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EP1264937A2 - Grab bucket for trench walls with improved control system for the verticality of the excavation - Google Patents

Grab bucket for trench walls with improved control system for the verticality of the excavation Download PDF

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Publication number
EP1264937A2
EP1264937A2 EP02291152A EP02291152A EP1264937A2 EP 1264937 A2 EP1264937 A2 EP 1264937A2 EP 02291152 A EP02291152 A EP 02291152A EP 02291152 A EP02291152 A EP 02291152A EP 1264937 A2 EP1264937 A2 EP 1264937A2
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EP
European Patent Office
Prior art keywords
information
chassis
tilt
bucket
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP02291152A
Other languages
German (de)
French (fr)
Other versions
EP1264937B1 (en
EP1264937A3 (en
Inventor
Eric C/O Compagnie Du Sol Wohleber
Philippe c/o COMPAGNIE DU SOL Chagnot
Joel C/O Compagnie Du Sol Cano
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Compagnie du Sol SARL
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Compagnie du Sol SARL
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Publication date
Application filed by Compagnie du Sol SARL filed Critical Compagnie du Sol SARL
Publication of EP1264937A2 publication Critical patent/EP1264937A2/en
Publication of EP1264937A3 publication Critical patent/EP1264937A3/en
Application granted granted Critical
Publication of EP1264937B1 publication Critical patent/EP1264937B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • 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
    • E02F3/18—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels
    • E02F3/22—Component parts
    • E02F3/26—Safety or control devices
    • 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

Definitions

  • the present invention relates to a drilling bucket with improved verticality control system.
  • a drilling bucket equipped with a correction system verticality is described in particular in French patent 2,771,429 at name of the applicant. This document should be considered as forming an integral part of this description.
  • FIG 1 there is shown the entire bucket of drilling.
  • the drilling rig itself 10 which is suspended from the end of a boom 12 by a system of cables 14.
  • the jib 12 is preferably mounted on a platform 16 equipped with tracks 18.
  • the arrow 12 serves guiding to the bucket 10 of electric conduits or conductors such than 20 used for hydraulic and electrical control of movements and the functioning of the bucket 10.
  • the bucket 10 comprises essentially a body 22 provided with a chassis 24.
  • the end upper 26 of the chassis 24 constitutes a point for securing the cables of the crane.
  • the lower end of the body 22 is equipped with two pockets 28 and 30 which are articulated around two parallel axes x-x 'and y-y' which are orthogonal to the planes in Figure 1.
  • the body of the bucket 22 has a longitudinal axis which is vertical in normal operating condition Z-Z '.
  • Z-Z ' To locate the position of the whole body relative to the space, to this one can associate the vertical axes Z-Z ', an axis X-X' parallel to the axes of pivot x-x 'and y-y' and an axis Y-Y 'in the plane of figure 1, this axis Y-Y' being orthogonal to the axes x-x 'and y-y'.
  • the axis XX ' mark the thickness of the bucket and the axis Y-Y 'mark its width.
  • each skate has two wings 44 and 46 arranged opposite the periphery of the main faces 36 and 38 and a central part 48 which connects these two wings and which is opposite the lateral faces 40 and 42 of the chassis 24.
  • Each shoe 32 and 34 is equipped with two jacks displacement in direction X-X ', respectively arranged at the end upper and lower end of the skate. These devices displacement are shown schematically in Figures 2a and 2b and are referenced 50 and 52.
  • the shoe 34 is, of course, also equipped of two displacement devices respectively upper and lower. As will be explained later in more detail, each displacement 50 or 52 can be ordered separately.
  • the relative displacements of the chassis 24 relative to the pads 32 and 34 allow to correct at the top and bottom of the body of the verticality errors with respect to the X, Y and Z axes.
  • each of the two pads is equipped with an auxiliary pad 56 which can be moved relative to the pad 32 itself in the direction YY '.
  • the auxiliary shoe 56 is itself equipped with two cylinders displacement 58 and 60, controlled simultaneously respectively upper and lower. It is thus possible, by ordering devices 58 and 60, to move the auxiliary shoe 56 relative to the shoe 32 in the Y-Z plane.
  • the bucket is equipped with sensors which allow detect verticality errors.
  • An object of the present invention is to provide a grab drilling with verticality correction control system which is easier to use by the operator using the bucket and which thus authorizes the realization of boreholes whose verticality is very significantly improved.
  • the bucket is characterized in that it further comprises means for displaying said tilt and / or twist information, and in that said means of application control signals include n control members each associated with tilt or twist information, each control member being manually operable as a function of the displayed tilt or twist information.
  • the operator has all the verticality error information. From this information, it can act on the various organs of command to automatically trigger the actuation of the cylinders to correct the error.
  • this operation is simplified since, preferably, each control member is associated with verticality error information appearing on the display or visualization device, each member being able to order one or two cylinders.
  • the correction of verticality is obtained directly by exploiting information verticality errors which are processed by processing circuits in view of developing the control signals to be applied to the cylinders concerned.
  • the application of the corrections by the intermediary of the cylinders is nevertheless conditioned to an action operator manual.
  • FIG 3 there is shown schematically the chassis 24 of the bucket, the main pads 32 and 34 and the auxiliary pads 56 and 58.
  • the cylinders V 1 and V 2 respectively upper and lower control of the main shoe 32
  • the cylinders V 3 and V 4 respectively upper and lower of the main shoe 34 as well as the cylinders V 5 and V 6 for controlling the auxiliary shoes 56 and 58.
  • the chassis of the tipper is equipped with two inclinometers 62 and 64 which detect the inclination of the axis longitudinal of the body of the bucket, respectively in a plane parallel to the main faces of the chassis and in a plane parallel to the side faces of the chassis.
  • the bucket is also equipped with a gyrometer 66 which detects an overall twisting movement of the chassis around the vertical. Information in digital form or analog delivered by these sensors are transmitted to the surface by from electrical conductors 68 to processing circuits 70.
  • the processing circuit 70 from the information delivered by the sensor 62 gives a possible tilt information in one direction or in the other in the first reference plane.
  • the signal delivered by the second inclinometer 64 is processed by circuit 70 to provide a possible indication of tilt in one direction or the other in the second reference plane.
  • circuit 70 from the signal delivered by the gyrometer 66, detects a possible twisting of the body of the bucket in the direct direction or in the opposite direction.
  • the control system also includes a display device, preferably a screen display 72 on which the information can be displayed possible inclination belonging to one of the six fault categories of verticality previously stated. The operator therefore has layout, a simple visualization of any verticality defects preferably with their amplitude.
  • the operator also has at his disposal a control assembly 74 consisting of as many manually controlled members 76 i as there are different vertical error information, that is to say six in the example described.
  • This control assembly 74 is connected to a processing circuit 78 which, on the basis of the signal produced by the actuation of one of the members 76 i develops the control signals C i which must be applied to one or more of the jacks V 1 to V 6 depending on the error to be corrected. More specifically, the control signals C i are applied to the control circuits 80 of the cylinders V 1 to V 6 .
  • FIGS. 5a and 5b correspond respectively to front and rear inclinations of the chassis of the bucket in the ZY plane.
  • the correction is obtained by first moving the upper cylinders V 1 and V 3 of the main shoes 32 and 34 and the lower cylinders V 2 and V 4 of the main shoes 32 and 34 in the other direction.
  • FIGS. 5c and 5d the mode of correction of a lateral offset to the right or to the left is shown, that is to say according to the XZ plane of the chassis. This correction is obtained by controlling one or the other of the cylinders V 5 and V 6 associated with the auxiliary shoes 56 and 58.
  • control circuits have been illustrated in a simplified manner in the case of automatic correction.
  • the signals delivered by the sensors 62, 64 and 66 are transmitted directly by the electrical conductors 68 to a processing circuit 82 which generates directly from the verticality error information the control signals C i to be applied to the control circuit 80 cylinders V 1 to V 6 .
  • a manual control member 84 allows the operator to effectively cause the application of the control signals C i to the control circuit 80 of the cylinders V 1 to V 6 .

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Earth Drilling (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Control And Safety Of Cranes (AREA)
  • Pit Excavations, Shoring, Fill Or Stabilisation Of Slopes (AREA)

Abstract

The invention elates to the system for controlling the verticality of a grab bucket fitted with skids for controlling its verticality. The control system comprises first and second sensors (62, 64) for delivering signals representative of tilt relative to the vertical concerning the longitudinal axis of the frame in a first plane and in a second plane containing the longitudinal axis and extending parallel to the main faces of the frame and orthogonally thereto; third sensors (66) for delivering a signal representative of twisting movement of the frame about the vertical; processor means (70) for processing the signals delivered by the sensors and for deducing therefrom information concerning the tilt and/or twisting of the frame; control means (78, 80) for controlling actuators (V1 to V6) for generating commands for said actuators as a function of said tilt and twisting information; and manual means (74) for applying said commands to the said actuators.

Description

La présente invention a pour objet une benne de forage à système de commande de verticalité améliorée.The present invention relates to a drilling bucket with improved verticality control system.

Une benne de forage équipée de système de correction de verticalité est décrite notamment dans le brevet français 2 771 429 au nom de la demanderesse. Ce document doit être considéré comme faisant partie intégrante de la présente description.A drilling bucket equipped with a correction system verticality is described in particular in French patent 2,771,429 at name of the applicant. This document should be considered as forming an integral part of this description.

En se référant aux figures annexées 1 et 2A et 2B, on va décrire de façon simplifiée une telle machine pour exposer les problèmes qu'elle peut poser.Referring to the appended figures 1 and 2A and 2B, we will describe in a simplified way such a machine to expose the problems that she can ask.

Sur la figure 1, on a représenté l'ensemble de la benne de forage. On trouve la benne de forage proprement dite 10 qui est suspendue à l'extrémité d'une flèche 12 par un système de câbles 14. La flèche 12 est de préférence montée sur une plate-forme 16 équipée de chenilles 18. Comme cela est connu, outre les câbles 14, la flèche 12 sert au guidage vers la benne 10 de conduites ou conducteurs électriques tels que 20 servant à la commande hydraulique et électrique des mouvements et du fonctionnement de la benne 10. La benne 10 comprend essentiellement un corps 22 muni d'un châssis 24. L'extrémité supérieure 26 du châssis 24 constitue un point d'amarrage des câbles de la grue. L'extrémité inférieure du corps 22 est équipée de deux poches 28 et 30 qui sont articulées autour de deux axes parallèles x-x' et y-y' qui sont orthogonaux aux plans de la figure 1.In Figure 1, there is shown the entire bucket of drilling. We find the drilling rig itself 10 which is suspended from the end of a boom 12 by a system of cables 14. The jib 12 is preferably mounted on a platform 16 equipped with tracks 18. As is known, in addition to the cables 14, the arrow 12 serves guiding to the bucket 10 of electric conduits or conductors such than 20 used for hydraulic and electrical control of movements and the functioning of the bucket 10. The bucket 10 comprises essentially a body 22 provided with a chassis 24. The end upper 26 of the chassis 24 constitutes a point for securing the cables of the crane. The lower end of the body 22 is equipped with two pockets 28 and 30 which are articulated around two parallel axes x-x 'and y-y' which are orthogonal to the planes in Figure 1.

Le corps de benne 22 présente un axe longitudinal qui est vertical en condition de fonctionnement normal Z-Z'. Pour repérer la position de l'ensemble de la benne par rapport à l'espace, à celle-ci on peut associer les axes verticaux Z-Z', un axe X-X' parallèle aux axes de pivotement x-x' et y-y' et un axe Y-Y' dans le plan de la figure 1, cet axe Y-Y' étant orthogonal aux axes x-x' et y-y'. En d'autres termes, l'axe X-X' repère l'épaisseur de la benne et l'axe Y-Y' repère sa largeur.The body of the bucket 22 has a longitudinal axis which is vertical in normal operating condition Z-Z '. To locate the position of the whole body relative to the space, to this one can associate the vertical axes Z-Z ', an axis X-X' parallel to the axes of pivot x-x 'and y-y' and an axis Y-Y 'in the plane of figure 1, this axis Y-Y' being orthogonal to the axes x-x 'and y-y'. In other words, the axis XX ' mark the thickness of the bucket and the axis Y-Y 'mark its width.

On voit également sur la figure 1 que le corps de la benne 22 est équipé de deux patins de correction de position 32 et 34 qui sont montés mobiles par rapport au châssis 24 du corps de benne ainsi qu'on l'expliquera ultérieurement. On comprend dès à présent que les patins 32 et 34 sont effectivement au contact de la paroi de la tranchée en cours de creusement et que, en modifiant la position du corps de benne par rapport à ces deux patins, on peut effectivement corriger les défauts de verticalité de la benne en train de réaliser la tranchée.We also see in Figure 1 that the body of the bucket 22 is equipped with two position correction pads 32 and 34 which are mounted movable relative to the chassis 24 of the body of the body as well as will explain it later. We now understand that the pads 32 and 34 are actually in contact with the wall of the trench being digging and that, by modifying the position of the body of the bucket relative with these two pads, we can actually correct the verticality defects of the bucket making the trench.

En se référant maintenant aux figures 2a et 2b on va décrire le principe du dispositif de correction de verticalité selon l'invention. Sur la figure 2a, on a représenté schématiquement la moitié du châssis 24 du corps de benne qui présente deux faces principales verticales 36 et 38 qui sont disposées dans des plans Y-Z et deux faces latérales 40 qui sont disposées dans des plans X-Z. Les périphéries des faces principales 36 et 38 ainsi que les faces latérales 40 sont recouvertes par respectivement les patins de correction 32 et 34. En coupe horizontale, chaque patin 32 ou 34 a une forme de U. Ainsi, chaque patin comporte deux ailes 44 et 46 disposées en regard de la périphérie des faces principales 36 et 38 et une partie centrale 48 qui raccorde ces deux ailes et qui est en regard des faces latérales 40 et 42 du châssis 24.Referring now to Figures 2a and 2b we will describe the principle of the verticality correction device according to the invention. On the 2a, there is shown schematically half of the chassis 24 of the bucket body which has two main vertical faces 36 and 38 which are arranged in Y-Z planes and two side faces 40 which are arranged in X-Z planes. The peripheries of the main faces 36 and 38 as well as the lateral faces 40 are covered by respectively the correction pads 32 and 34. In horizontal section, each pad 32 or 34 has a U shape. Thus, each skate has two wings 44 and 46 arranged opposite the periphery of the main faces 36 and 38 and a central part 48 which connects these two wings and which is opposite the lateral faces 40 and 42 of the chassis 24.

Chaque patin 32 et 34 est équipé de deux vérins de déplacement selon la direction X-X', disposés respectivement à l'extrémité supérieure et à l'extrémité inférieure du patin. Ces dispositifs de déplacement sont représentés schématiquement sur les figures 2a et 2b et sont référencés 50 et 52. Le patin 34 est, bien sûr, également équipé de deux dispositifs de déplacement respectivement supérieur et inférieur. Comme on l'expliquera ultérieurement plus en détail, chaque dispositif de déplacement 50 ou 52 peut être commandé séparément. On comprend que les déplacements relatifs du châssis 24 par rapport aux patins 32 et 34 permettent de corriger à la partie supérieure et à la partie inférieure du corps de benne les erreurs de verticalité par rapport aux axes X, Y et Z.Each shoe 32 and 34 is equipped with two jacks displacement in direction X-X ', respectively arranged at the end upper and lower end of the skate. These devices displacement are shown schematically in Figures 2a and 2b and are referenced 50 and 52. The shoe 34 is, of course, also equipped of two displacement devices respectively upper and lower. As will be explained later in more detail, each displacement 50 or 52 can be ordered separately. We understand that the relative displacements of the chassis 24 relative to the pads 32 and 34 allow to correct at the top and bottom of the body of the verticality errors with respect to the X, Y and Z axes.

Afin de corriger les erreurs de verticalité dans le plan Y-Z, chacun des deux patins est équipé d'un patin auxiliaire 56 qui peut être déplacé par rapport au patin proprement dit 32 selon la direction YY'. Plus précisément, le patin auxiliaire 56 est équipé lui-même de deux vérins de déplacement 58 et 60, commandés simultanément respectivement supérieur et inférieur. Il est ainsi possible, par la commande des dispositifs 58 et 60, de déplacer le patin auxiliaire 56 par rapport au patin 32 dans le plan Y-Z.In order to correct verticality errors in the Y-Z plane, each of the two pads is equipped with an auxiliary pad 56 which can be moved relative to the pad 32 itself in the direction YY '. More specifically, the auxiliary shoe 56 is itself equipped with two cylinders displacement 58 and 60, controlled simultaneously respectively upper and lower. It is thus possible, by ordering devices 58 and 60, to move the auxiliary shoe 56 relative to the shoe 32 in the Y-Z plane.

En outre, la benne est équipée de capteurs qui permettent de détecter les erreurs de verticalité. In addition, the bucket is equipped with sensors which allow detect verticality errors.

On comprend que, si ces dispositifs mécaniques constitués par les patins principaux et les patins auxiliaires permettent d'introduire des corrections de défauts de verticalité, la commande des différents vérins correspondants est très délicate à effectuer par l'utilisateur de la benne de forage au vu des informations délivrées par les capteurs. Il en résulte que, lorsque le forage doit atteindre des profondeurs importantes, il existe des risques sérieux que le forage final obtenu ne présente pas la verticalité requise.It is understood that, if these mechanical devices constituted by the main pads and the auxiliary pads allow the introduction of verticality correction, control of the different cylinders is very difficult for the user of the drilling in view of the information delivered by the sensors. It follows that, when drilling must reach significant depths, there are serious risks that the final borehole obtained will not have verticality required.

Un objet de la présente invention est de fournir une benne de forage comportant un système de commande de correction de verticalité qui soit d'une utilisation plus simple par l'opérateur se servant de la benne et qui autorise ainsi la réalisation de forages dont la verticalité est très sensiblement améliorée.An object of the present invention is to provide a grab drilling with verticality correction control system which is easier to use by the operator using the bucket and which thus authorizes the realization of boreholes whose verticality is very significantly improved.

Pour atteindre ce but selon l'invention, la benne de forage comprenant un corps muni d'un châssis, ledit corps étant suspendu par sa partie supérieure et étant muni de deux poches articulées autour de deux axes de pivotement parallèles entre eux disposés à l'extrémité inférieure du corps, ledit corps présentant un axe vertical, ledit châssis présentant deux faces principales orthogonales aux axes de pivotement et deux faces latérales parallèles aux axes de pivotement, comprend en outre des moyens de correction de l'inclinaison de ladite benne qui comportent

  • deux patins principaux d'inclinaison de la benne, chaque patin comportant deux ailes orthogonales aux axes de pivotement et parallèles à l'axe vertical reliées à une partie centrale faisant face aux faces latérales du châssis, chaque patin présentant une extrémité supérieure et une extrémité inférieure ;
  • des moyens de déplacement de chaque patin principal par rapport au châssis, chaque moyen de déplacement comprenant un vérin supérieur pour déplacer l'extrémité supérieure du patin selon une direction parallèle aux axes de pivotement dans un sens et dans l'autre et un vérin inférieur pour déplacer l'extrémité inférieure dudit patin selon une direction parallèle aux axes de pivotement dans les deux sens, chaque patin principal comportant en outre un patin auxiliaire de correction d'inclinaison apte à faire saillie hors de la face centrale du patin et un vérin pour déplacer l'extrémité supérieure et l'extrémité inférieure dudit patin auxiliaire par rapport audit patin principal selon une direction orthogonale auxdits axes de pivotement,
   ladite benne se caractérisant en ce qu'elle comprend en outre :
  • des premiers capteurs pour délivrer des signaux représentatifs de l'inclinaison, par rapport à la verticale, de l'axe longitudinal du châssis dans un premier plan contenant l'axe longitudinal et s'étendant parallèlement aux faces principales du châssis ;
  • des deuxièmes capteurs pour délivrer des signaux représentatifs de l'inclinaison, par rapport à la verticale, de l'axe longitudinal du châssis dans un deuxième plan contenant l'axe longitudinal et s'étendant parallèlement aux faces latérales du châssis ;
  • des troisièmes capteurs pour délivrer un signal représentatif d'un mouvement de vrillage du châssis autour de la verticale ;
  • des moyens de traitement des signaux délivrés par les capteurs pour en déduire des informations d'inclinaison et/ou de vrillage du châssis ;
  • des moyens de commande desdits vérins pour élaborer des signaux de commande desdits vérins en fonction desdites informations d'inclinaison et de vrillage ;
  • des moyens manuels d'application desdits signaux de commande auxdits vérins.
To achieve this object according to the invention, the drilling bucket comprising a body provided with a frame, said body being suspended by its upper part and being provided with two pockets articulated around two pivot axes parallel to one another arranged at the lower end of the body, said body having a vertical axis, said chassis having two main faces orthogonal to the pivot axes and two lateral faces parallel to the pivot axes, further comprises means for correcting the inclination of said bucket which comprise
  • two main skids for tilting the bucket, each skate having two wings orthogonal to the pivot axes and parallel to the vertical axis connected to a central part facing the lateral faces of the chassis, each skate having an upper end and a lower end ;
  • means for moving each main shoe relative to the chassis, each movement means comprising an upper cylinder for moving the upper end of the shoe in a direction parallel to the pivot axes in one direction and in the other and a lower cylinder for moving the lower end of said pad in a direction parallel to the pivot axes in both directions, each main pad further comprising an auxiliary tilt correction pad capable of projecting out of the central face of the pad and a cylinder for moving the upper end and the lower end of said auxiliary shoe with respect to said main shoe in a direction orthogonal to said pivot axes,
said bucket being characterized in that it further comprises:
  • first sensors for delivering signals representative of the inclination, with respect to the vertical, of the longitudinal axis of the chassis in a first plane containing the longitudinal axis and extending parallel to the main faces of the chassis;
  • second sensors for delivering signals representative of the inclination, with respect to the vertical, of the longitudinal axis of the chassis in a second plane containing the longitudinal axis and extending parallel to the lateral faces of the chassis;
  • third sensors for delivering a signal representative of a twisting movement of the chassis around the vertical;
  • means for processing the signals delivered by the sensors in order to deduce therefrom tilting and / or twisting information of the chassis;
  • control means of said jacks for producing control signals of said jacks according to said tilt and twist information;
  • manual means for applying said control signals to said jacks.

On comprend que, grâce à la présence des différents capteurs dont est équipé le châssis de la benne, il est possible d'obtenir des informations précises d'erreurs de verticalité et ces informations peuvent être utilisées pour agir directement sur les vérins en vue d'effectuer les actions sur les patins principaux ou auxiliaires convenables en vue d'effectuer la correction.We understand that, thanks to the presence of different sensors with which the chassis of the tipper is fitted, it is possible to obtain accurate verticality error information and this information can be used to act directly on the cylinders in order to perform the actions on the main or auxiliary skids suitable for to make the correction.

Dans un premier mode de mise en oeuvre du type semi-automatique, la benne se caractérise en ce qu'elle comprend en outre des moyens pour afficher lesdites informations d'inclinaison et/ou de vrillage, et en ce que lesdits moyens d'application des signaux de commande comprennent n organes de commande associés chacun à une information d'inclinaison ou de vrillage, chaque organe de commande étant actionnable manuellement en fonction des informations d'inclinaison ou de vrillage affichées. In a first embodiment of the semi-automatic type, the bucket is characterized in that it further comprises means for displaying said tilt and / or twist information, and in that said means of application control signals include n control members each associated with tilt or twist information, each control member being manually operable as a function of the displayed tilt or twist information.

On comprend que, dans ce premier mode de réalisation, l'opérateur dispose de l'ensemble des informations d'erreur de verticalité. A partir de ces informations, il peut agir sur les différents organes de commande afin de provoquer automatiquement la commande des vérins permettant de corriger l'erreur. En outre, on comprend que cette opération est simplifiée puisque, de préférence, chaque organe de commande est associé à une information d'erreurs de verticalité apparaissant sur le dispositif d'affichage ou de visualisation, chaque organe pouvant commander un ou deux vérins.We understand that, in this first embodiment, the operator has all the verticality error information. From this information, it can act on the various organs of command to automatically trigger the actuation of the cylinders to correct the error. In addition, we understand that this operation is simplified since, preferably, each control member is associated with verticality error information appearing on the display or visualization device, each member being able to order one or two cylinders.

Selon un deuxième mode de mise en oeuvre, la correction de verticalité est obtenue directement par l'exploitation des informations d'erreurs de verticalité qui sont traitées par des circuits de traitement en vue d'élaborer les signaux de commande à appliquer aux vérins concernés. Dans ce mode de réalisation, l'application des corrections par l'intermédiaire des vérins est conditionnée néanmoins à une action manuelle de l'opérateur.According to a second mode of implementation, the correction of verticality is obtained directly by exploiting information verticality errors which are processed by processing circuits in view of developing the control signals to be applied to the cylinders concerned. In this embodiment, the application of the corrections by the intermediary of the cylinders is nevertheless conditioned to an action operator manual.

D'autres caractéristiques et avantages de l'invention apparaítront mieux à la lecture de la description qui suit de plusieurs modes de réalisation de l'invention donnés à titre d'exemples non limitatifs. La description se réfère aux figures annexées, sur lesquelles :

  • la figure 1 déjà décrite montre l'ensemble d'une benne de forage conforme à l'invention ;
  • la figure 2a déjà décrite est une demi-vue en coupe horizontale simplifiée du châssis de la benne ;
  • la figure 2b est une vue simplifiée de la moitié du châssis de la benne en coupe verticale ;
  • la figure 3 est une vue simplifiée de la benne montrant l'implantation des six vérins de commande ;
  • la figure 4 est un schéma simplifié montrant les systèmes de commande des différents vérins selon le mode de réalisation semi-automatique ;
  • les figures 5a à 5f illustrent les six corrections qu'il est possible d'introduire dans la position de la benne ; et
  • la figure 6 est un schéma montrant les circuits de commande de la benne dans le mode de réalisation automatique.
Other characteristics and advantages of the invention will appear better on reading the following description of several embodiments of the invention given by way of non-limiting examples. The description refers to the appended figures, in which:
  • Figure 1 already described shows the assembly of a drilling bucket according to the invention;
  • Figure 2a already described is a half-view in simplified horizontal section of the chassis of the bucket;
  • Figure 2b is a simplified view of half of the chassis of the bucket in vertical section;
  • Figure 3 is a simplified view of the bucket showing the location of the six control cylinders;
  • FIG. 4 is a simplified diagram showing the control systems of the various cylinders according to the semi-automatic embodiment;
  • Figures 5a to 5f illustrate the six corrections that it is possible to introduce in the position of the bucket; and
  • FIG. 6 is a diagram showing the control circuits of the bucket in the automatic embodiment.

Sur la figure 3, on a représenté schématiquement le châssis 24 de la benne, les patins principaux 32 et 34 ainsi que les patins auxiliaires 56 et 58. Sur la figure 3, on a également fait apparaítre de façon simplifiée les vérins V1 et V2 respectivement supérieur et inférieur de commande du patin principal 32, les vérins V3 et V4 respectivement supérieur et inférieur du patin principal 34 ainsi que les vérins V5 et V6 de commande des patins auxiliaires 56 et 58.In Figure 3, there is shown schematically the chassis 24 of the bucket, the main pads 32 and 34 and the auxiliary pads 56 and 58. In Figure 3, we have also shown in a simplified manner the cylinders V 1 and V 2 respectively upper and lower control of the main shoe 32, the cylinders V 3 and V 4 respectively upper and lower of the main shoe 34 as well as the cylinders V 5 and V 6 for controlling the auxiliary shoes 56 and 58.

En se référant maintenant à la figure 4, on va décrire le système de commande des vérins V1 à V6 en fonction des erreurs de verticalité ou de vrillage dans le mode de réalisation semi-automatique.Referring now to Figure 4, we will describe the control system of the cylinders V 1 to V 6 according to the verticality or twisting errors in the semi-automatic embodiment.

Selon l'invention, le châssis de la benne est équipé de deux inclinomètres 62 et 64 qui permettent de détecter l'inclinaison de l'axe longitudinal du châssis de la benne, respectivement dans un plan parallèle aux faces principales du châssis et dans un plan parallèle aux faces latérales du châssis. La benne est également équipée d'un gyromètre 66 qui permet de détecter un mouvement global de vrillage du châssis autour de la verticale. Les informations sous forme numérique ou analogique délivrées par ces capteurs sont transmises vers la surface par des conducteurs électriques 68 vers des circuits de traitement 70.According to the invention, the chassis of the tipper is equipped with two inclinometers 62 and 64 which detect the inclination of the axis longitudinal of the body of the bucket, respectively in a plane parallel to the main faces of the chassis and in a plane parallel to the side faces of the chassis. The bucket is also equipped with a gyrometer 66 which detects an overall twisting movement of the chassis around the vertical. Information in digital form or analog delivered by these sensors are transmitted to the surface by from electrical conductors 68 to processing circuits 70.

Le circuit de traitement 70 à partir de l'information délivrée par le capteur 62 donne une éventuelle information d'inclinaison dans un sens ou dans l'autre dans le premier plan de référence. Le signal délivré par le deuxième inclinomètre 64 est traité par le circuit 70 pour fournir une éventuelle indication d'inclinaison dans un sens ou dans l'autre dans le deuxième plan de référence. Enfin, le circuit 70, à partir du signal délivré par le gyromètre 66, détecte un éventuel vrillage du châssis de la benne dans le sens direct ou dans le sens inverse. Le système de commande comporte également un dispositif d'affichage, de préférence un écran de visualisation 72 sur lequel on peut faire apparaítre les informations éventuelles d'inclinaison appartenant à une des six catégories de défaut de verticalité énoncées précédemment. L'opérateur a donc, à sa disposition, une visualisation simple des éventuels défauts de verticalité avec, de préférence, leur amplitude.The processing circuit 70 from the information delivered by the sensor 62 gives a possible tilt information in one direction or in the other in the first reference plane. The signal delivered by the second inclinometer 64 is processed by circuit 70 to provide a possible indication of tilt in one direction or the other in the second reference plane. Finally, circuit 70, from the signal delivered by the gyrometer 66, detects a possible twisting of the body of the bucket in the direct direction or in the opposite direction. The control system also includes a display device, preferably a screen display 72 on which the information can be displayed possible inclination belonging to one of the six fault categories of verticality previously stated. The operator therefore has layout, a simple visualization of any verticality defects preferably with their amplitude.

L'opérateur a également, à sa disposition, un ensemble de commande 74 constitué par autant d'organes à commande manuelle 76i qu'il y a d'informations différentes d'erreur de verticalité, c'est-à-dire six dans l'exemple décrit. Cet ensemble de commande 74 est relié à un circuit de traitement 78 qui, à partir du signal produit par l'actionnement d'un des organes 76i élabore les signaux de commande Ci qui doivent être appliqués à l'un ou plusieurs des vérins V1 à V6 en fonction de l'erreur à corriger. Plus précisément, les signaux de commande Ci sont appliqués aux circuits de commande 80 des vérins V1 à V6.The operator also has at his disposal a control assembly 74 consisting of as many manually controlled members 76 i as there are different vertical error information, that is to say six in the example described. This control assembly 74 is connected to a processing circuit 78 which, on the basis of the signal produced by the actuation of one of the members 76 i develops the control signals C i which must be applied to one or more of the jacks V 1 to V 6 depending on the error to be corrected. More specifically, the control signals C i are applied to the control circuits 80 of the cylinders V 1 to V 6 .

On comprend qu'ainsi l'opérateur peut, à chaque enfoncement de la benne dans le forage, corriger une éventuelle erreur de verticalité ou de vrillage, puisqu'il dispose, d'une part, d'une information simple relative à la nature du défaut de verticalité apparaissant sur l'écran 72 et, d'autre part, d'un organe de commande 76i correspondant à chacun des défauts de verticalité susceptibles d'apparaítre sur cet écran. On évite ainsi toute erreur de manipulation.It is understood that in this way the operator can, each time the bucket is inserted into the borehole, correct any verticality or twisting error, since he has, on the one hand, simple information relating to the nature of the defect in verticality appearing on the screen 72 and, on the other hand, a control member 76 i corresponding to each of the verticality faults likely to appear on this screen. This avoids any handling error.

Sur les figures 5a à 5f, on a représenté de façon schématique l'erreur de positionnement ainsi que l'action sur les patins principaux ou auxiliaires qu'il y a lieu d'appliquer pour obtenir l'erreur de verticalité.In Figures 5a to 5f, there is shown schematically the positioning error as well as the action on the main skids or auxiliaries that should be applied to obtain the verticality error.

Les figures 5a et 5b correspondent respectivement à des inclinaisons avant et arrière du châssis de la benne dans le plan ZY. Pour introduire la correction correspondante, il faut agir sur les patins principaux. La correction est obtenue en déplaçant dans un premier sens les vérins V1 et V3 supérieurs des patins principaux 32 et 34 et les vérins V2 et V4 inférieurs des patins principaux 32 et 34 dans l'autre sens.FIGS. 5a and 5b correspond respectively to front and rear inclinations of the chassis of the bucket in the ZY plane. To introduce the corresponding correction, it is necessary to act on the main pads. The correction is obtained by first moving the upper cylinders V 1 and V 3 of the main shoes 32 and 34 and the lower cylinders V 2 and V 4 of the main shoes 32 and 34 in the other direction.

Sur les figures 5c et 5d, on a représenté le mode de correction d'un décalage latéral à droite ou à gauche, c'est-à-dire selon le plan X-Z du châssis. Cette correction est obtenue en commandant l'un ou l'autre des vérins V5 et V6 associé aux patins auxiliaires 56 et 58.In FIGS. 5c and 5d, the mode of correction of a lateral offset to the right or to the left is shown, that is to say according to the XZ plane of the chassis. This correction is obtained by controlling one or the other of the cylinders V 5 and V 6 associated with the auxiliary shoes 56 and 58.

Enfin, sur les figures 5e et 5f, on a illustré la correction d'un effet de vrillage dans le sens horaire ou dans le sens anti-horaire. Pour introduire cette correction, on agit simultanément sur les vérins V1, V3 d'un des patins principaux dans un premier sens et sur les vérins V2, V4 du deuxième patin principal dans un deuxième sens selon qu'il y a lieu de corriger un vrillage dans le sens horaire ou dans le sens anti-horaire.Finally, in Figures 5e and 5f, there is illustrated the correction of a twisting effect clockwise or counterclockwise. To introduce this correction, one acts simultaneously on the cylinders V 1 , V 3 of one of the main pads in a first direction and on the cylinders V 2 , V 4 of the second main pad in a second direction as appropriate. correct a twist clockwise or counterclockwise.

Sur la figure 6, on a illustré de façon simplifiée les circuits de commande dans le cas de la correction automatique. Les signaux délivrés par les capteurs 62, 64 et 66 sont transmis directement par les conducteurs électriques 68 à un circuit de traitement 82 qui élabore directement à partir des informations d'erreurs de verticalité les signaux Ci de commande à appliquer au circuit de commande 80 des vérins V1 à V6. Cependant, un organe de commande manuel 84 permet à l'opérateur de provoquer effectivement l'application des signaux de commande Ci au circuit de commande 80 des vérins V1 à V6.In FIG. 6, the control circuits have been illustrated in a simplified manner in the case of automatic correction. The signals delivered by the sensors 62, 64 and 66 are transmitted directly by the electrical conductors 68 to a processing circuit 82 which generates directly from the verticality error information the control signals C i to be applied to the control circuit 80 cylinders V 1 to V 6 . However, a manual control member 84 allows the operator to effectively cause the application of the control signals C i to the control circuit 80 of the cylinders V 1 to V 6 .

Claims (5)

Benne de forage comprenant un corps muni d'un châssis, ledit corps étant suspendu par sa partie supérieure et étant muni de deux poches articulées autour de deux axes de pivotement parallèles entre eux disposés à l'extrémité inférieure du corps, ledit corps présentant un axe vertical, ledit châssis présentant deux faces principales orthogonales aux axes de pivotement et deux faces latérales parallèles aux axes de pivotement, ladite benne comprenant en outre des moyens de correction de l'inclinaison de ladite benne qui comportent deux patins principaux d'inclinaison de la benne, chaque patin comportant deux ailes orthogonales aux axes de pivotement et parallèles à l'axe vertical reliées à une partie centrale faisant face aux faces latérales du châssis, chaque patin présentant une extrémité supérieure et une extrémité inférieure ; des moyens de déplacement de chaque patin principal par rapport au châssis, chaque moyen de déplacement comprenant un vérin supérieur pour déplacer l'extrémité supérieure du patin selon une direction parallèle aux axes de pivotement dans un sens et dans l'autre et un vérin inférieur pour déplacer l'extrémité inférieure dudit patin selon une direction parallèle aux axes de pivotement dans les deux sens, chaque patin principal comportant en outre un patin auxiliaire de correction d'inclinaison apte à faire saillie hors de la face centrale du patin et un vérin pour déplacer l'extrémité supérieure et l'extrémité inférieure dudit patin auxiliaire par rapport audit patin principal selon une direction orthogonale auxdits axes de pivotement,    ladite benne se caractérisant en ce qu'elle comprend en outre : des premiers capteurs pour délivrer des signaux représentatifs de l'inclinaison, par rapport à la verticale, de l'axe longitudinal du châssis dans un premier plan contenant l'axe longitudinal et s'étendant parallèlement aux faces principales du châssis ; des deuxièmes capteurs pour délivrer des signaux représentatifs de l'inclinaison, par rapport à la verticale, de l'axe longitudinal du châssis dans un deuxième plan contenant l'axe longitudinal et s'étendant parallèlement aux faces latérales du châssis ; des troisièmes capteurs pour délivrer un signal représentatif d'un mouvement de vrillage du châssis autour de la verticale ; des moyens de traitement des signaux délivrés par les capteurs pour en déduire des informations d'inclinaison et/ou de vrillage du châssis ; des moyens de commande desdits vérins pour élaborer des signaux de commande desdits vérins en fonction desdites informations d'inclinaison et de vrillage ; des moyens manuels d'application desdits signaux de commande auxdits vérins. Drilling bucket comprising a body provided with a frame, said body being suspended by its upper part and being provided with two pockets articulated around two pivot axes parallel to one another arranged at the lower end of the body, said body having an axis vertical, said chassis having two main faces orthogonal to the pivot axes and two lateral faces parallel to the pivot axes, said bucket further comprising means for correcting the inclination of said bucket which comprise two main skids for tilting the bucket, each skate having two wings orthogonal to the pivot axes and parallel to the vertical axis connected to a central part facing the lateral faces of the chassis, each skate having an upper end and a lower end ; means for moving each main shoe relative to the chassis, each movement means comprising an upper cylinder for moving the upper end of the shoe in a direction parallel to the pivot axes in one direction and in the other and a lower cylinder for moving the lower end of said pad in a direction parallel to the pivot axes in both directions, each main pad further comprising an auxiliary tilt correction pad capable of projecting out of the central face of the pad and a cylinder for moving the upper end and the lower end of said auxiliary shoe with respect to said main shoe in a direction orthogonal to said pivot axes, said bucket being characterized in that it further comprises: first sensors for delivering signals representative of the inclination, with respect to the vertical, of the longitudinal axis of the chassis in a first plane containing the longitudinal axis and extending parallel to the main faces of the chassis; second sensors for delivering signals representative of the inclination, with respect to the vertical, of the longitudinal axis of the chassis in a second plane containing the longitudinal axis and extending parallel to the lateral faces of the chassis; third sensors for delivering a signal representative of a twisting movement of the chassis around the vertical; means for processing the signals delivered by the sensors in order to deduce therefrom tilting and / or twisting information of the chassis; control means of said jacks for producing control signals of said jacks according to said tilt and twist information; manual means for applying said control signals to said jacks. Benne selon la revendication 1, caractérisée en ce que lesdits moyens de traitement sont aptes à élaborer un nombre n prédéterminé d'informations d'inclinaison et de vrillage ;
   en ce qu'elle comprend en outre des moyens pour afficher lesdites informations d'inclinaison et/ou de vrillage ; et
   en ce que lesdits moyens d'application des signaux de commande comprennent n organes de commande associés chacun à une information d'inclinaison ou de vrillage, chaque organe de commande étant actionnable manuellement en fonction des informations d'inclinaison ou de vrillage affichées.A bucket according to claim 1, characterized in that said processing means are capable of producing a predetermined number n of tilt and twist information;
in that it further comprises means for displaying said tilt and / or twist information; and
in that said means for applying the control signals comprise n control members each associated with tilt or twist information, each control member being manually actuable as a function of the displayed tilt or twist information. Benne selon la revendication 2, caractérisée en ce que lesdites n informations sont : a) une information d'inclinaison dans le premier plan dans un premier sens ; b) une information d'inclinaison dans le premier plan dans un deuxième sens ; c) une information d'inclinaison dans le deuxième plan dans un premier sens ; d) une information d'inclinaison dans le deuxième plan dans un deuxième sens ; e) une information de vrillage dans un premier sens : et f) une information de vrillage dans un deuxième sens. Dumpster according to claim 2, characterized in that said n information is: a) information of tilt in the first plane in a first direction; b) tilting information in the foreground in a second direction; c) tilt information in the second plane in a first direction; d) tilt information in the second plane in a second direction; e) a first direction twist information: and f) a second direction twist information. Benne selon la revendication 3, caractérisée en ce que ledit organe de commande correspondant à l'information a) commande les deux vérins supérieurs dans le deuxième sens, ledit organe de commande correspondant à l'information b) commande les deux vérins inférieurs dans le deuxième sens, lesdits organes de commande correspondant aux informations c) ou d) commandent l'un des vérins associés aux patins auxiliaires et lesdits organes de commande correspondant aux informations e) ou f) commandent les vérins supérieur et inférieur d'un patin principal dans un premier sens et les vérins supérieur et inférieur de l'autre patin principal dans l'autre sens.A bucket according to claim 3, characterized in that said control member corresponding to information a) controls the two upper cylinders in the second direction, said control member corresponding to information b) controls the two lower cylinders in the second sense, said control members corresponding to information c) or d) control one of the cylinders associated with the auxiliary shoes and said control members corresponding to information e) or f) control the upper and lower cylinders of a main shoe in a first direction and the upper and lower cylinders of the other main shoe in the other direction. Benne selon la revendication 1, caractérisée en ce que les moyens manuels d'application desdits signaux de commande comprennent un organe unique de commande pour provoquer l'application de l'ensemble desdits signaux de commande directe aux circuits de commande desdits vérins.A bucket according to claim 1, characterized in that the manual means for applying said control signals comprise a single control member for causing the application of all of said direct control signals to the control circuits of said cylinders.
EP02291152A 2001-06-01 2002-05-07 Grab bucket for trench walls with improved control system for the verticality of the excavation Expired - Lifetime EP1264937B1 (en)

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FR0107226A FR2825393B1 (en) 2001-06-01 2001-06-01 DRILL BUCKET WITH IMPROVED VERTICALITY CONTROL SYSTEM
FR0107226 2001-06-01

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JP (1) JP2003048684A (en)
AT (1) ATE429547T1 (en)
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ITUD20090053A1 (en) * 2009-03-05 2010-09-06 Casagrande Spa CONTROL DEVICE FOR AN EXCAVATION EQUIPMENT
WO2011157187A1 (en) * 2010-06-18 2011-12-22 湖南三一智能控制设备有限公司 Grab bucket for diaphragm wall and grab bucket device thereof
CN104018537A (en) * 2014-05-30 2014-09-03 徐工集团工程机械股份有限公司 Slot milling machine and correction detection method of mill support of slot milling machine
CN104196068A (en) * 2014-07-24 2014-12-10 冯承渭 Grab bucket type energy-saving dredger
CN112081167A (en) * 2020-09-08 2020-12-15 镇江市亿华系统集成有限公司 Control method for high-flatness grab bucket ship foundation trench fine excavation operation

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Publication number Priority date Publication date Assignee Title
ITUD20090053A1 (en) * 2009-03-05 2010-09-06 Casagrande Spa CONTROL DEVICE FOR AN EXCAVATION EQUIPMENT
WO2011157187A1 (en) * 2010-06-18 2011-12-22 湖南三一智能控制设备有限公司 Grab bucket for diaphragm wall and grab bucket device thereof
CN104018537A (en) * 2014-05-30 2014-09-03 徐工集团工程机械股份有限公司 Slot milling machine and correction detection method of mill support of slot milling machine
CN104018537B (en) * 2014-05-30 2016-02-24 徐工集团工程机械股份有限公司 The correction detection method of the carriage arbor of slotter and slotter
CN104196068A (en) * 2014-07-24 2014-12-10 冯承渭 Grab bucket type energy-saving dredger
CN104196068B (en) * 2014-07-24 2016-09-07 冯承渭 A kind of grab type energy-saving dredger
CN112081167A (en) * 2020-09-08 2020-12-15 镇江市亿华系统集成有限公司 Control method for high-flatness grab bucket ship foundation trench fine excavation operation

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Publication number Publication date
EP1264937B1 (en) 2009-04-22
TW562894B (en) 2003-11-21
ATE429547T1 (en) 2009-05-15
EP1264937A3 (en) 2003-01-29
FR2825393A1 (en) 2002-12-06
DE60232044D1 (en) 2009-06-04
JP2003048684A (en) 2003-02-21
FR2825393B1 (en) 2003-11-07

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