CN111827385A

CN111827385A - A trench wall gripper and a method for creating a trench in the ground

Info

Publication number: CN111827385A
Application number: CN202010306146.4A
Authority: CN
Inventors: J.泽德尔迈尔; S.罗特; J.海尔格迈尔; J.哈斯
Original assignee: Bauer Maschinen GmbH
Current assignee: Bauer Maschinen GmbH
Priority date: 2019-04-18
Filing date: 2020-04-17
Publication date: 2020-10-27
Anticipated expiration: 2040-04-17
Also published as: ES2929747T3; EP3725950A1; CN111827385B; EP3725950B1

Abstract

The invention relates to a trough wall gripper and a method for producing a trough in the ground, wherein a trough wall gripper with a gripper frame is used, at the lower end of which two gripper shovels are arranged, which can be adjusted by means of an actuating device between an open position and a closed position, wherein the gripper shovels grip and in the closed position contain ground material. According to the invention, it is provided that the travel and/or the pressure during the closing of the gripper shovel are determined by means of a measuring device and the determined measured values are transmitted by the measuring device to a control unit, which is designed to generate a description of the ground material on the basis of the measured values determined by the measuring device.

Description

A trench wall gripper and a method for creating a trench in the ground

Technical Field

The invention relates to a trough wall gripper (Schlitzwandgreifer) for producing a trough (Schlitz) in the ground (Boden) having a gripper frame, a gripper shovel (Greiferschaufel) mounted on the gripper frame, which can be adjusted between an open position and a closed position for gripping ground material and which receives ground material in the closed position, and an actuating device, which is designed to adjust the gripper shovel between the open position and the closed position, according to the preamble of claim 1.

The invention further relates to a method for producing a trough in the ground according to the preamble of claim 11, wherein a trough wall gripper with a gripper frame is used, at the lower end of which two gripper shovels are arranged, which can be adjusted by means of an actuating device between an open position and a closed position, wherein the gripper shovels grip and in the closed position contain ground material.

Background

A groove wall gripper of this type is known from document EP 1950353B 1. Such an apparatus is used for excavating a recess or groove in the ground, which is mainly required for creating a so-called trench wall, support wall or impervious wall (abdichtwrand) in the ground. The trough wall gripper is usually lowered into the ground with the gripper blade open, wherein the gripper blade penetrates into the upper region of the ground. The earth material is gripped by the closing of the gripper shovel and is accommodated in a trough-wall gripper with the gripper shovel so closed. The filled cell wall gripper is then withdrawn from the cell and moved to an emptying station (Entleerstelle). A new gripping process is then performed until the desired final depth of the groove is reached.

The grooves for the supporting walls or the impervious walls can reach a depth of up to 50m or more. The groove cross section produced by the groove wall gripper is in this case in the range of approximately 1m in width and a length of between 1.5 and 3 m. Due to the groove cross section and the usual groove depth, there is often no visibility to the gripper operator of the bottom of the groove, in particular when the groove is filled with Suspension (sustension).

For an efficient operation of the trough wall grippers, it is desirable to have information about the ground material to be worked. This is particularly true if the ground with different earth formations is perforated with a greater depth of the groove.

Disclosure of Invention

The object of the invention is to specify a trough wall gripper and a method for producing a trough in the ground, with which a particularly efficient operation of the trough wall gripper is achieved.

This object is achieved according to the invention on the one hand by a trench wall gripper with the features of claim 1 and on the other hand by a method with the features of claim 11. Preferred embodiments of the invention are specified in the respective dependent claims.

The cell wall gripper according to the invention is characterized in that a measuring device is provided, which is designed to determine the stroke and/or the pressure when the gripper blade is closed, and the measuring device is connected to a control unit for transmitting the determined measured values, the control unit being designed to generate a description (ausage) about the ground material on the basis of the measured values determined by the measuring device.

The basic idea of the invention is to detect and evaluate the jamming and/or closing of the gripper shovel into the ground. According to the invention, a measuring device is provided, which is designed to determine the stroke and/or the pressure when the gripper shovel is closed. This may be an indication of the presence of a soft earth formation, such as a gravel or sand layer, if, for example, relatively easy intrusion and closure are achieved. If intrusion or closure becomes difficult, this can be assessed as an indication of the presence of a harder ground layer or even an obstruction at the bottom of the trough.

According to a further aspect of the invention, a control unit is provided which is connected to the measuring device and evaluates the measured values. The control unit can make a specification about the ground material based on the measured values. In addition, further measured values of other components of the slot wall gripper device (which, for example, allow a specification of the current height position of the slot wall gripper) can be transmitted to the control unit.

With this information, the setting up of an efficient operation is significantly simplified for the operator of the trench wall gripper. In this way, for example, the lowering height of the trough wall gripper and thus the force for introducing the trough wall gripper into the ground can be adjusted. It is also possible to identify early when a rock layer or an obstacle is present, for example by comparison with data of a previous gripper procedure. In this case, it can then be decided, based on the existing information for the land lying ahead (anstehend), whether it is expedient, if necessary, to use, at least temporarily, further efficient excavation (Vortrieb) of the trench using other land-shoveling tools (Bodenabtragwerkzeug), for example trench wall chisels (Schlitzwandmeissel) for the destruction of hard rock.

In a preferred embodiment of the invention, the control unit comprises a database in which measured values known for a certain type of land are stored. The type of soil (e.g. sand, gravel, clay, rock) can be specified directly by the control unit from the stored data as a function of the determined penetration distance or closing speed or force consumption (which is detected by the measuring device).

According to a further development of the groove wall gripper according to the invention, the measuring device is advantageously designed to detect a course of change (Verlauf) of the measured values with respect to time and/or with respect to the current depth of the groove. Additional information about the structure of the ground or about the presence of obstacles can thus be detected. For example, it may be determined that there may be an upper layer with soft ground material and a lower layer with harder ground material. The same applies to the inverted soil stratification. This information can also be applied to the following gripper steps and/or when the grippers abut the trough in order to design the excavation method as efficiently as possible.

According to a particular embodiment of the invention, it can be advantageously provided that the control unit indicates that an obstacle, in particular gravel (sanding), is to be grabbed by the gripper shovel. This can be determined in particular by the fact that the gripper shovel cannot be or cannot be completely closed. The presence of gravel or other obstructions may require modification or even disruption of the process, such as using other land scraping devices, for example. The slotted wall gripper can also be lowered from a greater height in order to tamper with the opened gripper and to break the obstacle.

The measuring device is provided with a corresponding sensor, such as, for example, a travel distance sensor (Wegaufnehmer) or a pressure sensor. In this case, it is particularly expedient according to one embodiment of the invention for the measured values to be detectable individually for each gripper shovel. Thus, for example, an asymmetrical closing of the gripper shovel can be determined. It is particularly advantageous here if the specification data (Angabe) for the size and position of the obstacle in the groove can be determined by the control unit. Information on the size and position of the obstacle in the groove facilitates the clearance of the obstacle.

In principle, the gripper blade can be actuated in any manner by a corresponding actuator. This can also be operated by means of a steering cable. According to a further development of the invention, it is particularly preferred that the actuating device has at least one actuating cylinder. This may be a central operating cylinder for both gripper shovels or one or more operating cylinders for each gripper shovel. The actuating cylinder is operated in particular hydraulically.

The measuring device, which may comprise a plurality of sensors or measuring receivers (messaufnehmers), may be arranged at any location of the trough wall gripper or at a plurality of locations.

According to a further development of the invention, it is particularly expedient if the measuring device is arranged on the at least one actuating cylinder. In particular, the pressure in the actuating cylinder can be detected as a measure for the required force consumption and/or the adjustment travel of the piston in the actuating cylinder. The adjustment stroke provides an illustration of the closing and position of the grasper blade.

In a preferred embodiment of the invention, the gripper shovel is mounted so as to be pivotable on a pivot bolt, a sensor of the measuring device is arranged on the pivot bolt (Schwenkbolzen) and the sensor is designed to detect the pivot angle and/or the force of the gripper shovel. The sensor may be, in particular, a force measuring sensor and/or a sensor for receiving an adjustment position or an adjustment angle of the gripper blade. Using these values, an explanation can be made, in particular, as to whether an asymmetrical loading or opening of the gripper shovel is present. This in turn may infer the shape and arrangement of obstacles, in particular gravel.

The invention additionally comprises a cell wall gripping device with a cell wall gripper which is constructed in accordance with the invention as described previously. In this case, it is provided that the slot wall gripper is supported in a vertically adjustable manner on a support device (trackervorrichichthyung). The support device can comprise, in particular, a lower carriage that can be driven, preferably a crawler carriage, and an upper carriage that can be rotated thereon. At the upper carriage, a mast is preferably arranged, along which the wall gripper is supported in a vertically adjustable manner by means of a cable suspension (Seilaufhaengung) or a rigid control rod.

The method according to the invention is characterized in that the travel and/or the pressure during the closing of the gripper shovel are determined by means of the measuring device and the determined measured values are transmitted by the measuring device to a control unit, which is designed to generate a description of the ground material on the basis of the measured values determined by the measuring device.

The method according to the invention can be carried out in particular with the slot wall grippers described above. The advantages explained above are achieved here.

A preferred process variant of the invention consists in that the tank is filled as it is produced or subsequently with a Suspension (Suspension) and the Suspension hardens in the tank and builds up a tank wall section. The groove walls can be created by correspondingly repeating the creation of adjacent or overlapping groove wall sections. The tank wall can be used in particular as a supporting wall and/or as an impermeable wall.

Drawings

The invention will be described in the following on the basis of preferred embodiments, which are schematically shown in the drawings.

In the drawings:

figure 1 shows a side view of a trough wall gripping device according to the invention and

figure 2 shows a partial cross-sectional view of a trench wall gripper according to the present invention.

Detailed Description

According to fig. 1, a trench wall gripper device 10 according to the invention comprises a carrier 12 with a trench wall gripper 20 suspended therefrom. The carriage 12 has a crawler track 11 and an upper carriage 13 rotatably mounted thereon in a manner known per se. At the upper carriage 13, a substantially vertically oriented mast 14 with a mast head 15 is articulated. Via the bearing cable 16, the trough gripper 20 is suspended vertically adjustable from the carrier 12 by means of the mast 14. Hydraulic energy is delivered via the supply line 18. Input lines for current and data may additionally be provided.

The cell wall gripper 20 has a box-shaped gripper frame 22. On its upper side, a retaining device 40 is arranged, at which the ends of the load-bearing cables (tracksei) 16 are mounted. A gripper shovel 24 is supported at the lower end of the gripper frame 22. A plate-shaped guide element 26 is adjustably supported along the gripper frame 22 for position control.

The construction of the channel wall gripper 20 is shown in detail in fig. 2. In the middle region of the rack-like gripper frame 22, an actuating device 30 for the lower gripper shovel 24 is arranged. The actuating device 30 comprises a hydraulically actuatable actuating cylinder 32, in which a piston rod 34 is mounted so as to be extendable downward. The hydraulic operating cylinder 32 is supplied with hydraulic energy by the carrier 12 via the supply line 18 (not shown in fig. 2).

The lower end of the piston rod 34 is articulated on a slider element (Schlittenelement)36, which is guided linearly along the gripper frame 22. Two levers (Hebel)38 are articulated to the slider element 36, wherein each lever 38 is connected to the gripper shovel 24 in an articulated manner. The gripper shovel 24 is itself hingedly supported at the lower end of the gripper frame 22.

The slide element 36 is moved upward by the piston rod 34 being moved into the actuating cylinder 32, wherein the gripper shovel 24 is moved via the lever 38 into the open position for receiving ground material. The slider element 36 is moved downward along the linear guide by the piston rod 34 being moved downward, wherein the lever 38 presses the gripper shovel 24 into the closed position, in which the ground material gripped is enclosed between the gripper shovel 24.

According to the invention, a measuring device is provided, which is not shown in detail in the figures, and which is arranged in particular at the actuating device 30 and preferably at the actuating cylinder 32. The measuring device is designed to determine the extension travel of the piston rod 34 and the pressure in the actuating cylinder 32 when the gripper shovel 24 is closed. This makes it possible to determine when the gripper shovel 24 grips an obstacle 8, for example a rock, when it is closed. In this case, it can be determined by the measuring device that the stroke of the piston rod 34 and therefore of the slider element 36 no longer changes despite the pressure increase in the double-acting actuating cylinder 32. This state, which can be detected by the measuring device, can be used by a control unit (which is likewise not shown) as a flag (Anzeichen) for the presence of an obstacle.

The control unit can here preferably be arranged at the carrier 12. The measured values determined by the measuring device can be conducted to the control unit via the supply line 18 or via a wireless connection. The control unit can then make a statement about the presence of obstacles or about the land material lying ahead on the basis of the obtained measurement values. The information thus determined can be communicated to an operator in the upper car 13 or in an alternate center of the load carrier 12, for example, via a monitor.

Based on the opening angle of the gripper shovel 24 at the time of detecting the obstacle 8, an explanation can also be made by the control unit regarding the size of the obstacle 8.

If the gripper shovel 24 is actuated, for example, by a separate actuating cylinder 32, it can be detected when the gripper shovel 24 is closed differently far. A description of the position of the obstacle can thus additionally also be made by the control unit.

Claims

1. A trench wall gripper for creating a trench in the ground, with:

-a gripper frame (22),

-a gripper shovel (24) mounted at the gripper frame, adjustable between an open position and a closed position for gripping the ground material, in the closed position the ground material being contained, and

-a handling device (30) configured to adjust the gripper shovel (24) between the open position and the closed position,

it is characterized in that the preparation method is characterized in that,

a measuring device is provided, which is designed to determine the stroke and/or the pressure when the gripper shovel (24) is closed, and

for transmitting the measured values, the measuring device is connected to a control unit, which is designed to generate a description of the ground material on the basis of the measured values measured by the measuring device.

2. The trench wall gripper of claim 1, wherein the control unit comprises a database in which measured values known for a certain land type are stored.

3. The groove wall gripper according to claim 1 or 2, characterized in that the measuring device is configured to detect a course of the measured values with respect to time and/or the current depth of the groove.

4. The trough wall gripper according to any one of claims 1 to 3, characterized in that it can be shown by the control unit that the gripper shovel (24) hits an obstacle (8), in particular gravel.

5. The cell wall gripper according to any of claims 1 to 4, characterized in that the measured values can be detected individually for each gripper blade (24).

6. The trench wall gripper according to claim 4 or 5, characterized in that specification data for the size and/or position of the obstacle (8) in the trench can be determined by the control unit.

7. The cell wall gripper according to any of claims 1 to 6, characterized in that the operating device (30) has at least one operating cylinder (32).

8. The groove wall gripper according to claim 7, characterized in that the measuring device is arranged at least one of the operating cylinders (32).

9. The trench wall gripper according to any one of claims 1 to 8,

the gripper shovel (24) is pivotably mounted on a pivot bolt,

the sensor of the measuring device is arranged at the swing bolt and

the sensor is configured to detect a swing angle and/or force of the gripper shovel (24).

10. Cell wall gripping device with a cell wall gripper (20) according to one of the claims 1 to 9,

it is characterized in that the preparation method is characterized in that,

the trough wall gripper (20) is supported on the support device (12) in a vertically adjustable manner.

11. Method for producing a trough in the ground, in particular with a trough wall gripper (20) according to one of claims 1 to 9 or a trough wall gripper device (10) according to claim 10,

wherein a trench wall gripper (20) with a gripper frame (22) is used, at the lower end of which two gripper shovels (24) are arranged, which can be adjusted by means of an operating device (30) between an open position and a closed position, wherein the gripper shovels (24) grip and in the closed position contain the ground material,

it is characterized in that the preparation method is characterized in that,

-determining the stroke and/or pressure when the gripper shovel (24) is closed by means of a measuring device and

-the measuring device transmits the determined measurement values to a control unit, which is configured to make a specification about the land material based on the measurement values determined by the measuring device.

12. The method as claimed in claim 11, characterized in that the tank is filled as produced or subsequently with suspension and the suspension hardens in the tank and builds up a tank wall section.