WO2011131841A1

WO2011131841A1 - Unmanned device for versatile handling of material containing stone, rock-like material or soil

Info

Publication number: WO2011131841A1
Application number: PCT/FI2011/050362
Authority: WO
Inventors: Markus Reinikka; Seppo Kuosmanen
Original assignee: Stonego International Oy
Priority date: 2010-04-20
Filing date: 2011-04-20
Publication date: 2011-10-27
Also published as: FI20105425A0; CA2796971A1; EP2561146A1; FI20105425A

Abstract

The object of the invention is an unmanned device for versatile handling of material containing stone, rock-like material or soil, which device comprises at least a frame structure (1), a moving structure (2) intended for moving the device and also a boom structure (3) connected to the frame structure (1) by means of a slewing ring (6), which boom structure comprises an attachment unit (18) for the tool (24), and which device comprises at least a main hydraulic system (36) and a control system (30a) controlling it. The device comprises at least mechanical connection means, hydraulic connection means and also connection means (18-29) conveying control information for connecting tools intended for different functions one at a time to be used in the device and controlled by the control system (30a) of the device.

Description

UNMANNED DEVICE FOR VERSATILE HANDLING OF MATERIAL CONTAINING STONE, ROCK-LIKE MATERIAL OR SOIL

The object of the invention is an unmanned device as defined in the preamble of claim 1 for versatile handling of material containing stone, rock- like material or soil.

Owing to its diversity of application, the device according to the invention is well suited to versatile handling of different stone material, such as rock and boulders, but also to handling of hard material containing stone material, such as concrete, and also to handling of normal soft soil. The device according to the invention is also suited for diverse use in cramped locations, such as in the basements of completed buildings, in small tunnels and in other corresponding low and cramped spaces .

One problem at construction worksites, renovation worksites and quarrying worksites, particularly in population centres but also elsewhere, has been that a machine of a suitable size and capacity applicable to versatile use, which machine would have properties of both rotary machines and directional machines and with which machine most demolishing work, boring work, supporting work and quarrying work could thus be handled, has not been available. Separate devices suitable for these types of tasks are e.g. rock boring devices, crack boring devices, stone splitting devices, different rock breakers, bolting devices, injection devices, concrete spraying devices , diamond chain saws , diamond circular saws and demolition shears, 'et cetera. In these devices the hydraulic system of the device is usually always optimized separately for the pressure level and oil volume required by the specific special tool of the device, in which case only one tool for which the optimization is implemented, can be used in the devices. These devices are thus available as separate devices, but in practice large separate devices cannot be used at construction worksites, but instead they must in this case be used manually, in which case a problem is the slowness and stressfulness of the manual work.

Another problem at construction worksites, renovation worksites and quarrying worksites in population centers, or in the proximity of them, is that blasting work in the proximity of other buildings is awkward and may cause damages to the nearby buildings. In addition, performing blasting work in population centers is very awkward.

Yet another problem is that machines having a cabin or a machinery compartment turning along with the boom are usually not suitable for construction sites and for tasks performed in basements because, due to their size, they do not fit in the space in question or they cannot be driven e.g. immediately beside a wall or a corresponding obstacle since when the boom is turned the cabin or the machinery compartment would strike against the wall or corresponding obstacle .

The aim of the present invention is to eliminate the aforementioned drawbacks and to achieve an inexpensive and efficient unmanned device suitable for a number of different applications for versatile handling of material containing stone, rock-like material or soil. Another aim is to achieve an apparatus suitable for use in free spaces but in particular in cramped and low spaces, on which apparatus a number of different tools for different applications can be easily attached one at a time. The device according to the invention is characterized by what is disclosed in the characterization part of claim 1. Other embodiments of the invention are characterized by what is disclosed in the other claims.

One advantage, among others, of an unmanned device according to the invention is that in the device according to the invention the properties of a normal rotary machine are combined with e.g. properties of directional machines intended for tunnel use, in which case the device is very versatile in its usability. One advantage in this case is that owing to the tool connection, distributed hydraulic control, smart control system and scalable hydraulics, any special tool whatsoever designed for the device can be used as an integral part of the device so that the device with its tools functions as well as, or better than, a special machine to be used for performing a corresponding function. In this case a number of different tools for different applications can be attached one at a time onto one basic device, in which case many different functions, such as demolition, boring, supporting, earth moving and quarrying tasks, can be performed with one device. Another advantage is that owing to the smart tool connection, the device is ready for use immediately after a new tool is attached onto and connected to the device.

In the following, the invention will be described in more detail by the aid of an example of its embodiment with reference to the attached drawings, wherein

Fig. 1 presents an oblique front view of one device according to the invention, as viewed from above,

Fig. 2 presents an oblique top view of a part of a device according to the invention, said part being intended for the attachment of a tool, and one tool to be attached,

Fig. 3 presents a simplified and partially sectioned front view of a connection solution of a device according to the invention,

Fig. 4 presents a simplified side view of a connection of a tool of a device according to the invention, Fig. 5 presents a diagrammatic and simplified view of connections of a device according to the invention, Fig. 6 presents an oblique front view of a device according to the invention, as viewed from above and provided with one tool, and

Fig. 7 presents an oblique front view of a device according to the invention, as viewed from above and provided with one second tool.

Fig. 1 presents an oblique front and top view of one unmanned device according to the invention. The device comprises, among other things, at least a frame structure 1, a moving structure 2 intended for moving the frame structure 1, and also a boom structure 3 connected to the frame structure, which boom structure comprises at least a bending and turning knuckle boom system. The device is preferably unmanned and remote-controlled, but alternatively it can also have a cabin for driving the device from the cabin.

The frame structure 1 comprises e.g. a machinery compartment, storage space and a decking structure la protecting the frame parts, inside which decking structure are the frame parts of the device, a drive motor functioning as the power source for the moving and the hydraulics, the scaled and distributed hydraulic system needed, and also a control system of the device with its central unit as well as storage space for the materials and equipment to be used. The moving structure 2 is connected in a hinged manner to the frame structure 1 and at the same time bears at least the weight of the frame structure 1 and of the boom structure 3. The moving structure 2 is e.g. a structure on both sides of the frame structure 1 comprised of a track frame 4 with its parts and of caterpillar tracks 5.

The boom structure 3 is connected to a slewing rim, i.e. a slewing ring 6, in the frame part by means of attachment brackets 6a such that the boom structure 3 is able to turn 360 around the center axis of the slewing ring 6. In Fig. 1 the device is essentially on a horizontal base, in which case the center axis of the slewing ring 6 is essentially vertical. The boom structure 3 comprises at its first end, i.e. at its bottom end, a first boom 7, i.e. a bottom boom, hinged to the attachment brackets of the slewing ring, and a hydraulic cylinder 8 with its lever elements 9 driving said boom, and also a second boom 10, i.e. a telescopic boom, hinged at its first end to the second end of the first boom 7 via a lever mechanism, which second boom 10 comprises an outer boom 11 and an inner boom 12 that are nested and move in the longitudinal direction in relation to each other. The slewing and longitudinal movement of the booms are implemented with hydraulic cylinders that are not shown in Fig. 1.

The second end, i.e. the free end of the inner boom 12 comprises a lever mechanism 13, via which a third boom 14, i.e. an outermost part of the boom structure 3 intended for attaching a tool, is hinged at its first end to the free end of the inner boom 12. The third boom 14 is turned in the direction of the inclination plane of the boom structure 3 with a hydraulic cylinder 15 and transversely against the direction of the inclination plane around the hinge 17 with a hydraulic cylinder 16. The term inclination plane of the boom structure 3 refers to a plane on which each boom 7, 10, 14 can be turned around its hinge at the first end. In addition, the outer surface of the third boom 14 comprises an attachment unit 18 for attaching one at a time different tools suitable for different functions to be used by the device.

In connection with this application a tool refers to a separate structural assembly provided with a hydraulic system of its own, which assembly comprises a frame part of its own and a housing head, and which assembly can be connected from its frame part to be used with the device according to the invention, and which assembly can either have one function related to only one task or a plurality of functions related to different tasks. A tool having a function related to only one task is e.g. a circular saw tool provided with a stationary housing head, which saw tool only performs rotational movement. Different saw blades and discs can, however, also be changed on this type of circular saw tool. In addition to the rotational movement, a stationary housing head can, however, also perform other work cycles needed for the same task than the rotational work cycle, e.g. movement in the axial direction and other necessary movements or functions needed for the task.

Correspondingly, a tool with a plurality of different functions needed for completely different tasks is e.g. a type of tool on which housing heads that enable functions needed for different tasks can be changed or to which different auxiliary components can be added. In this case completely different tasks can be performed with the same frame part of the tool .

The device according to the invention and the boom structure 3 with its attachments are dimensioned in their strength and components to be such that the structure withstands working and changes in loading directions in any position of the booms 7, 10, 14 and also at the maximum range of the booms and when using any tool designed for the device in connection with the third boom 14. Fig. 2 presents the third boom 14 of the device according to the invention in more detail and one tool 24 to be used in the device. The third boom 14 is essentially short, not necessarily boom-like in its structure, and its main purpose is to function as an attachment base for the tool 24 to be attached onto the device, as a smart connection unit, as a final director of the tool 24 and also as a mover of the tool to the desired positions.

The outer surface of the third boom 14 comprises an attachment unit 18, on which the tools 24 to be used are attached and locked into their position by the aid of the attachment means 24a on the tool 24. The attachment unit 18 comprises at least one or more attachment elements 19 that are permanently stationary in the third boom 14. In the case according to the example, there are four separate attachment elements 19, which are e.g. upward-directed plate-like structures, the top parts of which have an upwardly-opening attachment groove 20 for the pin-like attachment devices 24b that are in the attachment means 24a of the tool 24. The upward direction refers here to a direction that is upwards from the third boom 14 when the boom 14 is in the horizontal position facing forwards. There are two attachment elements 19 on both sides of the attachment unit 18 and they are at a distance from each other.

The attachment unit 18 also comprises a locking means 21 fitted to slide between the attachment elements 19 in the direction of the boom 14 by the aid of a power means 21a, such as a hydraulic cylinder, which locking means is a flat- bottomed chute in its cross-section opening essentially upwards, which chute comprises a bottom part and two side walls extending upwards at both edges of the bottom part. The locking means 21 is attached to the attachment unit 18 of the boom 14 e.g. by means of guide rails such that the locking means 21 can be moved in the longitudinal direction of the boom 14. On both side walls of the locking means 21 is at least one upwardly-opening attachment groove 22 for the attachment devices 24b on the tool 24. The attachment grooves 22 of the locking means 21 also comprise locking grooves 22a in the direction of movement of the locking means 21, which locking grooves open to the vertical attachment grooves 22 of the locking means 21, in which case the attachment groove 22 and the locking groove 22a together form an essentially low L-shaped groove. Additionally at the open free end of the locking means 21, i.e. at the first end, are outwardly-opening locking grooves 22a corresponding to the locking grooves 22a. The locking grooves 22a are described in more detail in connection with Fig. 4. At the second end of the locking means 21 is additionally a connecting element 23, which comprises connectors for connecting the tool 24 to the hydraulic system and control system of the device.

Fig. 3 presents the attachment unit 18 in connection with the third boom 14 of the device according to the invention, as viewed from the free end of the third boom 14. The attachment elements 19 are attached to a third end 14 of the boom, two on both sides of the attachment unit 18, and between the attachment elements 19 on the sides is a locking means 21 that functions as a slide, at the second end of which locking means is a connecting element 23. The connecting element 23 comprises female connectors extending from the second end of the locking means 21 towards the inner space of the locking means 21 for connecting the tool 24 to the hydraulic system and control system of the device. In this case the connecting element 23 comprises e.g. a connector 25 for the low-pressure tank line reserved for the return oil of the hydraulics, one or more pressure connectors 26 for the pressure line that enables operating pressure for the tool 24, a connector 27 for the drain line, as well as a connector 28 for the air pressure line and a data connector 29 for the data line based on CAN bus (Controller Area Network) technology for connecting the tool 24 to the control system of the device.

Fig. 4 presents a simplified side view of the connection of a tool 24 to the attachment unit 18 of the device according to the invention. Fig. 4a presents an attachment means 24a of a tool at its correct point above the locking means 21 of the attachment unit 18. At the end of the attachment means 24a are male connectors 24c, which can be connected to the female connectors of the connecting element 23. In addition, on the sides of the attachment means 24a are pin-like attachment devices 24b extending outwards, the distance between which in the sliding direction of the locking means 21 on both sides corresponds to the distance between the grooves 20 of the attachment elements 19 of the attachment unit 18 and the attachment grooves 22 of the locking means 21 and also the locking grooves 22a. In this case the attachment means 24a can be lowered inside the locking means 21 so that the pin- like attachment devices 24b descend to the level of the locking grooves 22a in the direction of movement of the locking means 21 while being supported on the grooves 20 of the attachment elements 19. This type of situation is presented in Fig. 4b.

Fig. 4c presents the locking to the attachment unit 18 of the attachment means 24a of the tool 24. The locking is implemented by sliding the locking means 21 by the aid of a power means, such as a hydraulic cylinder 21a, towards the free end of the boom 14 in the direction of arrow A, in which case the locking grooves 22a push to on top of the pin- like attachment devices 24b of the attachment means 24a locking the attachment means 24a firmly to the attachment unit 18. At the same time the connectors 24c at the end of the attachment means 24a push into the connectors of the connecting element 23, connecting the tool 24 to the hydraulic system and control system of the device.

Fig. 5 presents a diagrammatic and simplified view of the control and hydraulic connections of the device according to the invention. The device comprises e.g. a master control unit 30 of the hydraulics and three separate actuator control means, such as I/O cards, controlling the hydraulics. The master control unit 30 is in the central unit of the device and comprises at least the control system 30a of the device, which control system controls all functions of the device. Thus the control system 30a of the device comprises means for controlling the device and also all the functions of the tool 24 to be attached onto the device as well as for controlling the movements of the controllers of the remote control device such that the same movement of the controller with different tools 24 controls each tool 24 with different control movements specific for each tool .

The first actuator control means 31a is disposed in the non- rotating part of the frame of the device before the boom structure 3 and the second actuator control means 31b is in connection with the rotating boom structure 3 on the second side of the slewing ring 6. The actuator control means 31a controls the hydraulic functions of the frame of the device, such as the drive function and also together with the actuator control means 31b the movements implemented with the hydraulics of the booms 7, 10, 14 of the boom structure. The third actuator control means 32 is intended for controlling auxiliary devices, such as a vacuum cleaner, a pump of the concrete spraying device and other corresponding auxiliary devices, and is disposed in the storage space below the decking la. Additionally, the tool 24 to be attached onto the device comprises one actuator control means 33 specific for each tool 24, with which actuator control means the control system 30a of the device is arranged to function as if the actuator control means 33 of the tool were an actuator control means of the device itself integrated into the device. The actuator control means 33 of the tool controls the hydraulic functions of the tool according to the instructions of the control system 30a of the device .

The master control unit 30 comprising the control system 30a is connected to the other actuator control means 31a-33 by means of data lines 34, in which data travels, e.g. in the CAN bus, in both directions. The actuator control means 33 of the tool 24 is connected to the control system 30a of the device by means of a data connector 29 and after the connection the tool 24 is visible to the control system 30a of the device as if the tool 24 were a stationary integrated part of the actuators of the device.

The master control unit 30 is further connected to the drive motor 35 of the device, which motor uses the main hydraulic system 36 of the device. The actuator control means 31a and 31b of the frame of the device and of the boom structure 3 are also connected to the main hydraulic system 36 of the device for controlling the movements of the device itself and of the booms 7, 10, 14. The device also comprises an auxiliary hydraulic system 37 for using the aforementioned auxiliary devices, such as the vacuum cleaner, the pump of the concrete spraying device and other corresponding auxiliary devices. The auxiliary hydraulic system 37 is controlled by the aid of the actuator control means 32 connected to it. In addition, each tool 24 has a hydraulic system 38 of its own connected to the actuator control means 33 of the tool for using the internal functions of the tool. The hydraulic systems 36-38 are connected to each other by means of hydraulic lines such that the main hydraulic system 36 of the device is connected with a pressure line 39 via a connector 26 to the hydraulic system 38 of the tool 24, from where onwards there is a tank line 40 via a connector 25 back to the main hydraulic system 36. There can be one or more pressure lines 39 and connectors 26. In addition, the main hydraulic system 36 is connected to the auxiliary hydraulic system 37 at least by means of a pressure line 41. Correspondingly, the auxiliary hydraulic system 37 is connected, if necessary, to the hydraulic system 38 of the tool 24 at least by means of a pressure line 42. Instead of, and in addition to, the pressure line 42 there can also be other lines between the auxiliary devices and the tool, e.g. material input hoses or suction hoses for sucking up dust, et cetera. The apparatus with its tools 24 comprises a hydraulic system, in which the components used in respect of the hydraulic system 38 and the auxiliary hydraulic system 37 of the tool are variable.

The hydraulic system of the device according to the invention is made to be scalable and is distributed according to what is described above by means of CAN bus technology to the master control unit 30 and also to different actuator control means 31a-33 in the tool 24 and in the device such that different actuator control means 31a-33 control among themselves different functions, such as already described in the preceding. When a new tool 24 is attached onto the attachment unit 18 of the third boom, the actuator control means 33 of the tool 24 connects to the control system 30a of the device and gives the control system 30a in the master control - unit 30 information about which tool 24 is connected to the device and what parameters are applied to different functions of the tool, i.e. for instance, information about the oil pressure and quantity needed for each task. In this way the control system 30a is arranged to adapt the necessary hydraulics to be suitable for each specific tool 24, in which case the hydraulic actuators and the actuator control means 33 in the tool 24 function as an integrated part of the control system 30a of the device .

The functions of the tool 24 are controlled e.g. by regulating the operating pressures and oil volumes of the actuators of the device, and of the tool 24 by means of proportional valves of the hydraulic system such that e.g. oil quantity with a correct pressure required by the specific function of each tool 24 goes through the interface, i.e. the pressure connector 26, going to the tool 24 and at the same time the actuator control means 33 of the tool 24 receives information from the control system 30a along the CAN bus 34 via the data connection 29 about which functions must be performed with the oil quantity in question. With this information the actuator control means 33 of the tool 24 controls the hydraulic functions of the tool 24 with a remote control device 43 according to the control of the task.

The device is controlled e.g. in a remote-controlled manner by means of a wireless remote control device 43 provided with a screen, which remote control device comprises e.g. pushbutton regulators and stick controllers for controlling the movements and functions of the device itself, of the booms of the boom structure 3, of the tool 24 and of the auxiliary devices. The interface of the tool 24 to the device is smart in that the information conveyed by all the actuator control means 33 of the tools 24 to the control system 30a of the device are specific for each tool and indicate . which function each regulator, controller and movement of controller of the remote control device 43 has for this particular tool 24 in question. In this way different functions are achieved with the same control movements and adjustments and with the same controllers and regulators depending on the tool 24. If the device is provided with a cabin instead of remote control, the regulators and controllers of the cabin function in essentially the same way as in the remote control device 43 described above . Figs. 6 and 7 present the device according to the invention provided with two different tools 24. The tool 24 presented in Fig. 6 is a rock breaker, which is attached onto the third boom 14 of the device and Fig. 7 presents a boring tool, which in turn is attached onto the third boom 14 of the device. As described above, a number of different tools, which are e.g. rock boring devices, crack boring devices, stone splitting devices, different rock breakers, bolting booms, injection devices, concrete spraying devices, diamond motor saws, diamond circular saws, demolition shears, et cetera, are intended to be attached one at a time onto the third boom 14 of the device according to the invention.

It is obvious to the person skilled in the art that the different embodiments of the invention are not limited solely to the examples described above, but that they may be varied within the scope of the claims presented below. Thus, for instance, the attachment and connection structures of the tools can be different to those described above. The connections can be connected e.g. by hand instead of hydraulics, in which case the connecting elements can be different to those mentioned above.

Likewise it is obvious to the person skilled in the art that the moving structure of the apparatus can be different than the caterpillar track type structure presented in the preceding. The moving structure can comprise e.g. wheels, of which there can be, for instance, two or more on both sides of the frame of the apparatus .

It is further obvious to the person skilled in the art that with suitable tools the device can also be used for other than handling of material containing stone, rock-like material or soil, Nearly any type of functions, in which the hydraulically operated tool at the end of the boom system is used, can be performed with the device, as long as the tool is designed to be connected to the attachment unit of the third boom of the device. Thus the device can be used e.g. for painting, washing, sand blasting, supporting a lifting platform, et cetera.

Claims

1. Unmanned device for versatile handling of material containing stone, rock- like material or soil, which device comprises at least a frame structure (1) , a moving structure (2) intended for moving the frame structure (1) and also a boom structure (3) connected to the frame structure (1) by means of a slewing ring (6) , which boom structure comprises an attachment unit (18) for the tool (24) to be used with the device, and which device comprises at least a main hydraulic system (36) and a control system (30a) controlling it, characterized in that the device comprises at least mechanical connection means, hydraulic connection means and also connection means conveying control information, which means comprise at least an attachment unit (18) and means (19-23, 25-29) in the attachment unit (18) for locking the tools (24) intended for different functions to the attachment unit (18) one at a time and at the same time for connecting the tool (24) automatically to the hydraulic system (36-38) of the device and also to the control system (30a) of the device.

2. Device according to claim 1, characterized in that the device comprises means (29, 34) for conveying information specific for each tool (24) contained in the tools (24) to be used one at a time in the device to the control system (30a) of the device and for conveying the control information required by the tool (24) and specific for each tool (24) from the control system (30a) of the device to the tool (24) .

3. Device according to claim 1 or 2 , characterized in that each tool (24) to be used in the device one at a time comprises an actuator control means (33) , which comprises necessary information and means for connecting the tool (24) into an integrated part of the control system (30a) of the device .

4. Device according to claim 1, 2 or 3 , characterized in that each tool (24) to be used in the device one at a time comprises a hydraulic system (38) of its own, and in that both the device and the tool (24) comprise necessary means (24c, 25, 26, 39, 40) for connecting the tool (24) into an integrated part of the main hydraulic system (36) of the device .

5. Device according to any of the preceding claims, characterized in that the attachment unit (18) intended for attaching the tool (24) is at the end of the outermost boom (14) of the device and it comprises at least a connecting element (23) , which comprises at least connectors (25-29) for connecting the tool (24) to the hydraulic system and control system of the device .

6. Device according to any of the preceding claims, characterized in that the connecting element (23) comprises at least one connector (25) for the low-pressure tank line (40) reserved for the return oil of the hydraulics, one or more pressure connectors (26) for the pressure line (39) that enables operating pressure of the tool (24) , a connector (27) for the drain line, a connector (28) for the air pressure line and a data connector (29) for the data line (34) based on CAN bus technology for connecting the tool (24) to the control system (30a) of the device.

7. Device according to any of the preceding claims, characterized in that an auxiliary hydraulic system (37) provided with an actuator control means (32) is integrated into the device for the auxiliary devices and auxiliary functions to be used in connection with the tools (24) .

8. Device according to claim 7, characterized in that the actuator control means (32) of the auxiliary hydraulic system (37) is connected with a data line (34) based on CAN bus technology to the control system (30a) of the device as an integrated part of the control system (30a) of the device and with a pressure line (41) to the main hydraulic system (36) of the device.

9. Device according to any of the preceding claims, characterized in that the control system (30a) of the device comprises means for controlling the movements of the tool controller (43) , such as the controllers and regulators of the remote control device, such that the same movement of a controller or regulator with different tools (24) controls each tool (24) with different control movements specific for each tool (24) .