EP1013875B1 - Apparatus and method for enlarging the cross section of an underground structure - Google Patents

Apparatus and method for enlarging the cross section of an underground structure Download PDF

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Publication number
EP1013875B1
EP1013875B1 EP99890396A EP99890396A EP1013875B1 EP 1013875 B1 EP1013875 B1 EP 1013875B1 EP 99890396 A EP99890396 A EP 99890396A EP 99890396 A EP99890396 A EP 99890396A EP 1013875 B1 EP1013875 B1 EP 1013875B1
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EP
European Patent Office
Prior art keywords
boom
support
section
cross
milling tool
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EP99890396A
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German (de)
French (fr)
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EP1013875A2 (en
EP1013875A3 (en
Inventor
Alfred Ing. Angerlehner
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Angerlehner Hoch- und Tiefbau GmbH
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Angerlehner Hoch- und Tiefbau GmbH
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Priority to AT99890396T priority Critical patent/ATE283962T1/en
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Publication of EP1013875A3 publication Critical patent/EP1013875A3/en
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    • E—FIXED CONSTRUCTIONS
    • E03—WATER SUPPLY; SEWERAGE
    • E03F—SEWERS; CESSPOOLS
    • E03F3/00—Sewer pipe-line systems
    • E03F3/06—Methods of, or installations for, laying sewer pipes
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/10—Making by using boring or cutting machines
    • E21D9/1006—Making by using boring or cutting machines with rotary cutting tools
    • E21D9/1013—Making by using boring or cutting machines with rotary cutting tools on a tool-carrier supported by a movable boom
    • E21D9/102—Making by using boring or cutting machines with rotary cutting tools on a tool-carrier supported by a movable boom by a longitudinally extending boom being pivotable about a vertical and a transverse axis
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/01—Methods or apparatus for enlarging or restoring the cross-section of tunnels, e.g. by restoring the floor to its original level

Definitions

  • the present invention relates to a device for editing and enlarging the clear cross section or the inner contour of an earthworks, e.g. a channel according to the preamble of claim 1.
  • a processing device for enlarging the clear channel cross-section is for example, in AT 396 270 described.
  • the removal tool is kept movable along a gate, wherein the Kulisse thereby the profile to be machined to produce according to the Adapt processing machine respectively.
  • the known device has a carrier which is clamped in the clear cross section.
  • the machining tool on the frame by a free-guided robotic arm to keep its movements controlled profile are.
  • WO 90/12979 shows an apparatus for processing pipe systems in the shape of a pig, which is mounted on several training wheels.
  • the newt carries on a cantilever arm a tool.
  • the boom is in the radial direction pivotally mounted on a bogie, which is about a longitudinal axis is pivotable.
  • the tool can be in any position be brought to the pipe wall.
  • Such a device is for inspection or smaller Maintenance work, in particular in channel systems with a small cross section, quite suitable.
  • rough work with a device of this structure are not readily executable.
  • the cross-sectional widening by milling is problematic because of this Way no favorable angle for the milling tool can be reached.
  • the relatively large occurring forces can not optimally from the movement mechanism be recorded.
  • DE 20 27 192 shows a tunneling machine, which is designed to a Tunnel cross section from the full break out.
  • a tunneling machine does not give the problem of the angle of attack or in completely different Shape. It is described in this document a storage of the milling head, the pivotal movement about a substantially vertical axis and a this axis provides intersecting horizontal axis. It turned out that such a kinematics not optimal for the extension of tunnel cross sections is.
  • Object of the present invention is to avoid these disadvantages and to create a device of the type mentioned, which is optimal for the task the cross-sectional widening is adjusted, and in which a known Movable basic unit in a particularly simple manner to any contours is customizable and automatic control of the feed, for example along a route guiding device is made possible.
  • the device Due to the kinematics of the boom are the necessary conditions created, the device jos vided on a beam or align a guide beam and each work out the desired nominal profile.
  • the substantially horizontal Swivel axis on a slide or swingarm adjustable in height direction arranged, where it is sufficient for the exact control, each in the align the essential horizontal pivot axis on the route guide, in each case in the narrowed or to be enlarged clear cross section, the correct geometric conditions with respect to the target profile to be able to comply.
  • the inventive training is made so that the pivot axis for the horizontal pivoting of the boom essentially normal to the horizontal pivot axis, whereby in particular deviating from the circular shape inner contours or clear cross sections be safely coated with the boom and the milling tools can.
  • the required control signals arise in such a design as X and Y coordinates of the respective nominal profile in the machining cross section wherein the orientation of the substantially horizontal pivot axis sufficient to an automatic method along a guide beam analog to allow for the process along a route guide.
  • the training is such that the actuators for vertical and horizontal pivoting of the extension arm are formed by hydraulic cylinders whose position from a control circuit is monitored and adjusted in dependence on a predetermined nominal profile becomes.
  • the gimbal bearing and the device for adjustment the altitude of the horizontal pivot axis subsequently to any known movable devices are grown, due to the geometric Design an automatic process in a simple manner possible becomes.
  • a secure adjustment and positioning of the device in the clear cross-section can be ensured in a simple manner that the carrier at least carries three support rollers on arms, which in the cross-sectional plane Y-shaped arranged and adjustable in the direction of the inner surface of the profile.
  • the Use of a substantially Y-shaped arrangement of the support rollers allows in particular for cross sections which deviate from the circular shape, a large degree of self-centering of the device, so that the required Effort for Nachkorrekturen be kept low on Streckenleitstrahl can.
  • a process control can be used to carry different profiles precisely control the hydraulic piston, the device without consuming Retooling can be used universally.
  • the training is made such in that the milling tool is at the rear end in the direction of advancement or displacement the carrier is arranged on the boom.
  • the milling tools of milling or Milling heads are formed, whose axis of rotation with the axis of the cantilever arm flees.
  • a configuration can by appropriate head shape and head geometry each a largely flat contact of the cutting tools with the inner contour or the inner wall of the light to be enlarged Cross-section can be maintained, reducing the working speed can be increased.
  • the axis of rotation the milling tool is transverse to the axis of the cantilever arm.
  • the device is preferably designed such that the pivot axes of the boom to a beam, in particular a laser beam, are alignable.
  • a beam in particular a laser beam
  • the training is made so that at least one of Rollers connected to a traction drive.
  • the present invention relates to a method for editing and enlarging the clear cross-section or the inner contour of a Erdbauwerkes, z. B. a channel, preferably using a device through the above described type.
  • a milling tool used which is attached to a cantilever, the gimbal stored at a point that is at the height of a horizontal diameter an outer enveloping circle is arranged around the desired profile shape.
  • a frame 1 can be seen on which wheels 2 and 3 rotatable are stored.
  • the impeller 3 is connected to a drive motor, not shown, wherein the wheels are movable on the sole of a channel profile 4.
  • the boom 7 is hinged gimbal, wherein the substantially vertical pivot axis is denoted by 8.
  • the boom 7 carries on his front end coaxial with the axis of the boom rotatably mounted milling or cutting tools 9, wherein the corresponding drive motor with 10th is designated.
  • the substantially vertical pivot axis 8 is in this case of a fork 11 of the extension arm 7 embraced, so that a secure recording the reaction forces is enabled.
  • the pivot drive for the pivoting of the boom 7 to the in essential horizontal axis 6 is formed by a hydraulic cylinder 12, which engages an arm 13 of the universal joint.
  • the pivoting in im substantially horizontal direction is caused by the hydraulic cylinder 14, wherein these two hydraulic cylinders 14, 12 via control lines 15 and 16 with a central control device 17 are connected, which also the signals a Leitleit issued not shown processed.
  • the rocker 5 is pivoted by a hydraulic cylinder 18, so that the horizontal pivot axis 6 substantially diametrically in the enveloping circle of the Channel cross-section of the channel 4 runs.
  • a centering or more Support is ensured by support rollers 19, which via hydraulic cylinders 20 against the inner wall of the channel 4 can be pressed and in one common carrier 21 are stored.
  • the Carrier 21, which were indicated by dash-dotted lines, preferably Y-shaped be arranged, wherein at a substantially egg-shaped cross-section together with the lower driven support roller 3, a self-adjustment is possible.
  • the support rollers 19 but can also deviate from the dot-dash line indicated location can be oriented in any way, as with the drawn in full lines rollers 19 is illustrated.
  • the outside of the profile cross-section is surrounding Envelopes marked 22.
  • the substantially horizontal pivot axis is in each case aligned with the horizontal diameter 23 of this enveloping circle, so that an exact adjustment of the entire device at one Routing beam can be done.
  • the extension arm 7 on both sides separate hydraulic cylinder 14 are used, wherein the substantially horizontal pivot axis 6 in Height direction along the indicated with 24 vertical longitudinal center plane of is to be machined clear cross-section adjustable.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental & Geological Engineering (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Hydrology & Water Resources (AREA)
  • Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Water Supply & Treatment (AREA)
  • Earth Drilling (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)
  • Laser Beam Processing (AREA)
  • Inorganic Insulating Materials (AREA)
  • Soil Working Implements (AREA)
  • Sewage (AREA)

Abstract

The internal cross-section and inner contour of a ground structure, such as a channel, is processed and enlarged by the equipment involving a milling tool (9) fitted on a support (1) on a beam arm (7). The support has rollers (19) for movement into the cross-section being processed. The beam arm (7) is linked to the support cardanically around a horizontal pivot axis (6) and around a further pivot axis (8). The linkage point of the arm is adjustable as to height.

Description

Die vorliegende Erfindung betrifft eine Einrichtung zum Bearbeiten und Vergrößern des lichten Querschnitts bzw. der Innenkontur eines Erdbauwerks, z.B. eines Kanals gemäß dem Oberbegriff des Patentanspruchs 1.The present invention relates to a device for editing and enlarging the clear cross section or the inner contour of an earthworks, e.g. a channel according to the preamble of claim 1.

Eine Bearbeitungseinrichtung zur Vergrößerung des lichten Kanalquerschnittes ist beispielsweise in der AT 396 270 beschrieben. Bei dieser bekannten Einrichtung wird das Abbauwerkzeug entlang einer Kulisse bewegbar gehalten, wobei die Kulisse dabei dem zu bearbeitenden Profil entsprechend herzustellen ist, um die Bearbeitungsmaschine jeweils zu adaptieren. Die bekannte Vorrichtung weist einen Träger auf, welcher im lichten Querschnitt verspannt wird. Prinzipiell wurde auch bereits vorgeschlagen, das Bearbeitungswerkzeug am Gestell durch einen frei geführten Roboterarm zu halten, dessen Bewegungen profilkonform steuerbar sind.A processing device for enlarging the clear channel cross-section is for example, in AT 396 270 described. In this known device the removal tool is kept movable along a gate, wherein the Kulisse thereby the profile to be machined to produce according to the Adapt processing machine respectively. The known device has a carrier which is clamped in the clear cross section. In principle was also already proposed, the machining tool on the frame by a free-guided robotic arm to keep its movements controlled profile are.

Die WO 90/12979 zeigt eine Vorrichtung zur Bearbeitung von Rohrsystemen in der Form eines Molchs, der auf mehreren Stützrädern gelagert ist. Der Molch trägt auf einem Auslegerarm ein Werkzeug. Der Auslegerarm ist in Radialrichtung schwenkbar auf einem Drehgestell angeordnet, das um eine Längsachse schwenkbar ist. Auf diese Weise kann das Werkzeug in eine beliebige Position an der Rohrwand gebracht werden. Ein solches Gerät ist für Inspektions- oder kleinere Wartungsarbeiten, insbesondere in Kanalsystemen mit kleinem Querschnitt, durchaus geeignet. Es hat sich jedoch herausgestellt, dass grobe Arbeiten mit einem Gerät dieses Aufbaus nicht ohne weiteres ausführbar sind. Insbesondere die Querschnittserweiterung durch Ausfräsen ist problematisch, da auf diese Weise keine günstigen Anstellwinkel für das Fräswerkzeug erreichbar sind. Weiters können die relativ großen auftretenden Kräfte nicht optimal von dem Bewegungsmechanismus aufgenommen werden.WO 90/12979 shows an apparatus for processing pipe systems in the shape of a pig, which is mounted on several training wheels. The newt carries on a cantilever arm a tool. The boom is in the radial direction pivotally mounted on a bogie, which is about a longitudinal axis is pivotable. In this way, the tool can be in any position be brought to the pipe wall. Such a device is for inspection or smaller Maintenance work, in particular in channel systems with a small cross section, quite suitable. However, it has turned out that rough work with a device of this structure are not readily executable. In particular the cross-sectional widening by milling is problematic because of this Way no favorable angle for the milling tool can be reached. Furthermore, The relatively large occurring forces can not optimally from the movement mechanism be recorded.

Die DE 20 27 192 zeigt eine Vortriebsmaschine, die dazu ausgelegt ist, einen Tunnelquerschnitt aus dem Vollen auszubrechen. Bei einer solchen Vortriebsmaschine ergibt sich die Problematik des Anstellwinkels nicht bzw. in völlig anderer Form. Es wird in diese Druckschrift eine Lagerung des Fräskopfes beschrieben, die eine Schwenkbewegung um eine im Wesentlichen vertikale Achse und eine diese Achse schneidende horizontale Achse vorsieht. Es hat sich herausgestellt, dass eine solche Kinematik nicht optimal für die Erweiterung von Tunnelquerschnitten ist.DE 20 27 192 shows a tunneling machine, which is designed to a Tunnel cross section from the full break out. In such a tunneling machine does not give the problem of the angle of attack or in completely different Shape. It is described in this document a storage of the milling head, the pivotal movement about a substantially vertical axis and a this axis provides intersecting horizontal axis. It turned out that such a kinematics not optimal for the extension of tunnel cross sections is.

Aufgabe der vorliegenden Erfindung ist es, diese Nachteile zu vermeiden und eine Einrichtung der eingangs genannten Art zu schaffen, die optimal für die Aufgabe der Querschnittserweiterung angepasst ist, und bei welcher ein bekanntes verfahrbares Grundgerät in besonders einfacher Weise an beliebige Konturen anpassbar ist und eine automatische Steuerung des Vorschubes, beispielsweise längs einer Streckenleiteinrichtung, ermöglicht wird.Object of the present invention is to avoid these disadvantages and to create a device of the type mentioned, which is optimal for the task the cross-sectional widening is adjusted, and in which a known Movable basic unit in a particularly simple manner to any contours is customizable and automatic control of the feed, for example along a route guiding device is made possible.

Diese Aufgaben werden erfindungsgemäß durch die Merkmale der Patenanspruchs 1 gelöst. Bei der erfindungsgemäßen Lösung hat es sich als wichtig herausgestellt, dass die Kinematik des Auslegerarms so aufgebaut ist, dass bei üblichen Tunnelprofilen günstige Anstellwinkel erreicht werden.These objects are achieved by the features of the patent claim 1 solved. In the solution according to the invention, it has proven to be important that the kinematics of the boom is constructed so that in usual Tunnel profiles favorable angle of attack can be achieved.

Aufgrund der Kinematik des Auslegerarmes werden die notwendigen Voraussetzungen geschaffen, die Einrichtung selbstverfahrend an einem Richtstrahl oder einem Leitstrahl auszurichten und jeweils das gewünschte Sollprofil herauszuarbeiten. Mit Vorteil ist zu diesem Zweck die im wesentlichen horizontale Schwenkachse an einem Schlitten oder einer Schwinge in Höhenrichtung justierbar angeordnet, wobei es für die exakte Steuerung ausreicht, jeweils diese im wesentlichen horizontale Schwenkachse auf den Streckenleitstrahl auszurichten, um jeweils im geschrämten bzw. zu vergrößernden lichten Querschnitt die korrekten geometrischen Bedingungen in bezug auf das Sollprofil einhalten zu können.Due to the kinematics of the boom are the necessary conditions created, the device selbstverfahrend on a beam or align a guide beam and each work out the desired nominal profile. Advantageously, for this purpose, the substantially horizontal Swivel axis on a slide or swingarm adjustable in height direction arranged, where it is sufficient for the exact control, each in the align the essential horizontal pivot axis on the route guide, in each case in the narrowed or to be enlarged clear cross section, the correct geometric conditions with respect to the target profile to be able to comply.

Wesentlich an der vorliegenden Erfindung ist auch, dass es aufgrund der Konstruktion in günstiger Weise möglich ist, die auftretenden Kräfte über die Struktur abzuleiten. Weiters ist wichtig, dass die Lagerung des Auslegerarms für das Fräswerkzeug mehr Freiheitsgrade aufweist, als dies an sich notwendig wäre. Auch ohne Höhenverstellbarkeit des Anlenkpunktes könnte das Fräswerkzeug innerhalb bestimmter Grenzen jeden Punkt an der Kanalwand erreichen. Jedoch wird es erst durch die erfindungsgemäße Ausbildung möglich, eine exakte Steuerung zu gewährleisten und günstige Anstellwinkel des Werkzeugs sicherzustellen.It is also essential to the present invention that it is due to the construction is possible in a favorable manner, the forces occurring over the structure derive. Furthermore, it is important that the bearing of the cantilever arm for the Milling tool has more degrees of freedom than would be necessary in itself. Even without height adjustment of the articulation point could the milling tool within certain limits reach each point on the canal wall. however It is only possible by the inventive design, an exact To ensure control and ensure favorable angle of attack of the tool.

In besonders vorteilhafter Weise ist die erfindungsgemäße Ausbildung so getroffen, dass die Schwenkachse für die horizontale Verschwenkung des Auslegerarmes im wesentlichen normal auf die horizontale Schwenkachse verläuft, wodurch insbesondere von der Kreisform abweichende Innenkonturen bzw. lichte Querschnitte mit dem Auslegerarm und den Fräswerkzeugen sicher bestrichen werden können. Die erforderlichen Steuersignale stellen sich bei einer derartigen Auslegung als X und Y-Koordinaten des jeweiligen Sollprofiles im bearbeitenden Querschnitt dar, wobei die Ausrichtung der im wesentlichen horizontalen Schwenkachse ausreicht, um ein automatisches Verfahren längs eines Leitstrahles analog zum Verfahren längs einer Streckenleiteinrichtung zu ermöglichen.In a particularly advantageous manner, the inventive training is made so that the pivot axis for the horizontal pivoting of the boom essentially normal to the horizontal pivot axis, whereby in particular deviating from the circular shape inner contours or clear cross sections be safely coated with the boom and the milling tools can. The required control signals arise in such a design as X and Y coordinates of the respective nominal profile in the machining cross section wherein the orientation of the substantially horizontal pivot axis sufficient to an automatic method along a guide beam analog to allow for the process along a route guide.

In besonders einfacher Weise ist die Ausbildung so getroffen, dass die Stellantriebe für die vertikale und die horizontale Verschwenkung des Auslegerarmes von Hydraulikzylindern gebildet sind, deren Position von einer Steuerschaltung überwacht ist und in Abhängigkeit von einem vorgegebenen Sollprofil verstellt wird. Prinzipiell kann die kardanische Lagerung sowie die Einrichtung zur Justierung der Höhenlage der horizontalen Schwenkachse nachträglich an beliebige bekannte verfahrbare Einrichtungen angebaut werden, wobei aufgrund der geometrischen Auslegung ein automatisches Verfahren in einfacher Weise möglich wird.In a particularly simple manner, the training is such that the actuators for vertical and horizontal pivoting of the extension arm are formed by hydraulic cylinders whose position from a control circuit is monitored and adjusted in dependence on a predetermined nominal profile becomes. In principle, the gimbal bearing and the device for adjustment the altitude of the horizontal pivot axis subsequently to any known movable devices are grown, due to the geometric Design an automatic process in a simple manner possible becomes.

Eine sichere Justierung und Positionierung der Einrichtung im lichten Querschnitt kann in einfacher Weise dadurch sichergestellt werden, dass der Träger wenigstens drei Stützrollen an Armen trägt, welche die in der Querschnittsebene Y-förmig angeordnet und in Richtung zur Innenfläche des Profils verstellbar sind. Die Verwendung einer im wesentlichen Y-förmigen Anordnung der Abstützrollen erlaubt hierbei insbesondere bei Querschnitten, welche von der Kreisform abweichen, ein weitgehendes Selbstzentrieren der Einrichtung, so dass der erforderliche Aufwand für Nachkorrekturen am Streckenleitstrahl gering gehalten werden kann. Über eine Prozesssteuerung lassen sich jeweils unterschiedliche Profile mit den Hydraulikkolben exakt ansteuern, wobei die Einrichtung ohne aufwendige Umrüstarbeiten universell zum Einsatz gelangen kann.A secure adjustment and positioning of the device in the clear cross-section can be ensured in a simple manner that the carrier at least carries three support rollers on arms, which in the cross-sectional plane Y-shaped arranged and adjustable in the direction of the inner surface of the profile. The Use of a substantially Y-shaped arrangement of the support rollers allows in particular for cross sections which deviate from the circular shape, a large degree of self-centering of the device, so that the required Effort for Nachkorrekturen be kept low on Streckenleitstrahl can. A process control can be used to carry different profiles precisely control the hydraulic piston, the device without consuming Retooling can be used universally.

Gemäß einer weiteren bevorzugten Weiterbildung ist die Ausbildung so getroffen, dass das Fräswerkzeug am in Vortriebs- bzw. Verschieberichtung hinteren Ende des Trägers am Auslegerarm angeordnet ist. Mit einer derartigen Anordnung kann eine Abförderung des geschrämten Materials entfallen, da dieses einfach ausgespült werden kann und beim weiteren Vortrieb nicht im Wege ist.According to a further preferred development, the training is made such in that the milling tool is at the rear end in the direction of advancement or displacement the carrier is arranged on the boom. With such an arrangement can be dispensed with a discharge of the scarred material, as this easy can be rinsed out and in the further propulsion is not in the way.

In besonders einfacher Weise können die Fräswerkzeuge von Fräswalzen oder Fräsköpfen gebildet sein, deren Rotationsachse mit der Achse des Auslegerarmes fluchtet. Bei einer derartigen Ausgestaltung kann durch entsprechende Kopfform und Kopfgeometrie jeweils ein weitestgehend flächiger Kontakt der Schrämwerkzeuge mit der Innenkontur bzw. der Innenwand des zu vergrößernden lichten Querschnittes aufrechterhalten werden, wodurch die Arbeitsgeschwindigkeit erhöht werden kann. Es ist alternativ dazu auch möglich, dass die Rotationsachse des Fräswerkzeuges quer zur Achse des Auslegerarmes liegt.In a particularly simple manner, the milling tools of milling or Milling heads are formed, whose axis of rotation with the axis of the cantilever arm flees. In such a configuration can by appropriate head shape and head geometry each a largely flat contact of the cutting tools with the inner contour or the inner wall of the light to be enlarged Cross-section can be maintained, reducing the working speed can be increased. It is alternatively also possible that the axis of rotation the milling tool is transverse to the axis of the cantilever arm.

Wie bereits eingangs erwähnt, ist die Einrichtung bevorzugt so ausgebildet, dass die Schwenkachsen des Auslegerarmes an einem Richtstrahl, insbesondere einem Laserstrahl, ausrichtbar sind. Für ein vollautomatisches Verfahren der Einrichtung im Inneren des lichten Querschnittes in Abhängigkeit von den Vorgaben eines Richtstrahles ist die Ausbildung so getroffen, dass wenigstens eine der Rollen mit einem Fahrantrieb verbunden ist.As already mentioned, the device is preferably designed such that the pivot axes of the boom to a beam, in particular a laser beam, are alignable. For a fully automated procedure of setup inside the clear cross-section depending on the specifications a directional beam, the training is made so that at least one of Rollers connected to a traction drive.

Weiters betrifft die vorliegende Erfindung ein Verfahren zum Bearbeiten und Vergrößern des lichten Querschnitts bzw. der Innenkontur eines Erdbauwerkes, z. B. eines Kanals, vorzugsweise unter Verwendung einer Einrichtung durch die oben beschriebene Art. Erfindungsgemäß ist dabei vorgesehen, dass ein Fräswerkzeug verwendet wird, das an einem Auslegerarm befestigt ist, der kardanisch an einem Punkt gelagert ist, der auf der Höhe eines horizontalen Durchmessers eines äußeren Hüllkreises um die Sollprofilform angeordnet ist. Mit einem solchen Verfahren kann ein besonders exakter Ausbaufortschritt erreicht werden.Furthermore, the present invention relates to a method for editing and enlarging the clear cross-section or the inner contour of a Erdbauwerkes, z. B. a channel, preferably using a device through the above described type. According to the invention, it is provided that a milling tool used, which is attached to a cantilever, the gimbal stored at a point that is at the height of a horizontal diameter an outer enveloping circle is arranged around the desired profile shape. With such a Method, a particularly accurate development progress can be achieved.

Die Erfindung wird nachfolgend anhand von in der Zeichnung schematisch dargestellten Ausführungsbeispielen näher erläutert. Es zeigen

Fig. 1
eine schematische Seitenansicht einer erfindungsgemäßen Einrichtung und
Fig. 2
eine Ansicht auf die erfindungsgemäße Einrichtung von hinten in Vortriebsrichtung gesehen.
The invention will be explained in more detail with reference to embodiments shown schematically in the drawing. Show it
Fig. 1
a schematic side view of a device according to the invention and
Fig. 2
a view of the inventive device seen from the rear in the direction of advance.

In Fig. 1 ist ein Rahmen 1 ersichtlich, an welchem Laufräder 2 und 3 rotierbar gelagert sind. Das Laufrad 3 ist mit einem nicht dargestellten Antriebsmotor verbunden, wobei die Laufräder an der Sohle eines Kanalprofils 4 verfahrbar sind.In Fig. 1, a frame 1 can be seen on which wheels 2 and 3 rotatable are stored. The impeller 3 is connected to a drive motor, not shown, wherein the wheels are movable on the sole of a channel profile 4.

Am Maschinengrundrahmen 1 ist ein Auslegearm 7 an einer Schwinge 5 um eine im wesentlichen horizontale Achse 6 in Höhenrichtung schwenkbar angelenkt. Der Auslegerarm 7 ist hierbei kardanisch angelenkt, wobei die im wesentlichen vertikale Schwenkachse mit 8 bezeichnet ist. Der Auslegerarm 7 trägt an seinem stirnseitigen Ende koaxial zur Achse des Auslegerarmes rotierbar gelagerte Fräs- bzw. Schrämwerkzeuge 9, wobei der entsprechende Antriebsmotor mit 10 bezeichnet ist. Die im wesentlichen vertikale Schwenkachse 8 wird hierbei von einer Gabel 11 des Auslegerarmes 7 umgriffen, so dass eine sichere Aufnahme der Reaktionskräfte ermöglicht wird. On machine base frame 1 is a boom 7 on a rocker 5 to a substantially horizontal axis 6 articulated pivotably in the vertical direction. The boom 7 is hinged gimbal, wherein the substantially vertical pivot axis is denoted by 8. The boom 7 carries on his front end coaxial with the axis of the boom rotatably mounted milling or cutting tools 9, wherein the corresponding drive motor with 10th is designated. The substantially vertical pivot axis 8 is in this case of a fork 11 of the extension arm 7 embraced, so that a secure recording the reaction forces is enabled.

Der Schwenkantrieb für die Verschwenkung des Auslegerarmes 7 um die im wesentlichen horizontale Achse 6 ist von einem Hydraulikzylinder 12 gebildet, welcher an einem Arm 13 des Kardangelenkes angreift. Die Verschwenkung in im wesentlichen horizontaler Richtung wird durch den Hydraulikzylinder 14 bewirkt, wobei diese beiden Hydraulikzylinder 14, 12 über Steuerleitungen 15 und 16 mit einer zentralen Steuereinrichtung 17 verbunden sind, welche auch die Signale einer nicht dargestellten Streckenleiteinrichtung verarbeitet.The pivot drive for the pivoting of the boom 7 to the in essential horizontal axis 6 is formed by a hydraulic cylinder 12, which engages an arm 13 of the universal joint. The pivoting in im substantially horizontal direction is caused by the hydraulic cylinder 14, wherein these two hydraulic cylinders 14, 12 via control lines 15 and 16 with a central control device 17 are connected, which also the signals a Leitleiteinrichtung not shown processed.

Für die korrekte Höheneinstellung der im wesentlichen horizontalen Schwenkachse 6 wird die Schwinge 5 durch einen Hydraulikzylinder 18 verschwenkt, so dass die horizontale Schwenkachse 6 im wesentlichen diametral im Hüllkreis des Kanalquerschnittes des Kanals 4 verläuft. Eine Zentrierung bzw. weitere Abstützung wird durch Stützrollen 19 gewährleistet, welche über Hydraulikzylinder 20 gegen die Innenwand des Kanals 4 gepresst werden können und in einem gemeinsamen Träger 21 gelagert sind. Wie aus Fig. 2 ersichtlich, können die Träger 21, welche strichpunktiert angedeutet wurden, in bevorzugter Weise Y-förmig angeordnet sein, wobei bei einem im wesentlichen eiförmigen Querschnitt gemeinsam mit der unteren angetriebenen Stützrolle 3 eine Selbstjustierung möglich ist. Die Stützrollen 19 können aber auch abweichend von der strichpunktiert angedeuteten Lage in beliebiger Weise orientiert werden, wie dies mit den in vollen Linien gezeichneten Rollen 19 verdeutlicht ist.For the correct height adjustment of the substantially horizontal pivot axis 6, the rocker 5 is pivoted by a hydraulic cylinder 18, so that the horizontal pivot axis 6 substantially diametrically in the enveloping circle of the Channel cross-section of the channel 4 runs. A centering or more Support is ensured by support rollers 19, which via hydraulic cylinders 20 against the inner wall of the channel 4 can be pressed and in one common carrier 21 are stored. As can be seen from Fig. 2, the Carrier 21, which were indicated by dash-dotted lines, preferably Y-shaped be arranged, wherein at a substantially egg-shaped cross-section together with the lower driven support roller 3, a self-adjustment is possible. The support rollers 19 but can also deviate from the dot-dash line indicated location can be oriented in any way, as with the drawn in full lines rollers 19 is illustrated.

Bei der Darstellung nach Fig. 2 ist der den Profilquerschnitt außen umgebende Hüllkreise mit 22 bezeichnet. Die im wesentlichen horizontale Schwenkachse wird hierbei jeweils auf den horizontalen Durchmesser 23 dieses Hüllkreises ausgerichtet, so dass eine exakte Justierung der gesamten Einrichtung an einem Streckenleitstrahl erfolgen kann. Wie aus Fig. 2 ersichtlich, können für die Verschwenkung des Auslegerarmes 7 zu beiden Seiten gesonderte Hydraulikzylinder 14 eingesetzt werden, wobei die im wesentlichen horizontale Schwenkachse 6 in Höhenrichtung längs der mit 24 angedeuteten vertikalen Längsmittelebene des zu bearbeitenden lichten Querschnittes justierbar ist.In the illustration according to FIG. 2, the outside of the profile cross-section is surrounding Envelopes marked 22. The substantially horizontal pivot axis is in each case aligned with the horizontal diameter 23 of this enveloping circle, so that an exact adjustment of the entire device at one Routing beam can be done. As can be seen from Fig. 2, for the pivoting the extension arm 7 on both sides separate hydraulic cylinder 14 are used, wherein the substantially horizontal pivot axis 6 in Height direction along the indicated with 24 vertical longitudinal center plane of is to be machined clear cross-section adjustable.

Claims (10)

  1. A device for processing and enlarging the excavated section or inside shape of an earth structure such as a canal, with a milling tool (9) which is held on a support (1) on a boom (7) which can be positioned in the cross section to be processed, with the support (1) having rollers (19) for support and displacement in the cross section to be processed, and with the boom (7) being substantially coupled by a universal joint on a height-adjustable oscillating crank (5), characterized in that the coupling of the boom (7) on the height-adjustable oscillating crank (5) occurs primarily about a horizontal swivel axis (6) and secondarily, offset in the direction of the milling tool (9), about a further swivel axis (8) which is arranged in a rectangular way relative to the horizontal swivel axis (6).
  2. A device according to claim 1, characterized in that the horizontal swivel axis (6) of the boom is arranged about the desired profile shape in the region of a horizontal diameter of an envelope circle.
  3. A device according to one of the claims 1 or 2, characterized in that the further swivel axis (8) is arranged substantially normal to the horizontal swivel axis (6).
  4. A device according to one of the claims 1 to 3, characterized in that hydraulic cylinders (12, 14) are provided for swiveling the boom (7), with its position being monitored by a control circuit and being adjustable depending on a predetermined desired profile.
  5. A device according to one of the claims 1 to 4, characterized in that the support (1) carries at least three support rollers (19) on arms, which arms are arranged in the cross-sectional plane preferably in the Y-shape and are adjustable in the direction towards the inside surface of the profile.
  6. A device according to one of the claims 1 to 5, characterized in that the milling tool (9) is arranged on the boom (7) at the end of the support (1) which is at the rear in the direction of advance or displacement with the milling tool (9) preferably having a rotational axis which is in alignment with the axis of the boom (7).
  7. A device according to one of the claims 1 to 6, characterized in that the swivel axes of the boom (7) can be aligned on a directional beam, especially a laser beam.
  8. A device according to one of the claims 1 to 7, with the support (1) being held on running wheels (2, 3), characterized in that at least one running wheel (2, 3) is provided with a drivable configuration.
  9. A device according to one of the claims 1 to 8, characterized in that at least one of the support rollers (19) is provided with a drivable configuration.
  10. A method for processing and enlarging the excavated section or inside shape of an earth structure such as a canal, by using a device according to one of the claims 1 to 9, characterized in that a milling tool (9) is used which is fastened to a boom (7) which is held in a universal joint at a point which is arranged at the level of a horizontal diameter of an outer envelope circle about the desired profile shape.
EP99890396A 1998-12-21 1999-12-21 Apparatus and method for enlarging the cross section of an underground structure Expired - Lifetime EP1013875B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT99890396T ATE283962T1 (en) 1998-12-21 1999-12-21 DEVICE AND METHOD FOR ENLARGING THE CROSS SECTION OF AN EARTH STRUCTURE

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AT0212398A AT408110B (en) 1998-12-21 1998-12-21 DEVICE FOR EDITING AND ENLARGING THE LIGHT CROSS SECTION OF AN EARTH WORK
AT212398 1998-12-21

Publications (3)

Publication Number Publication Date
EP1013875A2 EP1013875A2 (en) 2000-06-28
EP1013875A3 EP1013875A3 (en) 2001-08-16
EP1013875B1 true EP1013875B1 (en) 2004-12-01

Family

ID=3528273

Family Applications (1)

Application Number Title Priority Date Filing Date
EP99890396A Expired - Lifetime EP1013875B1 (en) 1998-12-21 1999-12-21 Apparatus and method for enlarging the cross section of an underground structure

Country Status (6)

Country Link
EP (1) EP1013875B1 (en)
JP (1) JP2000186494A (en)
KR (1) KR100369752B1 (en)
AT (2) AT408110B (en)
CA (1) CA2292725A1 (en)
DE (1) DE59911189D1 (en)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4060304A (en) * 1976-07-01 1977-11-29 Abramson Joseph O Battery cables and process for making same
CN101391314B (en) * 2008-09-25 2012-09-05 湖州机床厂有限公司 Spherical surface hole boring and milling mechanism
CN107605030B (en) * 2017-09-19 2020-10-27 郑州华隆机械制造有限公司 Pipeline dredging and obstacle removing vehicle
CN114109430B (en) * 2021-11-30 2024-05-03 中国矿业大学 Hard rock cutting dual-purpose entry driving machine
CN115229579B (en) * 2022-09-20 2023-03-24 江苏强弘阀门有限公司 Valve pipe fitting equipment of polishing

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1248589B (en) * 1965-03-11 1967-08-31 Gewerk Eisenhuette Westfalia Extraction and jacking machine
DE2027192A1 (en) * 1970-06-03 1972-02-03 Paurat, Friedrich Wilhelm, 4222 Friedrichsfeld Tunneling machine
DE2113190B1 (en) * 1971-03-18 1972-05-25 Paurat F Method and device for driving routes and tunnels
GB1501113A (en) * 1974-04-20 1978-02-15 Anderson Mavor Ltd Tunnelling machines
FR2459360B1 (en) * 1979-06-21 1986-04-18 Tim Tech Ind Minieres SYSTEM FOR EXCAVATING UNDERGROUND GALLERIES
DE2933766C2 (en) * 1979-08-21 1982-08-12 Mannesmann AG, 4000 Düsseldorf Partial section tunneling machine
DE3738802A1 (en) * 1987-11-14 1989-05-24 Atlas Copco Eickhoff Road PARTIAL CUTTING MACHINE FOR PROCESSING ROUTES OR TUNNELS
DE3740753A1 (en) * 1987-12-02 1989-06-15 Atlas Copco Eickhoff Road CARRIAGE ARRANGEMENT ON PARTIAL CUTTING MACHINES
DK201389D0 (en) * 1989-04-26 1989-04-26 Gammelgaard Lone Lykke APPARATUS FOR USE IN RENOVATION OF PIPE SYSTEMS, NAMELY CLOCK PIPE SYSTEMS
AT396270B (en) * 1989-04-27 1993-07-26 Wiener Betriebs & Bau MACHINING DEVICE FOR ENLARGING THE LIGHT CROSS SECTION OF THE INTERNAL WALL OF A PROFILE OF AN EARTHWORK CONSTRUCTION, IN PARTICULAR DIFFERENT FROM THE CIRCULAR SHAPE

Also Published As

Publication number Publication date
AT408110B (en) 2001-09-25
EP1013875A2 (en) 2000-06-28
DE59911189D1 (en) 2005-01-05
KR20000048297A (en) 2000-07-25
EP1013875A3 (en) 2001-08-16
ATA212398A (en) 2001-01-15
ATE283962T1 (en) 2004-12-15
JP2000186494A (en) 2000-07-04
KR100369752B1 (en) 2003-01-30
CA2292725A1 (en) 2000-06-21

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