EP3543408B1 - Schlitzwandfräse und verfahren zum erstellen eines frässchlitzes im boden - Google Patents

Schlitzwandfräse und verfahren zum erstellen eines frässchlitzes im boden Download PDF

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Publication number
EP3543408B1
EP3543408B1 EP18163075.7A EP18163075A EP3543408B1 EP 3543408 B1 EP3543408 B1 EP 3543408B1 EP 18163075 A EP18163075 A EP 18163075A EP 3543408 B1 EP3543408 B1 EP 3543408B1
Authority
EP
European Patent Office
Prior art keywords
cutting
milling
trench
cleaning
wheels
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.)
Not-in-force
Application number
EP18163075.7A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP3543408A1 (de
Inventor
Thomas Domanski
Karl van der Waal
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 Spezialtiefbau GmbH
Original Assignee
Bauer Spezialtiefbau 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
Priority to EP18163075.7A priority Critical patent/EP3543408B1/de
Application filed by Bauer Spezialtiefbau GmbH filed Critical Bauer Spezialtiefbau GmbH
Priority to US16/982,015 priority patent/US11236480B2/en
Priority to CA3092741A priority patent/CA3092741A1/en
Priority to PCT/EP2019/055606 priority patent/WO2019179770A1/de
Priority to KR1020207027468A priority patent/KR20200132888A/ko
Priority to JP2020550859A priority patent/JP2021518500A/ja
Priority to CN201980020858.5A priority patent/CN112154237A/zh
Publication of EP3543408A1 publication Critical patent/EP3543408A1/de
Application granted granted Critical
Publication of EP3543408B1 publication Critical patent/EP3543408B1/de
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D3/00—Improving or preserving soil or rock, e.g. preserving permafrost soil
    • E02D3/12—Consolidating by placing solidifying or pore-filling substances in the soil
    • E02D3/126—Consolidating by placing solidifying or pore-filling substances in the soil and mixing by rotating blades
    • 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
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/18—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels
    • E02F3/20—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels with tools that only loosen the material, i.e. mill-type wheels
    • E02F3/205—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels with tools that only loosen the material, i.e. mill-type wheels with a pair of digging wheels, e.g. slotting machines
    • 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
    • E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
    • E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
    • E02F3/92—Digging elements, e.g. suction heads
    • E02F3/9212—Mechanical digging means, e.g. suction wheels, i.e. wheel with a suction inlet attached behind the wheel
    • E02F3/9218—Mechanical digging means, e.g. suction wheels, i.e. wheel with a suction inlet attached behind the wheel with jets
    • 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
    • E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
    • E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
    • E02F3/92—Digging elements, e.g. suction heads
    • E02F3/9212—Mechanical digging means, e.g. suction wheels, i.e. wheel with a suction inlet attached behind the wheel
    • E02F3/9225—Mechanical digging means, e.g. suction wheels, i.e. wheel with a suction inlet attached behind the wheel with rotating cutting elements
    • E02F3/9231—Suction wheels with axis of rotation parallel to longitudinal axis of the suction pipe
    • 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
    • E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
    • E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
    • E02F3/92—Digging elements, e.g. suction heads
    • E02F3/9256—Active suction heads; Suction heads with cutting elements, i.e. the cutting elements are mounted within the housing of the suction head
    • E02F3/9268—Active suction heads; Suction heads with cutting elements, i.e. the cutting elements are mounted within the housing of the suction head with rotating cutting elements
    • E02F3/9275—Active suction heads; Suction heads with cutting elements, i.e. the cutting elements are mounted within the housing of the suction head with rotating cutting elements with axis of rotation parallel to longitudinal axis of the suction pipe
    • 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
    • E02F3/96—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements
    • E02F3/961—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements with several digging elements or tools mounted on one machine

Definitions

  • the invention relates to a trench wall cutter for creating a milling slot in the ground with a milling frame, at least one pair of milling wheels which are rotatably mounted and driven on the milling frame, each milling wheel having a plurality of milling teeth along its outer circumference, and a feed and / or Discharge device for feeding a milling liquid into or out of the milling slot in the area of the milling wheels, according to the preamble of claim 1.
  • the invention relates to a method for creating a milling trench in the ground with such a trench wall cutter, wherein the cutting wheels are driven to rotate and the trench wall cutter is sunk into the ground and soil material is milled off, the milling slot being created in the soil, according to the preamble of claim 12.
  • a trench wall cutter of the generic type with a cleaning device for the cutting wheels is based on the EP 2 703 565 A1 emerged.
  • trench wall cutters are used to create so-called diaphragm walls or sealing walls, which are required for securing or sealing construction pits, for example.
  • a trench wall cutter is used to create a first cut slot which is filled with a hardenable compound. This mass hardens to form a diaphragm wall segment. By stringing together several diaphragm wall segments, a diaphragm wall can be created in a desired size.
  • a feed device opens between the two pairs of cutting wheels, by means of which a settable liquid can be introduced into the cutting slot in the area between the cutting wheels.
  • the liquid which can be set is supplied with the milled soil material by the rotary movement of the milling wheels mixed to a hardenable mass, which can then harden to the slit wall segment.
  • the milled soil material is mixed directly in situ in the milling slot to form the hardenable mass.
  • Another method for producing a diaphragm wall segment in the ground is based on DE 41 41 629 A1 emerged.
  • a discharge device is provided between the cutting wheels, with which the milled soil material is sucked off above ground directly with the support liquid located in the milling slot.
  • the extracted suspension can be depleted of soil material in a separating device and returned to an upper area of the milling trench.
  • the suspension can be prepared in such a way that it represents a hardenable mass which hardens in the milling slot to form the slit wall segment.
  • the invention is based on the object of specifying a trench wall cutter and a method for creating a milling slot in the ground with which a milling slot can be produced particularly efficiently.
  • a cleaning device for cleaning the milling wheels in milling operation with a cleaning fluid is provided at a distance from the feed and / or discharge device and that the cleaning device has a plurality of cleaning nozzles which are directed at the outer circumference of at least one milling wheel and are designed for injecting the cleaning fluid to loosen adhering soil material.
  • One aspect of the invention consists in providing a cleaning device at a distance from or separately from the feed and / or discharge device for a milling fluid, by means of which the milling wheels can be cleaned during milling by means of a cleaning fluid.
  • a cleaning fluid By means of a cleaning fluid, the milling wheels and in particular the milling teeth can be cleaned particularly reliably and without substantial wear in the milling operation, in which the milling wheels rotate and cut off soil material.
  • the cleaning device has a plurality of cleaning nozzles which are directed at the outer circumference of at least one milling wheel and are designed to inject the cleaning fluid to loosen soil material adhering to the milling teeth.
  • the cleaning fluid can be a liquid or a gas or a gas-liquid mixture.
  • the cleaning nozzles are at a distance from the feed device for milling fluid, which feeds a relatively large amount of milling fluid into the milling slot in a milling process with in situ mixing in order to operate the milling machine.
  • the milling wheels have a largely consistently high milling performance even with longer operating times when milling cohesive soil material, without the milling operation having to be interrupted for cleaning the trench wall cutter for days.
  • This not only increases the daily milling performance of a milling machine, but also leads to an improved quality of the hardenable Mass in the milling slot, since the milling slot can preferably be machined in one stroke of the trench wall cutter.
  • the milling resistance and thus the energy consumption are reduced.
  • a preferred embodiment of the trench wall cutter according to the invention consists in that two pairs of cutting wheels are provided and that the feed and / or discharge device is arranged in a center between the two cutting wheels.
  • the milling wheels of a pair are rotatably mounted about a common axis of rotation.
  • the axis of rotation is preferably arranged horizontally in the milling mode.
  • the axes of rotation of the two pairs are arranged in parallel.
  • the feed and / or discharge device is arranged in the middle between the two milling wheels, so that the milling liquid can be fed or discharged centrally.
  • the cleaning device with the cleaning nozzles for the individual milling wheels are each arranged at a distance from the center laterally to the respective milling wheels.
  • fixed cleaning nozzles can be provided.
  • the cleaning nozzles are adjustable.
  • ball nozzles can be provided that can be clamped in a set position by means of a corresponding union nut.
  • the cleaning device has nozzle rails, one nozzle rail being arranged along the outer circumference of each milling wheel and running approximately parallel to the axis of rotation of the milling wheel.
  • several nozzle rails can also be provided for each milling wheel.
  • a nozzle rail can be referred to as a so-called common rail, which is supplied with cleaning fluid via a supply line from a central pressure generating device, in particular an injection pump.
  • a central pressure generating device in particular an injection pump.
  • different injection quantities and injection pressures can also be provided and set on the individual cleaning nozzles.
  • Such a trench wall cutter is preferably developed in that rod-shaped cleaning rails are attached to the nozzle rail and that the cutting teeth are attached a milling wheel are arranged in annular rows of milling teeth which are axially spaced from one another to form annular interspaces, and that the rod-shaped cleaning nozzles protrude into the annular interspaces.
  • milling wheels are used in which the milling teeth are arranged in axially offset annular milling tooth rows on the outer circumference of a milling wheel. Between the annular rows of milling teeth, annular spaces are formed into which the rod-shaped cleaning nozzles protrude.
  • the rod-shaped cleaning nozzles extend from the respective nozzle rail in the direction of the milling wheel center.
  • the rod-shaped cleaning nozzles can have one nozzle opening or also several nozzle openings, so that targeted nozzle jets can be directed onto the milling teeth in the milling teeth rows or the outer circumference of the milling wheels. Adjustable nozzles can be provided at the cleaning openings.
  • a particularly good cleaning is achieved according to the invention in that clearing plates are arranged on the milling frame for stripping off adhering soil material from the milling wheels.
  • Clearing plates are basically known from the prior art. These are mechanical stripping devices which preferably extend into the annular gaps between the annular rows of milling teeth in order to scrape soil material located there from the gaps.
  • the mechanical clearing plates must be arranged at a certain distance from the rows of milling teeth in order to avoid collisions during milling that could occur due to vibrations of the individual machine parts during operation.
  • remaining floor material can be removed by the cleaning fluid with the cleaning device according to the invention.
  • the cleaning nozzles are integrated into the scraper plates or are attached close to them.
  • the scraper plates themselves can be designed as hollow plates, the cavity serving as a supply of cleaning fluid to the cleaning nozzles on the scraper plates.
  • the rod-shaped cleaning nozzles in particular can be attached to a
  • nozzle rails are connected via feed lines to at least one injection pump with which the cleaning fluid can be injected under pressure.
  • the injection pump can be arranged above ground or on the milling frame of the trench wall cutter.
  • a control device is provided with which the injection pressure and / or an injection quantity of the cleaning fluid can be set.
  • a sufficient injection pressure and a sufficient injection quantity of cleaning fluid can be set in order to reliably clean the milling teeth of soil material.
  • the control device can also be used to set a desired pressure in the area of the milling wheels, which can have a positive effect on milling and mixing of milled soil material with milling fluid.
  • the cleaning fluid corresponds to the milling fluid.
  • the cleaning fluid can be a hardenable suspension, in particular a cement suspension, which is used to remove soil material.
  • the cleaning fluid injected under pressure can at the same time support mixing of the milled soil material, so that a particularly good hardenable suspension for forming the diaphragm wall element is established, particularly in the case of an in situ method.
  • Water can also be provided as the cleaning fluid in order, for example, at the end of an operating day to clean the milling wheels by the cleaning device outside the milling slot.
  • the feed device has a feed pump for feeding the milling liquid, the milling liquid and the cleaning fluid being mixed with the milling wheels in the milling slot with milled soil material to form a hardenable suspension.
  • a trench wall cutter for an in situ milling and mixing process is preferably used as Cleaning fluid uses the milling fluid.
  • the feed pump on the milling frame can convey both the milling fluid to the feed device and the cleaning fluid to the cleaning nozzles. A particularly efficient construction of the trench wall cutter can be achieved in this way.
  • the discharge device has a suction pump with which milling liquid with the cleaning fluid and milled soil material is sucked out of the milling slot.
  • a so-called suction box at the lower end of the trench wall cutter is used to suck off milling fluid from the milling slot below the milling frame by means of the suction pump and the discharge device, which has one or more suction openings.
  • a rope or a rod is attached to an upper end of the milling frame, with which the trench wall cutter is suspended from a carrier device and vertically adjustable.
  • the milling wheels can be cleaned during milling operation both when milling the ground material and during a lifting movement by means of the rope or the rod.
  • the method according to the invention for milling a milling trench in the ground with the aforementioned trench wall milling machine is characterized in that a cleaning fluid is sprayed onto the outer circumference of the milling wheels during milling via a cleaning device, whereby soil material adhering to the milling wheels is loosened.
  • a trench wall cutter 10 according to the invention with a milling frame 12 is in the Figures 1 to 4 shown in the different views.
  • first milling wheels 14 are mounted in pairs on a first gear plate 11a so that they can rotate about a common axis of rotation and on a second gear plate 11b a pair of second milling wheels 15 are rotatably mounted together about another axis of rotation.
  • the milling wheels 14, 15 each have a drum-shaped hub 17, on the outer circumference of which a multiplicity of milling teeth 20 with milling tooth holders 18 are attached.
  • the milling teeth 20 are detachably mounted in the milling tooth holders 18.
  • the milling tooth holders 18 with the milling teeth 20 are arranged along the outer circumference of each milling wheel 14, 15 in annular rows of milling teeth 22, as illustrated in FIGS Figures 3 and 4 emerges.
  • the individual rows of milling teeth 22 are axially spaced from one another, so that annular spaces 24 are formed between them.
  • soil materials can adhere to the milling teeth 20, the milling tooth holders 18 and in the spaces 24 between the milling teeth 20 and the milling tooth holders 18, in particular when milling cohesive soil, such as clay.
  • plate-shaped clearing plates 50 are attached to the underside of the milling frame 12 and engage in a comb-like manner in the annular spaces 24 between the cutting teeth 20 in order to mechanically scrape off adhering soil material.
  • the clearing plates 50 are attached to both sides of a central discharge device 30, which is designed to suck off milling fluid from the milling slot that has been created.
  • the discharge device 30 has a suction box 32 which extends parallel to the axes of rotation and tapers downwards. On its underside, the suction box 32 is provided with a plurality of suction openings 34, as can be seen Fig. 3 can be found.
  • the trench wall cutter 10 shown here is designed to carry out a milling process in which the removed soil material together with the surrounding support or milling fluid from the working area of the milling wheels 14, 15 is sucked off and removed after days.
  • a corresponding feed device 30 can also be provided, through which milling liquid is fed into the area between the milling wheels 14, 15.
  • Such a trench wall cutter 10 would be designed to carry out a milling process in which the removed soil material is mixed in situ in the milling slot together with the milling liquid to form a suspension, which preferably hardens after the trench wall cutter 10 has been removed from the milling slot and thus becomes a diaphragm wall segment or diaphragm wall panel for a Diaphragm wall hardens.
  • a cleaning device 40 with cleaning nozzles 46 which are directed towards the outer circumference of the milling wheels 14, 15, is arranged on both sides at a distance from the discharge device 30.
  • a part of the cleaning device 40 is enlarged in FIG Fig. 5 shown.
  • the cleaning device 40 has two clamp-like holding frames 41, one of which is holding frame 41 in FIG Fig. 5 is shown.
  • a nozzle rail 42 is attached, which is spaced from the discharge device 30 and is directed parallel to the axes of rotation of the milling wheels 14, 15.
  • the two nozzle rails 42 of two opposite milling wheels 14, 15 are connected to a feed pump (not shown) via a feed line 44, which is only partially shown.
  • a cleaning fluid in particular a liquid under pressure, can be supplied via the supply pump via the supply lines 44 to the nozzle rails 42.
  • adjustable rod-shaped cleaning nozzles 46 are attached via clamping nuts 48.
  • the cleaning nozzles 46 can be loosened by means of the clamping nuts 48 and their alignment can be changed at least in certain areas and thus adjusted to the respective arrangement of milling teeth 20 on the milling wheels 14, 15.
  • the cleaning nozzles 46 have nozzle openings from which the cleaning fluid exits under pressure in order to loosen soil material adhering to the milling teeth 20 and the milling tooth holders 18 during the milling operation.
  • the cleaning nozzles 46 engage in the annular intermediate spaces 24 in the manner of a comb.
  • the feed pump for injecting the cleaning fluid into the cleaning nozzles 46 can preferably be arranged on the milling frame 12 of the trench wall cutter 10.
  • the milling fluid that is located in the milling slot can preferably be used as the cleaning fluid.
  • the cleaning device 40 being able to detach adhering soil material from the milling wheels 14, 15 during milling operation with the milling wheels 14, 15 turning.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Paleontology (AREA)
  • Agronomy & Crop Science (AREA)
  • Environmental & Geological Engineering (AREA)
  • Soil Sciences (AREA)
  • Road Repair (AREA)
  • Bulkheads Adapted To Foundation Construction (AREA)
  • Processing Of Stones Or Stones Resemblance Materials (AREA)
EP18163075.7A 2018-03-21 2018-03-21 Schlitzwandfräse und verfahren zum erstellen eines frässchlitzes im boden Not-in-force EP3543408B1 (de)

Priority Applications (7)

Application Number Priority Date Filing Date Title
EP18163075.7A EP3543408B1 (de) 2018-03-21 2018-03-21 Schlitzwandfräse und verfahren zum erstellen eines frässchlitzes im boden
CA3092741A CA3092741A1 (en) 2018-03-21 2019-03-06 Trench cutter and method for producing a cut trench in the soil
PCT/EP2019/055606 WO2019179770A1 (de) 2018-03-21 2019-03-06 Schlitzwandfräse und verfahren zum erstellen eines frässchlitzes im boden
KR1020207027468A KR20200132888A (ko) 2018-03-21 2019-03-06 토양에 커트 트렌치를 생성하기 위한 트렌치 커터 및 방법
US16/982,015 US11236480B2 (en) 2018-03-21 2019-03-06 Trench cutter and method for producing a cut trench in the soil
JP2020550859A JP2021518500A (ja) 2018-03-21 2019-03-06 土壌内に切削トレンチを作製するためのトレンチカッタおよび方法
CN201980020858.5A CN112154237A (zh) 2018-03-21 2019-03-06 用于在土壤中产生切割沟槽的沟槽壁切割器和方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP18163075.7A EP3543408B1 (de) 2018-03-21 2018-03-21 Schlitzwandfräse und verfahren zum erstellen eines frässchlitzes im boden

Publications (2)

Publication Number Publication Date
EP3543408A1 EP3543408A1 (de) 2019-09-25
EP3543408B1 true EP3543408B1 (de) 2020-10-21

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Family Applications (1)

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EP18163075.7A Not-in-force EP3543408B1 (de) 2018-03-21 2018-03-21 Schlitzwandfräse und verfahren zum erstellen eines frässchlitzes im boden

Country Status (7)

Country Link
US (1) US11236480B2 (zh)
EP (1) EP3543408B1 (zh)
JP (1) JP2021518500A (zh)
KR (1) KR20200132888A (zh)
CN (1) CN112154237A (zh)
CA (1) CA3092741A1 (zh)
WO (1) WO2019179770A1 (zh)

Cited By (1)

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RU208074U1 (ru) * 2021-05-27 2021-12-01 Федеральное государственное бюджетное образовательное учреждение высшего образования "Российский государственный аграрный университет - МСХА имени К.А. Тимирязева" (ФГБОУ ВО РГАУ - МСХА имени К.А. Тимирязева) Рабочий орган каналоочистительной машины

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CN110792122B (zh) * 2019-12-09 2024-07-30 江苏徐工工程机械研究院有限公司 铣削装置和双轮铣槽机
KR102373567B1 (ko) * 2020-06-03 2022-03-11 (주)나우이엔에스 트렌치커터의 굴착 자동화 시스템 및 방법
KR102461097B1 (ko) * 2020-10-21 2022-10-31 강태영 트렌치커터의 커팅바이트
DE102021115812A1 (de) 2021-06-18 2022-12-22 Liebherr-Werk Nenzing Gmbh Schlitzwandfräse
EP4239130A1 (de) * 2022-03-01 2023-09-06 BAUER Maschinen GmbH Schlitzwandfräse und verfahren zum erstellen eines frässchlitzes im boden

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KR20200132888A (ko) 2020-11-25
US11236480B2 (en) 2022-02-01
CN112154237A (zh) 2020-12-29
WO2019179770A1 (de) 2019-09-26
US20210095435A1 (en) 2021-04-01
JP2021518500A (ja) 2021-08-02
EP3543408A1 (de) 2019-09-25

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