CN111827389A - A trough wall gripping apparatus and method for creating a trough in the ground - Google Patents

A trough wall gripping apparatus and method for creating a trough in the ground Download PDF

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Publication number
CN111827389A
CN111827389A CN202010305259.2A CN202010305259A CN111827389A CN 111827389 A CN111827389 A CN 111827389A CN 202010305259 A CN202010305259 A CN 202010305259A CN 111827389 A CN111827389 A CN 111827389A
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CN
China
Prior art keywords
gripper
trough
ground
control unit
wall
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.)
Pending
Application number
CN202010305259.2A
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Chinese (zh)
Inventor
J.海尔格麦尔
S.罗特
J.泽德尔麦尔
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bauer Maschinen GmbH
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Bauer Maschinen GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Bauer Maschinen GmbH filed Critical Bauer Maschinen GmbH
Publication of CN111827389A publication Critical patent/CN111827389A/en
Pending legal-status Critical Current

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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D17/00—Excavations; Bordering of excavations; Making embankments
    • E02D17/13—Foundation slots or slits; Implements for making these slots or slits
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F5/00—Dredgers or soil-shifting machines for special purposes
    • E02F5/02—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches
    • E02F5/025—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches with scraper-buckets, dippers or shovels
    • 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
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • 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
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • 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
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/40—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets
    • E02F3/413—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets with grabbing device
    • 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
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/46—Dredgers; Soil-shifting machines mechanically-driven with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor
    • E02F3/47—Dredgers; Soil-shifting machines mechanically-driven with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor with grab buckets
    • E02F3/475—Dredgers; Soil-shifting machines mechanically-driven with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor with grab buckets for making foundation slots
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)

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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)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Paleontology (AREA)
  • Earth Drilling (AREA)
  • Laying Of Electric Cables Or Lines Outside (AREA)
  • Refuge Islands, Traffic Blockers, Or Guard Fence (AREA)
  • Element Separation (AREA)
  • Pit Excavations, Shoring, Fill Or Stabilisation Of Slopes (AREA)
  • Bulkheads Adapted To Foundation Construction (AREA)

Abstract

The invention relates to a trough wall gripper device and a method for producing a trough in the ground, having a gripper frame, at the lower end of which two gripper shovels are arranged, which can be adjusted by means of a handling device between an open position for receiving ground material and a closed position for removing the received ground material from the trough, the trough wall gripper being introduced into the ground substantially vertically with the open gripper shovels, the gripper shovels being closed for gripping and receiving ground material and the trough wall gripper with the received ground material being withdrawn from the ground for forming the trough. The actual quantity of ground material received by the gripper shovel in the closed position is determined by means of a determination device, which is connected to a control unit, which compares the detected actual quantity of ground material with a preset target quantity and, if the detected actual quantity deviates from the stored target quantity, signals for repeating the gripping process are emitted by the control unit.

Description

A trough wall gripping apparatus and method for creating a trough in the ground
Technical Field
The invention relates to a trough wall gripper device (schlitzwadgreifvorichtung) for producing a trough (Schlitz) in the ground (Boden) according to the preamble of claim 1, having a carrier device (trackergereat) and a trough wall gripper (schlitzwadgreeifer) which is supported substantially vertically adjustable on the carrier device, wherein the trough wall gripper has a gripper frame, at the lower end of which two gripper shovels (greifer schaufel) are arranged, which can be adjusted by means of a handling device between an open position for receiving ground material and a closed position for guiding the received ground material out of the trough.
The invention further relates to a method for producing a trench in the ground, according to the preamble of claim 8, wherein a trench wall gripper having a gripper frame, 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 for receiving ground material and a closed position for discharging the received ground material from the trench, is introduced into the ground substantially vertically with the open gripper shovels, is closed for gripping and receiving ground material and is withdrawn from the ground for forming the trench.
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 one meter 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 possibility for the gripper operator to visually check whether and to what extent the groove wall gripper is filled during the gripping process.
In order to produce the groove economically, it is desirable to implement the predetermined groove depth with as few gripper and emptying processes as possible. In particular when working in relatively deep grooves, the process for removing the groove wall gripper from the groove and for moving it into the emptying position and finally lowering it back into the working position is particularly time-consuming.
A method for the upward and downward movement of a trough wall gripper is known from EP 3144260B 1, in which two winch disks (Seilwinde) are used in order to accelerate the lifting process (Hubvorgang). A control unit is provided with which one of the cable drums for lowering the cable for the tank wall gripper can be switched to a free fall mode (Freifallmodus).
Disclosure of Invention
The invention is based on the object of specifying a trough wall gripper device and a method for producing a trough in the ground, with which a trough can be created particularly efficiently.
According to the invention, this object is achieved on the one hand by a groove wall gripper device with the features of claim 1 and on the other hand by a method with the features of claim 8. Preferred embodiments of the invention are specified in the respective dependent claims.
The trough wall gripper installation according to the invention is characterized in that a determination device (ermittlengseinirichtung) is provided, which is configured to determine the actual quantity of ground material received by the gripper blade in the closed position, a control unit is provided, which is connected to the determination device and in which a target quantity (Soll-range) of ground material to be received by the trough wall gripper is stored, and the control unit is configured to compare the detected actual quantity with the stored target quantity and to emit a signal for repeating the gripping process when the detected actual quantity deviates from the stored target quantity.
The basic idea of the invention can be seen therein that the degree of filling of the gripper shovel in the closed position is monitored by means of a control unit, in order to open the gripper shovel in the trough and repeat the gripping process when the filling is insufficient or excessive. This prevents an inefficient lifting operation with an insufficiently or overfilled cell wall gripper, and thus prevents a time-consuming driving movement of the insufficiently or overfilled cell wall gripper from the cell into the emptying position.
According to the knowledge of the invention, it is more economical for a certain degree of filling to empty the groove wall gripper still underfilled in the milling groove (Fraesschlitz) and repeat the gripping process for obtaining a higher degree of filling.
In the case of a sticky ground, it can happen that the ground located in the gripper is pressed together when closed, so that it gets stuck in the gripper shovel and no longer falls out of itself when opened, but must be removed from the gripper shovel in a laborious manner, in particular manually. It is therefore more economical to determine the filling quantity before the gripper shovel is completely closed and, when the target quantity is exceeded, to empty the gripper shovel again in the milling groove in order to subsequently achieve the desired target filling level with a reduced drop height and thus a correspondingly reduced penetration depth.
The stored target quantity can be a single value (Einzelwert), in particular a lower limit value, or a quantity range with lower and upper limit values. In principle, the control unit can only issue a prompt signal to the machine operator, who then decides to open the gripper shovel himself.
The actual amount of ground material in the trough-wall gripper is determined in this case in an automatic mode automatically by the control unit via the determination device. The actual quantity can be determined with high reliability by the measuring device even when the groove is relatively deep. By this automatic determination and automatic checking of the detected actual quantity and the preset target quantity of ground material to be received, it is possible to draw out only the trough wall gripper with the minimum filling (which may be, for example, between 50% and 100% of the maximum gripper filling) from the trough.
In principle, it is possible for the target value to be preset and stored in accordance with the achieved groove depth in accordance with a software change of the control unit, in particular to increase as the groove depth increases. The number of repeated gripping procedures may also have an effect on the preset target amount, wherein the target amount may decrease with the number of repeated gripping procedures before re-emptying the slot wall gripper.
In principle, the control unit can indicate to the machine operator in response to the signal that the gripper shovel is to be opened, in order to ensure an efficient lifting operation. In a development of the invention, it is particularly preferred that the shovel can be automatically opened (aufklapppabar) by the control unit when the signal is sent. Further processes of repeating the gripping process can also be initiated automatically by the control unit in this automatic mode.
A preferred development of the invention provides that the groove wall gripper is supported on the support by a cable or a rod and the measuring device has a force measuring element in which the weight force acting on the cable or rod can be detected as a measure for the actual amount of ground material contained. By means of the force measuring element, a reliable determination can be made, in particular after closing the gripper shovel and receiving the ground material, when the trough wall gripper is lifted, how much filling amount the trough wall gripper has received. If this actual amount of received ground material is equal to the target amount, the trough wall gripper is moved from the trough into the emptying position.
According to a further development of the invention, the measuring device preferably has a travel measuring element, with which the penetration depth of the trench wall gripper into the ground before the gripper shovel is closed can be detected. The thus detected penetration depth can be transmitted to a control unit, wherein the penetration depth can have an influence on the control. The depth of penetration allows the (to be expected) filling degree of the gripper shovel to be inferred.
In accordance with an embodiment of the invention, the control unit is particularly advantageously configured to automatically raise the trench wall gripper to a predefinable height above the bottom of the trench for repeated gripping operations by means of a lifting device (hubeinriching) and to lower it back into the ground from the predefinable height with the opened gripper blade. The height of the trough wall gripper raised again can be made dependent on the actual amount and/or penetration depth detected during the previous gripping process by the control unit. With increasing height and subsequent sinking of the trough wall gripper, preferably in free-fall mode, a more intensive penetration of the open gripper shovel and thus a higher degree of filling can be achieved. The filling degree is reduced by reducing the height.
For an efficient operation of the slot wall gripper device, it is preferred according to a further development that the control unit is configured to switch from an automatic mode for carrying out the gripping process into a manual operating mode when the actual quantity detected in the slot wall gripper corresponds to the stored target quantity. In this embodiment, the gripping operation is performed only automatically, while the subsequent process of removing the trench wall gripper from the ground and emptying are performed manually.
Alternatively, it is provided according to an embodiment variant of the invention that the control unit is configured to automatically withdraw the trough wall gripper from the trough in the ground and move it into the emptying position after the target volume has been reached in the automatic mode for carrying out the gripping process. In the same way, a return into the groove can also be effected in the automatic mode for a further gripping process. This results in an efficient automatic operation of the tank wall gripper device.
The method according to the invention is characterized in that the actual quantity of ground material received by the gripper shovel in the closed position is determined by means of a determination device, which is connected to a control unit, which compares the detected actual quantity with a preset target quantity of ground material to be received by the trough wall gripper and emits a signal for repeating the gripping process by means of the control unit when the detected actual quantity deviates from the stored target quantity.
The method according to the invention can be carried out in particular with the slot wall gripper device described above. The advantages explained above are achieved here.
According to a further development of the method according to the invention, it is preferred that the gripper blade is automatically opened by the control unit when the detected actual quantity deviates from the stored target quantity. Thereby avoiding unnecessary lifting processes. The further process of repeated gripping is preferably also executable in the automatic mode.
A preferred method variant according to the invention consists in raising the trough wall gripper by means of the lifting device for the purpose of repeating the gripping process by the control unit to a predefinable height above the bottom of the trough and from there lowering it again into the ground with the gripper shovel opened. The sinking can be carried out in particular in a free-fall mode of the lifting device. Depending on the degree of filling achieved, the height to which the cell wall gripper is raised again can be varied by the control unit.
A further advantageous embodiment of the method according to the invention consists in that the control unit switches from the automatic mode for carrying out the gripping process into the manual operating mode when the detected actual quantity in the trough wall gripper corresponds to the stored target quantity. In this case, a partial automation is achieved, wherein a differentiated emptying of the gripper is additionally achieved by the operator.
Alternatively, it is advantageous according to a further variant of the invention if the control unit, in the automatic mode for carrying out the gripping process, automatically withdraws the trough wall gripper from the trough in the ground and moves it into the emptying position when the target volume is reached. This results in a completely automatic operation, which contributes to an efficient operation of the tank wall gripper device.
A further preferred embodiment variant consists in that the trough wall gripper is introduced into the ground in a free-fall mode. In this case, the retaining device, for example a cable drum of a retaining cable (Halteseil), can be released when the trough wall gripper is at a certain height above the floor, so that the trough wall gripper is accelerated by its weight and can be pushed into the ground.
According to a further method variant, it is advantageous, in particular for harder ground, if the trench wall gripper is introduced into the ground with a predetermined force. The groove wall gripper device is provided for this purpose with a linear element, in particular a hydraulic cylinder, with which the groove wall gripper can be moved downward with a predetermined force.
According to a further embodiment of the method according to the invention, it is advantageous if the tank is filled (suspended) during production or subsequently with the Suspension and the Suspension hardens in the tank and thus creates a tank wall section. By carrying out the method according to the invention several times, a plurality of groove wall sections can be formed in this way, which overall form a groove wall in the ground. The groove wall can have a sealing and/or supporting function.
Drawings
The invention will be explained below on the basis of a preferred embodiment, which is schematically illustrated in the sole figure 1 of the drawings. The figure shows a side view of a trough wall gripping device 10 according to the invention in a partially created trough 7 in the ground 5.
Detailed Description
The trough wall gripper apparatus 10 has a trough wall gripper 12 with a gripper frame 14 like a rack. Two gripper shovels 16 are supported at the lower end of the gripper frame 14 by means of a swivel joint (Drehgelenk) 17. The two gripper shovels 16 are in the illustrated illustration in an open position, in which the teeth 18 arranged at the gripper shovels 16 point downward. In this open position, the trough wall gripper 12 is lowered into the ground 5, wherein the teeth 18 penetrate into the ground 5.
An actuating device 20 with a hydraulic cylinder 22, which extends in the longitudinal direction of the gripper frame 14, is arranged on the gripper frame 14. In the illustrated position, the piston rod 24 is retracted into the hydraulic cylinder 22.
A slider element 26(Schlittenelement) is mounted so as to be linearly movable along a longitudinally directed guide 15 at the gripper frame 14. At the slider element 20, one side is hinged to the eye of the piston rod 24 and the other side is hinged to the upper ends of two levers 28. The lower ends of the levers 28 are hingedly coupled at the respective gripper shovel 16.
The slider element 26 is moved downward along the linear guide 15 by the piston rod 24 being retracted downward from the hydraulic cylinder 22. Here, lever 28 applies downward pressure on gripper shovel 16. The gripper shovels are moved about their respective pivot joints 17 at the gripper frame 14 from the open position shown into a closed position in which the two gripper shovels 16 lie against one another. In this closing movement, gripper shovel 16 with its teeth 18 penetrates into ground 5 and thus receives ground material between gripper shovel 16.
After closing, the trench wall gripper 12 is pulled upward by a not shown carriage by means of a cable 32. The cable 32 is connected to the groove wall gripper 12 via a suspension device 30, which is mounted at the upper end of the gripper frame 14. In the region of the suspension device 30, a measuring device 40 can be arranged, which is designed, for example, as a force measuring element, in particular as a so-called load cell (kraft stress). The suspension load (Aufhaengelast) caused by the groove wall gripper 12 can thus be determined. The weight of the ground material held by the gripper shovel 16 can be determined as a value of the actual quantity by a simple comparison of the suspension load before and after closing.
The determined measured values are preferably transmitted wirelessly by the determination device 40 to a control unit, which is preferably located on a not shown carrier.
According to the invention, the value of the detected actual quantity is compared in the control unit with a stored value of a target quantity, which is a measure of the ground material to be at least accommodated by the trough wall grippers. If the actual amount accommodated is less than the set target amount, the trough wall gripper 12 is not pulled further upward from the trough 7 and the gripper shovel 16 is reopened from the closed position to the open position shown in the figure. Where gripper shovel 16 is still empty in channel 7.
From the preset height of the trough wall gripper 12 in the trough 7, then preferably in the free-fall mode, a renewed downward displacement of the trough wall gripper 12 can be effected until the gripper shovel 16 additionally squeezes with the teeth 18 into the ground 5. The gripper shovel 16 is then closed again and a further lifting of the trench wall gripper 12 takes place as the actual amount of ground material contained is determined and compared with the target amount as described before. If the actual amount is still less than the target amount, the process is repeated, optionally with a particularly larger preset further gripper height. Once the preset target amount is exceeded, the cell wall gripper 12 is completely withdrawn from the cell 7 and moved to the emptying position. The slot wall gripper 12 can then be moved back into the slot 7 again for a renewed gripping process.

Claims (15)

1. A trough wall gripping apparatus for creating a trough (7) in the ground (5) with:
-carrying appliance and
a trough wall gripper (12) which is supported at the load carrier in a substantially vertically adjustable manner, wherein the trough wall gripper (12) has a gripper frame (14) at the lower end of which two gripper shovels (16) are arranged, which can be adjusted by means of a handling device (20) between an open position for receiving ground material and a closed position for guiding the received ground material out of the trough (7),
it is characterized in that the preparation method is characterized in that,
-a determination device (40) is provided which is configured to determine an actual amount of ground material contained by the grapple shovel (16) in the closed position,
-a control unit is provided which is connected to the determination device (40) and in which a target amount of ground material to be accommodated by the trench wall gripper (12) is stored, and
the control unit is configured to compare the detected actual quantity with the stored target quantity and to issue a signal for repeating the gripping process when the detected actual quantity deviates from the stored target quantity.
2. The tank wall gripping apparatus according to claim 1, characterized in that the gripper shovel (16) can be automatically turned open by the control unit upon signaling.
3. The trough wall gripper apparatus according to claim 1 or 2, characterized in that the trough wall gripper (12) is supported at the carrier in a cable (32) or a rod and the determination device (40) has a force measuring element with which the weight force acting on the cable (32) or the rod can be detected as a measure for the actual amount of land material contained.
4. The cell wall gripper apparatus according to any one of claims 1 to 3, characterized in that the determination device (40) has a travel measuring element with which the penetration depth of the cell wall gripper (12) into the ground (5) before the gripper shovel is closed can be detected.
5. The tank wall gripper apparatus according to any of claims 1 to 4, characterized in that the control unit is configured to automatically raise the tank wall gripper (12) up to a predefinable height above the bottom of the tank (7) by means of a lifting device for repeating the gripping process and to sink again from the predefinable height with the opened gripper shovel (16) into the ground (5).
6. The cell wall gripper arrangement according to any of claims 1 to 5, characterized in that the control unit is configured to switch from an automatic mode for performing a gripping process to a manual operating mode when the actual quantity detected in the cell wall gripper (12) corresponds to the stored target quantity.
7. The trough wall gripping apparatus according to any one of claims 1 to 5, characterized in that the control unit is configured to, in an automatic mode for carrying out a gripping process, automatically withdraw the trough wall gripper (12) from the trough (7) in the ground (5) and move it to an emptying position after a target amount has been reached.
8. Method for producing a trough (7) in the ground (5), in particular with a trough wall gripping device (10) according to one of claims 1 to 7,
wherein the content of the first and second substances,
a trough wall gripper (12) having a gripper frame (14) at the lower end of which two gripper shovels (16) are arranged, which can be adjusted by means of a handling device (20) between an open position for receiving ground material and a closed position for leading the received ground material out of the trough (7),
-introducing the trench wall gripper (12) substantially vertically with the gripper shovel (16) open into the ground (5),
-closing the gripper shovel (16) for gripping and containing ground material and
-extracting the trench wall gripper (12) with the contained ground material from the ground (5) for forming the trench (7),
it is characterized in that the preparation method is characterized in that,
-determining the actual amount of ground material contained by the grapple tong shovel (16) in the closed position by means of a determination device (40),
-the determination device (40) is connected to a control unit which compares the detected actual quantity with a preset target quantity of ground material to be received by the trough wall gripper (12) and
-signaling by the control unit for repeating the gripping process when the detected actual quantity deviates from the stored target quantity.
9. Method according to claim 8, characterized in that the gripper shovel (16) is automatically opened by the control unit when the detected actual quantity deviates from the stored target quantity.
10. Method according to claim 8 or 9, characterized in that the cell wall gripper (12) is raised by the control unit for repeating the gripping process by means of a lifting device up to a predetermined height above the bottom of the cell (7) and from there lowered again into the ground (5) with the gripper shovel (16) opened.
11. Method according to any of claims 8 to 10, characterized in that the control unit switches from an automatic mode for performing a gripping procedure to a manual operating mode when the actual quantity detected in the cell wall gripper (12) corresponds to the stored target quantity.
12. Method according to any of claims 8-10, characterized in that the cell wall gripper (10) is automatically extracted from the groove (7) in the ground (5) and moved to an emptying position when the target volume is reached by the control unit in an automatic mode for carrying out a gripping process.
13. Method according to any of claims 8 to 12, characterized in that the trough wall grippers (12) are introduced into the ground (5) in a free-fall mode.
14. Method according to any one of claims 8 to 13, characterized in that the trench wall gripper (12) is introduced into the ground (5) with a preset force.
15. Method according to any one of claims 8 to 14, characterized in that the tank (7) is filled with suspension as it is being produced or subsequently and the suspension hardens in the tank (7) and a tank wall section is established.
CN202010305259.2A 2019-04-18 2020-04-17 A trough wall gripping apparatus and method for creating a trough in the ground Pending CN111827389A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP19170138.2 2019-04-18
EP19170138.2A EP3725951B1 (en) 2019-04-18 2019-04-18 Slotted wall gripper and method for creating a slot in the ground

Publications (1)

Publication Number Publication Date
CN111827389A true CN111827389A (en) 2020-10-27

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010305259.2A Pending CN111827389A (en) 2019-04-18 2020-04-17 A trough wall gripping apparatus and method for creating a trough in the ground

Country Status (3)

Country Link
EP (1) EP3725951B1 (en)
CN (1) CN111827389A (en)
ES (1) ES2930156T3 (en)

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JPH03241118A (en) * 1990-02-19 1991-10-28 Fujita Corp Automatic excavator of underground continuous wall
JPH07217358A (en) * 1994-02-02 1995-08-15 Nippon Sharyo Seizo Kaisha Ltd Bucket excavator
EP0919669B1 (en) * 1997-11-25 2004-02-18 Compagnie Du Sol Grab bucket with verticality correction

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