Method for monitoring a working machine comprising a leader and working machine comprising a leader

Abstract

The invention relates to a method for monitoring the work operation of a working machine, which comprises a controller, a detection apparatus, a carrier device and a leader fastened thereto, on which a tool, in particular a pile-driving or drilling tool, is mounted. In a work operation of the working machine, at least one force currently acting on a connecting point and/or a piston-cylinder unit is detected by means of the detection apparatus and is provided to the controller. The controller ascertains an oscillation amplitude of the measured force, compares the oscillation amplitude and/or a value derived therefrom with at least one limit value, and, if a limit value is reached, automatically performs a measure. The invention further relates to a working machine, comprising a carrier device, a leader fastened thereto, a detection apparatus and a controller for carrying out the method according to the invention.

1 . Method for monitoring the work operation of a working machine, which comprises a controller, a detection apparatus, a carrier device and a leader fastened thereto, on which a tool is mounted, wherein, in a work operation of the working machine, at least one force currently acting on a connecting point and/or a piston-cylinder unit is detected by means of the detection apparatus and is provided to the controller,
 wherein   the controller determines an oscillation amplitude of the measured force, compares the oscillation amplitude and/or a value derived therefrom with at least one limit value, and, if a limit value is reached, automatically performs a measure.   
     
     
         2 . Method according to  claim 1 , wherein a force currently acting on an inclination cylinder for orienting the leader and/or acting on a main arm cylinder of parallel kinematics is detected and is provided to the controller for monitoring the work operation. 
     
     
         3 . Method according to  claim 1 , wherein a force currently acting on a bearing point of the leader on the carrier device and/or acting on an adjustment mechanism is detected and is provided to the controller for monitoring the work operation. 
     
     
         4 . Method according to  claim 1 , wherein the controller determines a change in the oscillation amplitude and/or a variable derived therefrom over time and compares it with at least one limit value. 
     
     
         5 . Method according to  claim 1 , wherein the measure comprises an output of an optical and/or acoustic signal to an operator and/or an automatic intervention in a current work operation of the working machine. 
     
     
         6 . Method according to  claim 1 , wherein the oscillation amplitude is a peak-to-peak amplitude of the detected force, wherein an averaged value of the detected force is not taken into account. 
     
     
         7 . Method according to  claim 1 , wherein the detection apparatus additionally detects one or more of the following variables and provides them to the controller for monitoring the work operation and comparing with at least one corresponding limit value:
 a current position of a piston-cylinder unit of the working machine,   a current speed of a component of the working machine,   a current acceleration of a component of the working machine,   a current cylinder pressure of a piston-cylinder unit of the working machine,   a current position of a component of the working machine,   a current drilling depth.   
     
     
         8 . Method according to  claim 1 , wherein a current drilling depth is detected and is set in relation to the determined oscillation amplitude, wherein, from this, the controller determines a soil condition and/or compiles a soil model. 
     
     
         9 . Method according to  claim 8 , wherein a current state of at least one component of the working machine is concluded from the determined oscillation amplitude. 
     
     
         10 . Method according to  claim 1 , wherein the at least one limit value for the oscillation amplitude and/or for a value derived therefrom is based on earlier measured data for the same working machine and/or earlier measured data for one or more further working machines. 
     
     
         11 . Method according to  claim 1 , wherein the controller determines a difference or a ratio of the detected oscillation amplitude to a specified reference value and/or to an earlier measured value of the oscillation amplitude, compares the difference or ratio with at least one limit value, and, if a limit value is reached, automatically performs a measure. 
     
     
         12 . Method according to  claim 1 , wherein the controller calculates a prediction for a future state of at least one component of the working machine from the determined oscillation amplitude and/or a value derived therefrom and from earlier measured values. 
     
     
         13 . Method according to  claim 1 , wherein the controller takes into account a current machine configuration for monitoring the work operation. 
     
     
         14 . Working machine,
 comprising a carrier device, a leader fastened thereto, a detection apparatus and a controller, wherein the controller is configured to carry out the method according to  claim 1 .   
     
     
         15 . (canceled) 
     
     
         16 . Method according to  claim 5 , wherein the automatic intervention includes slowing down, stopping or reversing a machine movement that is influencing the oscillation amplitude. 
     
     
         17 . Method according to  claim 9  wherein the determined oscillation amplitude or the progression over time of the oscillation amplitude is compared with an earlier measured value or detected progression.