possible for the control unit to display to an operator how to adjust the actuators so that the next time the grab is inserted into the slot, it will be in the desired position.
• a wireless or wired transmitter can preferably be arranged, which, with suitable design, can utilize at least one cable of the grab to the carrier device.
• the tethering cable and the operating cable are steel cables with metallic strands, which are generally suitable for transmitting electrical, electromagnetic, or acoustic signals.
• a radio transmitter for example, can be used as the transmitter, which, depending on its transmission power, can send signals from a trench in the ground to the ground surface, or, if the grab is outside the trench (e.g., for emptying the filled grab buckets), to the carrier device, at least to a certain depth.
• Advantageous embodiments of the invention lie in the fact that the at least one actuator is arranged on the rope grab or separately from it. With an independent power supply and an actuator arranged on the rope grab, adjustment can be performed during operation, even when the grab is in the ground, or only at specific times, for example, when the rope grab is located outside the ground and connected to an actuator separate from the grab.
• the actuator can be attached to the rope grab only at the time of adjustment of the actuating element, which is adjustable. This can be an attachable and detachable electric drive or an actuator held by an operator, such as a cordless screwdriver.
• the at least one actuator is designed as an electric drive, in particular as an electric linear drive or as an electric motor, or as a drive operated with a pressure fluid, in particular a hydraulic motor or a hydraulic cylinder.
• the individual drives can perform independent functions on the cable gripper and/or serve, for example, to support the closing and/or opening movement of the gripper blades effected by the actuating cable.
• a particularly advantageous embodiment of the rope gripper is achieved by arranging an energy storage device, in particular an accumulator for electrical current and/or a pressure vessel for a pressure fluid, on the rope gripper, wherein the energy storage device is designed to supply the at least one actuator with energy. This ensures an independent energy supply to the rope gripper without the need for an additional power line to be routed to the rope gripper during operation.
• an energy converter device is arranged on the rope gripper, which is capable of converting kinetic energy, which can be transmitted in particular from the holding rope and/or the actuating rope, into pressure energy and/or electrical energy.
• This further development of the invention takes the approach of providing energy to the gripper by arranging an energy converter device on the rope gripper, which converts the kinetic energy available at the rope gripper into pressure energy and/or a
• This energy conversion device can be configured in any way that allows the kinetic energy available at the rope gripper to be converted as desired.
• the energy conversion device can be configured to convert a movement of the holding rope and/or the actuating rope and/or an associated movement of the positioning carriage, a rotary movement on pulleys, or a vertical movement of the rope gripper into a required or desired pressure energy, in particular hydraulic or pneumatic energy, or into electrical energy.
• the energy generated by the energy converter can be supplied directly to corresponding consumers on the rope grab.
• the energy generated by the energy converter can be stored, at least partially, in the energy storage device on the rope grab.
• the energy generated by the energy converter can be temporarily stored in the energy storage device.
• the energy storage device can also be charged externally when the rope grab is, for example, at ground level.
• the rope grab can be connected to a power supply during a break in operation. This ensures a continuous power supply to the rope grab, even if energy conversion at the rope grab is not constant, but only occurs in certain operating situations, such as when the grab buckets are closed and opened and/or when lifting or lowering.
• the pressure fluid is a liquid, especially hydraulic oil, or a gas, especially compressed air.
• Hydraulic oil is particularly well suited for pressure transmission.
• other liquids, especially water can also be used.
• the use of water as the pressure fluid can be particularly advantageous when the gripper is used in sensitive environments, such as in a groundwater protection area. The same applies to the use of ambient air as compressed air.
• a particularly advantageous embodiment of the rope gripper is characterized by the arrangement of an adjusting carriage which is adjustable relative to the gripper frame by means of the actuating rope, the arrangement of a transmission device with which a relative positioning movement between the base frame and the adjusting carriage can be converted into a movement for opening or closing the gripper blades, and the connection between the adjusting carriage and/or the gripper frame and the energy converter device for supplying kinetic energy.
• a base frame or gripper frame and/or adjusting carriage can be used for actuation.
• the gripper blades are often already present on a cable grab. Therefore, the energy converter device can be used relatively easily with existing cable grabs or implemented based on existing designs.
• an actuating slide designed exclusively for operating the energy converter device, in particular for operating one or more pump cylinders, can also be arranged on the cable grab.
• the positioning carriage and the gripper frame can be coupled to each other in any suitable manner.
• the gripper frame and the positioning carriage are mounted so as to be displaceable relative to each other in a longitudinal direction of the gripper frame.
• the positioning carriage can be arranged centrally on the rope gripper, so that no or only minimal lateral forces act on the rope gripper during operation. This has a positive effect on the directional stability of the rope gripper.
• the retaining rope can be attached to the gripper frame or, preferably, to the positioning carriage, with the actuating rope effecting a relative displacement between the gripper frame and the positioning carriage.
• At least one actuator for an actuating element at least one further energy-driven consumer, in particular another actuator, a control unit, and/or a data acquisition device are arranged on the rope gripper, which can be operated by energy converted by the energy converter device.
• the at least one actuator can be electrically driven or driven by a pressure fluid. This applies to both linear actuators, in particular actuator cylinders, and rotary actuators.
• the control and/or data acquisition devices can preferably be electrically operated.
• the data acquisition devices can comprise a wide variety of sensors, with the acquired data being transmitted either via a suitable transmitter.
• the data can be temporarily stored on a carrier device or in a data storage device arranged on the rope gripper.
• a preferred embodiment of the invention further comprises the fact that the pump cylinder can additionally be operated actively as an actuator cylinder, wherein pressurized fluid from a pressure vessel can be supplied to the pump cylinder. If required, this can be done via a suitable switching device, so that the pump cylinder is actively operated as an actuator cylinder, for example to support an opening or closing movement of the gripper blades.
• At least one sensor for acquiring position data regarding the position of the cable grab is arranged on the cable grab and that the at least one sensor is in data communication with the control unit. This enables, for example, very precise position control in the ground.
• At least one pressure sensor is arranged on the rope gripper, which is connected to the control unit on the rope gripper, wherein, based on a pressure signal from the at least one pressure sensor, the control unit can detect the depth of the rope gripper in the slot and, depending on a predetermined target depth, at least one actuating element can be pressed.
• a control logic or a control program can be stored in the control unit, by which, upon reaching a predetermined target depth, A specific control command is sent to an actuator. This allows for a degree of automatic control of the cable grab in a slot, even at greater slot depths, independent of external control.
• the control unit can extend actuators to fix the cable grab's position within the slot. This enables, for example, reliable and efficient operation of the grab buckets and a particularly efficient excavation movement.
• the invention further comprises a gripping device with a carrier unit having a winch for a retaining cable and an actuating cable, wherein the gripping device is further developed according to the invention in that a cable gripper according to the invention is arranged on the carrier unit and held by the retaining cable.
• the grab device is preferably further developed by making the carrier device movable, in particular by having a crawler chassis.
• a superstructure can preferably be rotatably mounted on the crawler chassis.
• the cable grab can be lowered and raised via a mast or a boom arm, wherein a winch for the holding cable and a winch for the operating cable are arranged on the carrier device, in particular the superstructure, in a manner known in principle.
• the invention also includes a method for operating a rope grab or grab device according to the invention, wherein the method provides that the at least one adjusting element is moved to control the position of the rope grab in a slot in the ground.
• An advantageous variant of the method consists in an energy storage device being arranged on the rope gripper, with which energy for adjusting the at least one actuating element is stored directly on the rope gripper.
• the energy storage device can preferably comprise a pressure vessel, a spring accumulator, and/or an accumulator for electrical current. This can, in particular, store converted energy on the rope gripper. Thus, even with uneven... Energy conversion, for example only in certain operating situations, ensures a consistent energy supply to the rope gripper for energy-operated components.
• an energy conversion device is arranged on the gripper frame, by which kinetic energy, which is transferred in particular from the holding rope and/or the actuating rope to the rope gripper, is converted into pressure energy and/or electrical energy.
• kinetic energy can be transferred into another readily usable form of energy, which can be used directly to drive components on the rope gripper.
• a preferred embodiment of the method according to the invention consists in creating a slot in the ground with the cable grab and, in particular, forming a foundation element in the ground therein.
• the foundation element can, in particular, be a cutoff wall segment for a cutoff wall or a retaining wall segment for a retaining wall.
• a hybrid gripper can be created, so to speak, which combines the advantages of the simple construction and suspension of a rope gripper with the advantages of a hydraulic gripper, for example with regard to the possibility of targeted position control by means of adjustable control flaps.
• a gripper device 10 according to the invention Fig. 1
• the mobile carrier unit 12 has a crawler chassis as its undercarriage 14.
• a superstructure 16 with an operator cabin 17 is rotatably mounted on the undercarriage 14 about a vertical axis of rotation.
• a control unit including an input device for a machine operator, can be located inside the operator cabin 17.
• a boom arm 18 is pivotally mounted on the superstructure 16 about a horizontal axis.
• a retaining cable 24 is guided on a head 20 of the boom arm 18, which has pulleys.
• a cable grab 30 with a grab frame 32 and lower grab buckets 34 is attached to the end of the cable.
• the retaining cable 24 can be actuated to raise and lower the cable grab 30 via a first winch 21 on the carrier unit 12.
• a second winch 22 is also located on the carrier unit 12 for an actuating cable 44, which is guided via the head 20 to the cable grab 30 for actuating the grab buckets 34 at the lower end of the grab frame 32.
• an adjusting carriage 42 of an actuating device 40 for actuating the gripper buckets 34 is mounted so as to be displaceable in a vertical longitudinal direction.
• the end of the retaining cable 24 is attached to the upper end of the adjusting carriage 42, so that the cable gripper 30 is held by the adjusting carriage 42.
• a transmission device 45 with a linkage mechanism 46 and connecting rods 47 is arranged at a lower end of the positioning carriage 42.
• the connecting rods 47 are pivotally connected at one end to the positioning carriage 42 and at the other end to one of the gripper blades 34.
• the gripper blades 34 are themselves pivotally mounted at the lower end of the gripper frame 32 via pivot bearings 35.
• the pulley system 50 has at least one upper pulley 52, which is rotatably mounted on the adjusting carriage 42, and at least one lower pulley 54, which is rotatably mounted on a lower portion of the gripper frame 32.
• the pulleys 52 and 54 are encircled by the actuating cable 44, which is supplied from above, forming loops 56 or pulleys.
• the lower end of the actuating cable 44 can be fixedly connected to the gripper frame 32.
• the lower end of the actuating cable 44 can also be fixedly connected to the adjusting carriage 42.
• the adjusting carriage 42 can thus be connected or coupled to the gripper frame 32 via the actuating cable 44 in a relatively adjustable manner.
• soil material When used in a slot in the ground, soil material can be gripped and enclosed between the grab buckets 34 by means of a closing force increased compared to the pulling force on the actuating rope 44.
• the pulling force on the actuating cable 44 can be reduced.
• the grab frame 32 shifts downwards relative to the positioning carriage 42 due to its weight, so that the grab buckets 34 are swung back into their open position via the linkage rods 47, as shown in Fig. 3 is shown.
• FIG. 4 A rope gripper 30 according to the invention with adjusting elements 80 is shown in detail.
• Several adjusting elements 80 are arranged on the rope gripper 30, each of which The system comprises a control flap 84 and an actuator 82.
• At least one actuator 82 can actuate the control flaps 84, in particular extending, retracting, and/or adjusting them. This allows, in particular, one or more control flaps 84 to be controlled for aligning the cable grab 30 in the ground.
• an energy converter device 60 can be arranged, which comprises a pump cylinder 62 with a cylinder housing 64, which is preferably fixedly attached to the gripper frame 32.
• a pump piston 66 projecting from the cylinder housing 64 is slidably mounted and can be connected at its free end to an adjusting slide 42.
• the positioning carriage 42 and the gripper frame can, as previously described, preferably be moved relative to each other along the gripper frame 32 by means of the actuating cable 44, in order to open and close the gripper blades 34 via a transmission device 45 with a linkage mechanism 46.
• the attached pump piston 66 is also axially adjusted, whereby the kinetic energy of the positioning carriage 42 can be converted into pressure energy by the pump cylinder 62.
• FIG. 5 A possible and preferred design of an energy converter device 60 and an arrangement for adjusting actuators 80 and/or 62 is shown schematically in Fig. 5 depicted accordingly.
• Fig. 4 The energy converter device 60 can have a pump cylinder 62 with a cylinder housing 64 and a pump piston 66 slidably mounted therein.
• the pump cylinder 62 is designed as a double-acting pump cylinder 62, which can discharge pressurized fluid, in particular hydraulic oil, to a pressure line 65 both during an extension movement and during a retraction movement of the pump piston 66 from or into the cylinder housing 64.
• the pressurized fluid can be used in various ways, depending on the control provided by a control unit (not shown) and controllable valve units 69.
• the pressurized fluid can be supplied to an energy storage device 70 with a pressure vessel 72, in which pressurized fluid can be stored. This can then be released as needed via a suitable switching device. can be diverted again, for example to actively operate the pump cylinder 62 as an actuating cylinder and thus as an actuating element, for example to support an opening or closing movement of the gripper blades 34
• the generated pressure fluid can also be used to drive a drive motor 67, in particular a hydraulic drive motor 67.
• a generator 68 can be operated via the drive motor 67 to generate electricity.
• the electricity generated in this way can be supplied directly to a consumer or to an accumulator 74 as part of an energy storage device 70. Electricity can be drawn from the accumulator 74 as needed.
• one or more actuating elements can be operated via the pressurized fluid as an alternative or supplement, in particular by means of actuators 82 designed as hydraulic cylinders.
• the actuators 82 can preferably be used to control the control flaps 84 for controlling a basic orientation of the rope grab 30 in a slot in the ground.

Landscapes

• Engineering & Computer Science (AREA)
• Mining & Mineral Resources (AREA)
• Civil Engineering (AREA)
• General Engineering & Computer Science (AREA)
• Structural Engineering (AREA)
• Mechanical Engineering (AREA)
• Life Sciences & Earth Sciences (AREA)
• General Life Sciences & Earth Sciences (AREA)
• Paleontology (AREA)
• Load-Engaging Elements For Cranes (AREA)

Priority Applications (1)

Applications Claiming Priority (1)

Publications (1)

Family

ID=91759334

Family Applications (1)

Country Status (1)

Citations (4)

• 2024
  • 2024-07-01 EP EP24185784.6A patent/EP4675048A1/fr active Pending

Patent Citations (4)

Similar Documents

Legal Events