EP3819434B1 - Method and wall milling device for creating a milled slot in the ground - Google Patents

Method and wall milling device for creating a milled slot in the ground Download PDF

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Publication number
EP3819434B1
EP3819434B1 EP19207471.4A EP19207471A EP3819434B1 EP 3819434 B1 EP3819434 B1 EP 3819434B1 EP 19207471 A EP19207471 A EP 19207471A EP 3819434 B1 EP3819434 B1 EP 3819434B1
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EP
European Patent Office
Prior art keywords
torque
trench
speed
rotational speed
cutter
Prior art date
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Active
Application number
EP19207471.4A
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German (de)
French (fr)
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EP3819434A1 (en
Inventor
Andreas HUGL
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Bauer Maschinen GmbH
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Bauer Maschinen GmbH
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Application filed by Bauer Maschinen GmbH filed Critical Bauer Maschinen GmbH
Priority to EP19207471.4A priority Critical patent/EP3819434B1/en
Priority to KR1020227013292A priority patent/KR20220065857A/en
Priority to CN202080071722.XA priority patent/CN114555889A/en
Priority to PCT/EP2020/080928 priority patent/WO2021089603A1/en
Priority to CA3154436A priority patent/CA3154436A1/en
Publication of EP3819434A1 publication Critical patent/EP3819434A1/en
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Classifications

    • 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
    • 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
    • E02F3/22—Component parts
    • E02F3/24—Digging wheels; Digging elements of wheels; Drives for wheels
    • 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
    • E02F3/22—Component parts
    • E02F3/24—Digging wheels; Digging elements of wheels; Drives for wheels
    • E02F3/246—Digging wheels; Digging elements of wheels; Drives for wheels drives
    • 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
    • E02F5/08—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches with digging wheels turning round an axis
    • 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
    • E02F5/14—Component parts for trench excavators, e.g. indicating devices travelling gear chassis, supports, skids
    • E02F5/145—Component parts for trench excavators, e.g. indicating devices travelling gear chassis, supports, skids control and indicating devices

Definitions

  • the invention relates to a method for creating a milled trench in the ground using a trench wall milling device which has a trench wall cutter and a carrying device which is designed to raise and lower the trench wall cutter, the trench wall cutter being connected to the carrying device at its upper end and at its lower end has at least one cutting wheel, which is rotatably mounted and can be driven in rotation via a rotary drive for removing soil material, with a target value for a forward speed of the trench wall cutter when removing soil material being specified in a control unit, which controls the lowering of the trench wall cutter through the carrying device into the ground is, according to the preamble of claim 1.
  • the invention also relates to a trench wall milling device with a trench wall cutter and a carrying device, which is designed to raise and lower the trench wall cutter into the ground, the trench wall cutter being connected to a carrying device at its upper end and having at least one cutting wheel at its lower end, which can be rotated and is driven in rotation via a rotary drive for removing soil material, with a control unit also being provided, by means of which the lowering of the trench wall cutter by the support device into the ground can be controlled, with a target value for a forward speed of the trench wall cutter when soil material is being removed in the control unit can be entered, according to the preamble of claim 10.
  • a generic method is from the EP 0 790 356 B1 as well as from the WO 97/08395 A out.
  • a trench wall cutter is lowered into the ground at a set rate of advance.
  • the target propulsion speed is entered into a control device.
  • the control device detects a load on the trench wall cutter. If the load on the trench cutter and thus a certain pressure on the cutting wheels is exceeded, the advance speed of the trench cutter is reduced. This is to avoid overloading the milling wheels during milling operations.
  • a force on the cutter winch or a carrying cable of the trench cutter is usually recorded.
  • other factors such as the friction of the cutter on the trench walls and the type of filling of the trench with a support fluid, also have a not inconsiderable influence on this force value.
  • a corresponding safety factor must be taken into account for the measured load value. This makes it more difficult to operate the trench wall milling device at an upper performance limit, at which high milling progress is guaranteed with low wear at the same time.
  • the invention is based on the object of specifying a method and a trench wall milling device for creating a milled trench in the ground, with which a trench wall milling device can be operated particularly efficiently.
  • the method according to the invention is characterized in that the rate of advance is controlled by the control unit as a function of a speed and/or a torque of the at least one cutting wheel, with the rate of advance of the trench cutter compared to the Changed target value for the propulsion speed, in particular is reduced.
  • the invention is based on the finding that the rotational movement of the at least one cutting wheel can be used to control or regulate the propulsion speed.
  • the rotation speed and/or the torque of the cutting wheel can be considered as the rotational movement of the cutting wheel. If the propulsion speed is too high for a layer of soil that is present, the speed of the cutting wheel is reduced and the torque present on the cutting wheel increases. If the speed drops, there are no longer favorable cutting conditions for a high removal rate. Likewise, when the torque increases, the load on the cutting wheel gear and the cutting teeth increases and there is a risk of tooth breakage.
  • the rotary movement thus allows a very good conclusion to be drawn as to whether a preselected target advance speed is too high or possibly too low for a layer of soil present.
  • an increase can also be provided.
  • a limit value within the meaning of the invention can be understood not only as a specific individual value, but also as a limit range with a range of values.
  • the invention is also based on the finding that a rotational movement and in particular a rotational speed and/or a torque of the at least one cutting wheel can be recorded relatively easily and precisely in comparison to an applied load. This enables a very precise and also fast control or regulation of a trench wall cutter when removing soil material. The invention thus enables even an inexperienced operator to work close to the performance limit of a trench wall cutter, so that efficient cutting with a high daily output can be achieved.
  • a preferred embodiment of the invention is that when the limit value for the speed or the torque is reached, the advance speed of the trench wall cutter is reduced until the speed again exceeds a predetermined speed limit or the torque is below a predetermined torque limit.
  • the trench cutter can be operated at a relatively high target rate of advance and with a relatively high load. If the speed falls below a predetermined limit value or if the torque rises above a predetermined limit value, the control unit is designed in such a way that the propulsion speed is changed, in particular reduced, until the speed again exceeds a predetermined speed limit value or the torque falls below a specified torque limit value.
  • a reduction in the rate of advance also usually reduces the load on the trench cutter. In this way, the at least one cutting wheel can be relieved, so that there is an increase in speed or a reduced torque requirement.
  • the rate of advance of the trench wall cutter is increased up to the desired value for the rate of advance if the speed is above the speed limit or the torque is below the torque limit.
  • the propulsion speed can be regulated as a function of the measured rotational speed or the measured torque.
  • the limit value, when the propulsion speed is reduced when it is reached, can be equal to the rotational speed limit value or the torque limit value, at which the propulsion speed is increased again.
  • these limit values can preferably also be different and form a limit range. This counteracts the risk that the control of the system will start to oscillate.
  • the rate of advance can also be expedient for the rate of advance to continue to be controlled as a function of a load on the trench wall cutter.
  • the surcharge can be recorded as an additional measured value, and a limit value for an upper surcharge or a lower surcharge can also be entered into the control unit, at which the propulsion speed is reduced or increased.
  • a particularly good control or regulation of the trench wall cutter is achieved in that the speed or the torque is recorded directly and a measured value for this is sent to the control unit.
  • the rotational speed is detected by means of a rotational speed sensor or the torque by means of a torque sensor.
  • Speed pickups are well known and can, in particular, detect a speed on a drive shaft, for example, in a contact-free manner. Detection can take place optically, inductively, magnetically or in some other known manner.
  • known torque pickups can be provided, for example, on a drive shaft of the cutting wheel.
  • Known torque sensors can, for example, work electronically with one or more strain gauges on a shaft.
  • the rotational speed and/or the torque are recorded indirectly. In this way, in particular measuring devices directly on the cutting wheel or cutting wheel gear can be avoided.
  • a power consumption of the rotary drive is measured in order to record the rotational speed and/or the torque. If, for example, the cutting wheel hits a firmer layer of soil at a predetermined advance speed, this can be detected by an increase in the power consumption of the rotary drive. In principle, this is possible with all drive types, for example with an electric rotary drive.
  • a preferred embodiment of the invention is that the rotary drive is operated hydraulically with a hydraulic circuit, with a pressure or a pressure change in the hydraulic circuit being detected.
  • the pressure which is present at the hydraulic pumps of the hydraulic circuit can be used to control or regulate the rate of advance. If, for example, the torque rises above a defined limit value and thus the pressure at the hydraulic pumps, the propulsion speed can be reduced.
  • a limit value can preferably be about 10% below the pressure for a maximum speed or a maximum torque in order to still have sufficient reserve when operating the cutting wheels.
  • control unit can be designed in such a way that when the at least one cutting wheel is completely blocked, the trench wall cutter is lifted slightly by the control unit using the carrying device. This reduces the contact force and thus the required torque. The cutting wheels can then start turning again.
  • the invention is characterized in that the control unit for controlling the advance speed as a function of a speed and/or a torque of the at least one cutting wheel and for specifying a limit value for the speed and/or the torque is designed in such a way that when the predetermined limit value for the speed or for the torque, the advance speed of the trench wall cutter is changed compared to the target value for the advance speed, in particular reduced.
  • Controlling within the meaning of the invention is to be understood broadly and can also include regulating.
  • the method described above can be carried out with the trench wall cutter according to the invention.
  • the advantages described above can be achieved in this case.
  • the support device is a carrier device with a support cable or a support rod, the trench wall cutter being vertically adjustable suspended from the support cable or the support rod.
  • the support cable or the support rod form a support element with which the trench cutter can be sunk vertically into the ground.
  • the support device can have a winch for the support cable or a linear drive, in particular a hydraulic cylinder device, for the support rod.
  • a load can be applied by a force transducer on the winch or a pressure sensor in the hydraulic system of the hydraulic cylinder.
  • the trench wall milling device can be designed with only one milling wheel or with a pair of two milling wheels. Expedient operation of the trench wall milling device results from the fact that a total of four milling wheels are provided are arranged in pairs next to each other.
  • the axis of the at least one cutting wheel is directed transversely to the advance direction, in particular horizontally. With two pairs of cutting wheels, the two cutting wheels of a cutting wheel pair rotate about the same cutting wheel axis.
  • the cutting wheel axes of the two cutting wheel pairs are arranged parallel and at a distance from one another.
  • the invention is described in more detail below using a preferred exemplary embodiment, which is shown schematically in the accompanying figure.
  • the only attached figure shows a perspective view of a trench wall milling device 10 according to the invention.
  • the trench wall milling device 10 has a carrying device 20 with a carrier device 22 which is provided with a crawler chassis. On the carrier device 22, a mast 24 is mounted approximately vertically, over the mast head a suspension cable 26 is guided.
  • a fundamentally known trench cutter 30 is suspended with a framework-like cutter frame 32 .
  • the carrying cable 26 is connected to the trench wall cutter 30 at an upper end of the latter.
  • the other end of the supporting cable 26 is led to a winch 28 (only indicated) on the carrier device 22 .
  • the trench wall cutter 30 can be raised and lowered vertically by means of the winch 28 .
  • a total of four cutting wheels 34 are arranged in pairs at a lower end of the cutting frame 32 of the trench wall cutter 30, as shown only schematically in the figure.
  • the cutting wheels 34 can be set in rotary motion via a rotary drive 36 on the cutting frame 32, which is indicated schematically in the figure and is hydraulically driven. When the trench wall cutter 30 is lowered into the ground, the rotating cutting wheels 34 can remove soil material.
  • a driving speed of the trench wall cutter 30 can be determined, for example, on the winch 28 by measuring the winch rotation over time.
  • a target value for the propulsion speed can be entered in a control unit on the carrier device 22, as a result of which the winch 28 is controlled accordingly, for example.
  • a rotational speed and/or a torque of the cutting wheels 34 can also be detected directly or indirectly via the pressure on the hydraulic units, which are also arranged on the carrier device 22, via the control unit. If the rotational speed of the cutting wheels 34 falls below a predetermined limit value at a predetermined advance speed of the trench wall cutter 30, the control unit can control a drive of the winch 28 in order to reduce the advance speed of the trench wall cutter 30. This reduction in the rate of advance of the trench wall cutter 30 continues until the speed of the cutting wheels 34 again exceeds a speed limit value. The advance speed of the trench wall cutter 30 can then be increased again by the control unit by appropriately controlling the winch 28 until the predetermined advance speed of the trench wall cutter 30 is reached. Control or regulation can also take place alternatively or additionally, taking into account the torque on the cutting wheels 34 .

Description

Die Erfindung betrifft ein Verfahren zum Erstellen eines Frässchlitzes im Boden mittels einer Schlitzwandfräsvorrichtung, welche eine Schlitzwandfräse und eine Trageinrichtung aufweist, welche zum Heben und Absenken der Schlitzwandfräse ausgebildet ist, wobei die Schlitzwandfräse an ihrem oberen Ende mit der Trageinrichtung verbunden ist und an ihrem unteren Ende mindestens ein Fräsrad aufweist, welches drehbar gelagert und über einen Drehantrieb zum Abtragen von Bodenmaterial drehend antreibbar ist, wobei ein Sollwert für eine Vortriebsgeschwindigkeit der Schlitzwandfräse beim Abtragen von Bodenmaterial in einer Steuereinheit vorgegeben wird durch welche ein Absenken der Schlitzwandfräse durch die Trageinrichtung in den Boden gesteuert wird, gemäß dem Oberbegriff des Anspruches 1.The invention relates to a method for creating a milled trench in the ground using a trench wall milling device which has a trench wall cutter and a carrying device which is designed to raise and lower the trench wall cutter, the trench wall cutter being connected to the carrying device at its upper end and at its lower end has at least one cutting wheel, which is rotatably mounted and can be driven in rotation via a rotary drive for removing soil material, with a target value for a forward speed of the trench wall cutter when removing soil material being specified in a control unit, which controls the lowering of the trench wall cutter through the carrying device into the ground is, according to the preamble of claim 1.

Die Erfindung betrifft weiterhin eine Schlitzwandfräsvorrichtung mit einer Schlitzwandfräse und einer Trageinrichtung, welche zum Heben und Absenken der Schlitzwandfräse in den Boden ausgebildet ist, wobei die Schlitzwandfräse an ihrem oberen Ende mit einer Trageinrichtung verbunden ist und an ihrem unteren Ende mindestens ein Fräsrad aufweist, welches drehbar gelagert und über einen Drehantrieb zum Abtragen von Bodenmaterial drehend angetrieben ist, wobei weiterhin eine Steuereinheit vorgesehen ist, durch welche ein Absenken der Schlitzwandfräse durch die Trageinrichtung in den Boden steuerbar ist, wobei ein Sollwert für eine Vortriebsgeschwindigkeit der Schlitzwandfräse beim Abtragen von Bodenmaterial in die Steuereinheit eingebbar ist, gemäß dem Oberbegriff des Anspruches 10.The invention also relates to a trench wall milling device with a trench wall cutter and a carrying device, which is designed to raise and lower the trench wall cutter into the ground, the trench wall cutter being connected to a carrying device at its upper end and having at least one cutting wheel at its lower end, which can be rotated and is driven in rotation via a rotary drive for removing soil material, with a control unit also being provided, by means of which the lowering of the trench wall cutter by the support device into the ground can be controlled, with a target value for a forward speed of the trench wall cutter when soil material is being removed in the control unit can be entered, according to the preamble of claim 10.

Ein gattungsgemäßes Verfahren geht aus der EP 0 790 356 B1 wie auch aus der WO 97/08395 A hervor. Bei diesen bekannten Schlitzwandvorrichtungen wird eine Schlitzwandfräse mit einer Soll-Vortriebsgeschwindigkeit in den Boden abgesenkt. Die Soll-Vortriebsgeschwindigkeit wird in eine Steuereinrichtung eingegeben. Dabei wird durch die Steuereinrichtung eine Auflast der Schlitzwandfräse erfasst. Wird eine Auflast der Schlitzwandfräse und damit eine bestimmte Andruckkraft auf die Fräsräder überschritten, wird die Vortriebsgeschwindigkeit der Schlitzwandfräse reduziert. So soll eine Überlastung der Fräsräder im Fräsbetrieb vermieden werden.A generic method is from the EP 0 790 356 B1 as well as from the WO 97/08395 A out. In these known trench wall devices, a trench wall cutter is lowered into the ground at a set rate of advance. The target propulsion speed is entered into a control device. In this case, the control device detects a load on the trench wall cutter. If the load on the trench cutter and thus a certain pressure on the cutting wheels is exceeded, the advance speed of the trench cutter is reduced. This is to avoid overloading the milling wheels during milling operations.

Die Erfassung einer Auflast auf einer Schlitzwandfräse beim Fräsen ist relativ aufwändig und auch mit Ungenauigkeit verbunden. Aufgrund des relativ hohen Gewichtes einer Schlitzwandfräse ist diese beim Absenken in den Boden und beim Abtragen von Bodenmaterial stets mit einer gewissen Zugkraft zu beaufschlagen, mit welcher die Fräsräder von einem Teil der anstehenden Gewichtskraft der Schlitzwandfräse entlastet werden.The detection of a surcharge on a trench wall cutter during cutting is relatively complex and also associated with inaccuracy. Due to the relatively high weight of a trench wall cutter, it must always be subjected to a certain tensile force when lowering it into the ground and removing soil material, with which the cutting wheels are relieved of part of the weight of the trench wall cutter.

Zur Bestimmung der Auflast wird daher üblicherweise eine Kraft an der Fräsenwinde oder einem Tragseil der Schlitzwandfräse erfasst. Allerdings haben auf diesen Kraftwert auch weitere Faktoren, etwa die Reibung der Fräse an den Schlitzwänden und die Art der Befüllung des Schlitzes mit einer Stützflüssigkeit, einen nicht unerheblichen Einfluss. Zur Vermeidung einer Überlastung der Fräsräder, welche zu einem erhöhten Verschleiß oder zur Zerstörung der Fräszähne führen können, ist bei dem gemessenen Auflastwert ein entsprechender Sicherheitsfaktor zu berücksichtigen. Hierdurch wird es erschwert, die Schlitzwandfräsvorrichtung an einer oberen Leistungsgrenze zu betreiben, bei welcher ein hoher Fräsfortschritt bei einem gleichzeitig geringen Verschleiß gewährleistet ist.Therefore, to determine the superimposed load, a force on the cutter winch or a carrying cable of the trench cutter is usually recorded. However, other factors, such as the friction of the cutter on the trench walls and the type of filling of the trench with a support fluid, also have a not inconsiderable influence on this force value. To avoid overloading the cutting wheels, which can lead to increased wear or the destruction of the cutting teeth, a corresponding safety factor must be taken into account for the measured load value. This makes it more difficult to operate the trench wall milling device at an upper performance limit, at which high milling progress is guaranteed with low wear at the same time.

Der Erfindung liegt die Aufgabe zugrunde, ein Verfahren und eine Schlitzwandfräsvorrichtung zum Erstellen eines Frässchlitzes im Boden anzugeben, mit welchen eine Schlitzwandfräsvorrichtung besonders effizient betrieben werden kann.The invention is based on the object of specifying a method and a trench wall milling device for creating a milled trench in the ground, with which a trench wall milling device can be operated particularly efficiently.

Die Aufgabe wird zum einen mit einem Verfahren mit den Merkmalen des Anspruches 1 und zum anderen mit einer Schlitzwandfräsvorrichtung mit den Merkmalen des Anspruches 10 gelöst. Bevorzugte Ausführungsformen sind in den jeweils abhängigen Ansprüchen angegeben.The object is achieved on the one hand with a method having the features of claim 1 and on the other hand with a trench wall milling device having the features of claim 10 . Preferred embodiments are specified in the respective dependent claims.

Das erfindungsgemäße Verfahren ist dadurch gekennzeichnet, dass die Vortriebsgeschwindigkeit abhängig von einer Drehzahl und/oder einem Drehmoment des mindestens einen Fräsrades mittels der Steuereinheit gesteuert wird, wobei bei Erreichen eines vorgegebenen Grenzwertes für die Drehzahl und/oder für das Drehmoment die Vortriebsgeschwindigkeit der Schlitzwandfräse gegenüber dem Sollwert für die Vortriebsgeschwindigkeit geändert, insbesondere reduziert wird.The method according to the invention is characterized in that the rate of advance is controlled by the control unit as a function of a speed and/or a torque of the at least one cutting wheel, with the rate of advance of the trench cutter compared to the Changed target value for the propulsion speed, in particular is reduced.

Die Erfindung beruht auf der Erkenntnis, dass zur Steuerung oder Regelung der Vortriebsgeschwindigkeit die Drehbewegung des mindestens einen Fräsrades herangezogen werden kann. Unter Drehbewegung des Fräsrades können insbesondere die Drehzahl und/oder das Drehmoment des Fräsrades erachtet werden. Ist die Vortriebsgeschwindigkeit für eine anstehende Bodenschicht zu hoch, so reduziert sich die Drehzahl des Fräsrades und ein an dem Fräsrad anstehendes Drehmoment steigt an. Sinkt die Drehzahl, liegen keine günstigen Schnittbedingungen mehr für eine hohe Abtragsleistung vor. Ebenso erhöht sich bei einer Steigerung des Drehmoments eine Belastung des Fräsradgetriebes und der Abtragszähne und es besteht die Gefahr eines Zahnbruchs. Damit lässt die Drehbewegung einen sehr guten Rückschluss zu, ob eine vorgewählte Soll-Vortriebsgeschwindigkeit für eine anstehende Bodenschicht zu hoch oder gegebenenfalls auch zu gering ist. Neben einer Reduzierung der Vortriebsgeschwindigkeit kann auch eine Erhöhung vorgesehen sein. Unter einem Grenzwert im Sinne der Erfindung kann nicht nur ein bestimmter Einzelwert, sondern auch ein Grenzbereich mit einem Wertebereich verstanden werden.The invention is based on the finding that the rotational movement of the at least one cutting wheel can be used to control or regulate the propulsion speed. In particular, the rotation speed and/or the torque of the cutting wheel can be considered as the rotational movement of the cutting wheel. If the propulsion speed is too high for a layer of soil that is present, the speed of the cutting wheel is reduced and the torque present on the cutting wheel increases. If the speed drops, there are no longer favorable cutting conditions for a high removal rate. Likewise, when the torque increases, the load on the cutting wheel gear and the cutting teeth increases and there is a risk of tooth breakage. The rotary movement thus allows a very good conclusion to be drawn as to whether a preselected target advance speed is too high or possibly too low for a layer of soil present. In addition to reducing the propulsion speed, an increase can also be provided. A limit value within the meaning of the invention can be understood not only as a specific individual value, but also as a limit range with a range of values.

Dabei beruht die Erfindung weiterhin auf der Erkenntnis, dass sich eine Drehbewegung und insbesondere eine Drehzahl und/oder ein Drehmoment des mindestens einen Fräsrades im Vergleich zu einer Auflast relativ einfach und präzise erfassen lässt. Dies ermöglicht eine sehr exakte und auch schnelle Steuerung oder auch Regelung einer Schlitzwandfräse beim Abtragen von Bodenmaterial. Damit ermöglicht die Erfindung selbst einem ungeübten Gerätefahrer ein Arbeiten nahe an der Leistungsgrenze einer Schlitzwandfräse, so dass sich ein effizientes Fräsen mit einer hohen Tagesleistung erreichen lässt.The invention is also based on the finding that a rotational movement and in particular a rotational speed and/or a torque of the at least one cutting wheel can be recorded relatively easily and precisely in comparison to an applied load. This enables a very precise and also fast control or regulation of a trench wall cutter when removing soil material. The invention thus enables even an inexperienced operator to work close to the performance limit of a trench wall cutter, so that efficient cutting with a high daily output can be achieved.

Eine bevorzugte Ausführung der Erfindung besteht darin, dass bei Erreichung des Grenzwertes für die Drehzahl beziehungsweise des Drehmoments die Vortriebsgeschwindigkeit der Schlitzwandfräse soweit reduziert wird, bis die Drehzahl wieder über einem vorgegebenen Drehzahl-Grenzwert beziehungsweise das Drehmoment unterhalb eines vorgegebenen Drehmoment-Grenzwertes liegt. Die Schlitzwandfräse kann so mit einer relativ hohen Soll-Vortriebsgeschwindigkeit und mit einer relativ hohen Auflast betrieben werden. Sinkt dabei die Drehzahl unter einen vorgegebenen Grenzwert ab oder steigt das Drehmoment über einen vorgegebenen Grenzwert an, so ist die Steuereinheit so ausgelegt, dass die Vortriebsgeschwindigkeit geändert, insbesondere reduziert wird, bis die Drehzahl wieder über einen vorgegebenen Drehzahl-Grenzwert beziehungsweise das Drehmoment unterhalb eines vorgegebenen Drehmoment-Grenzwertes liegt. Mit einer Reduzierung der Vortriebsgeschwindigkeit reduziert sich auch üblicherweise die Auflast auf die Schlitzwandfräse. Auf diese Weise kann das mindestens eine Fräsrad entlastet werden, so dass es zu einem Drehzahlanstieg beziehungsweise zu einem reduzierten Drehmomentbedarf kommt.A preferred embodiment of the invention is that when the limit value for the speed or the torque is reached, the advance speed of the trench wall cutter is reduced until the speed again exceeds a predetermined speed limit or the torque is below a predetermined torque limit. In this way, the trench cutter can be operated at a relatively high target rate of advance and with a relatively high load. If the speed falls below a predetermined limit value or if the torque rises above a predetermined limit value, the control unit is designed in such a way that the propulsion speed is changed, in particular reduced, until the speed again exceeds a predetermined speed limit value or the torque falls below a specified torque limit value. A reduction in the rate of advance also usually reduces the load on the trench cutter. In this way, the at least one cutting wheel can be relieved, so that there is an increase in speed or a reduced torque requirement.

Dabei ist es besonders bevorzugt, dass die Vortriebsgeschwindigkeit der Schlitzwandfräse bis zum Sollwert für die Vortriebsgeschwindigkeit erhöht wird, wenn die Drehzahl über dem Drehzahl-Grenzwert beziehungsweise das Drehmoment unter dem Drehmoment-Grenzwert liegt. Es kann so eine Regelung der Vortriebsgeschwindigkeit abhängig von der gemessenen Drehzahl beziehungsweise dem gemessenen Drehmoment erfolgen. Der Grenzwert, bei dessen Erreichen die Vortriebsgeschwindigkeit reduziert wird, kann dabei gleich dem Drehzahl-Grenzwert beziehungsweise dem Drehmoment-Grenzwert sein, bei welchem wieder eine Erhöhung der Vortriebsgeschwindigkeit erfolgt. Vorzugsweise können diese Grenzwerte jedoch auch unterschiedlich sein und bilden einen Grenzbereich. Hierdurch wird der Gefahr entgegengewirkt, dass die Regelung des Systems in Schwingung gerät.It is particularly preferred that the rate of advance of the trench wall cutter is increased up to the desired value for the rate of advance if the speed is above the speed limit or the torque is below the torque limit. In this way, the propulsion speed can be regulated as a function of the measured rotational speed or the measured torque. The limit value, when the propulsion speed is reduced when it is reached, can be equal to the rotational speed limit value or the torque limit value, at which the propulsion speed is increased again. However, these limit values can preferably also be different and form a limit range. This counteracts the risk that the control of the system will start to oscillate.

Für einen effizienten Fräsbetrieb kann es weiter zweckmäßig sein, dass die Vortriebsgeschwindigkeit weiterhin abhängig von einer Auflast der Schlitzwandfräse gesteuert wird. Die Auflast kann dabei als ein zusätzlicher Messwert erfasst werden, wobei ebenfalls ein Grenzwert für eine obere Auflast oder eine untere Auflast in die Steuereinheit eingebbar sind, bei denen die Vortriebsgeschwindigkeit reduziert oder erhöht wird.For an efficient milling operation, it can also be expedient for the rate of advance to continue to be controlled as a function of a load on the trench wall cutter. The surcharge can be recorded as an additional measured value, and a limit value for an upper surcharge or a lower surcharge can also be entered into the control unit, at which the propulsion speed is reduced or increased.

Eine besonders gute Steuerung oder Regelung der Schlitzwandfräse wird nach einer Weiterbildung der Erfindung dadurch erzielt, dass die Drehzahl oder das Drehmoment direkt erfasst und ein Messwert hierzu der Steuereinheit zugeleitet werden.According to a development of the invention, a particularly good control or regulation of the trench wall cutter is achieved in that the speed or the torque is recorded directly and a measured value for this is sent to the control unit.

Besonders bevorzugt ist es dabei, dass die Drehzahl mittels eines Drehzahlaufnehmers beziehungsweise das Drehmoment mittels eines Drehmomentaufnehmers erfasst wird. Drehzahlaufnehmer sind hinlänglich bekannt und können insbesondere berührungsfrei eine Drehzahl etwa an einer Antriebswelle erfassen. Eine Erfassung kann optisch, induktiv, magnetisch oder in einer sonstigen bekannten Weise erfolgen. In entsprechender Weise können bekannte Drehmomentaufnehmer etwa an einer Antriebswelle des Fräsrades vorgesehen sein. Bekannte Drehmomentaufnehmer können beispielsweise elektronisch mit einem oder mehreren Dehnungsmessstreifen an einer Welle arbeiten.In this context, it is particularly preferred that the rotational speed is detected by means of a rotational speed sensor or the torque by means of a torque sensor. Speed pickups are well known and can, in particular, detect a speed on a drive shaft, for example, in a contact-free manner. Detection can take place optically, inductively, magnetically or in some other known manner. In a corresponding manner, known torque pickups can be provided, for example, on a drive shaft of the cutting wheel. Known torque sensors can, for example, work electronically with one or more strain gauges on a shaft.

Alternativ oder ergänzend kann es nach einer Weiterbildung des erfindungsgemäßen Verfahrens vorgesehen sein, dass die Drehzahl und/oder das Drehmoment indirekt erfasst werden. Hierdurch können insbesondere Messeinrichtungen unmittelbar am Fräsrad oder Fräsradgetriebe vermieden werden.Alternatively or additionally, according to a development of the method according to the invention, it can be provided that the rotational speed and/or the torque are recorded indirectly. In this way, in particular measuring devices directly on the cutting wheel or cutting wheel gear can be avoided.

Besonders bevorzugt ist es dabei, dass zum Erfassen der Drehzahl und/oder des Drehmoments eine Leistungsaufnahme des Drehantriebes gemessen wird. Trifft beispielsweise das Fräsrad bei einer vorgegebenen Vortriebsgeschwindigkeit auf eine festere Bodenschicht, so kann dies an einer Erhöhung der Leistungsaufnahme des Drehantriebs erfasst werden. Dies ist grundsätzlich bei allen Antriebsarten möglich, so etwa auch bei einem elektrischen Drehantrieb.It is particularly preferred that a power consumption of the rotary drive is measured in order to record the rotational speed and/or the torque. If, for example, the cutting wheel hits a firmer layer of soil at a predetermined advance speed, this can be detected by an increase in the power consumption of the rotary drive. In principle, this is possible with all drive types, for example with an electric rotary drive.

Eine bevorzugte Ausführungsvariante der Erfindung besteht darin, dass der Drehantrieb hydraulisch mit einem Hydraulikkreislauf betrieben wird, wobei ein Druck oder eine Druckänderung in dem Hydraulikkreislauf erfasst wird. Bei Schlitzwandfräsen mit hydraulischem Antrieb kann der Druck, welcher an Hydraulikpumpen des Hydraulickreislaufes ansteht, für eine Steuerung beziehungsweise Regelung der Vortriebsgeschwindigkeit herangezogen werden. Steigt etwa das Drehmoment über einen definierten Grenzwert und damit der an den Hydraulikpumpen anstehende Druck, so kann die Vortriebsgeschwindigkeit zurückgenommen werden. Ein Grenzwert kann dabei vorzugsweise ca. 10% unter dem Druck für eine maximale Drehzahl oder ein maximales Drehmoment liegen, um noch ausreichend Reserve beim Betrieb der Fräsräder zu haben.A preferred embodiment of the invention is that the rotary drive is operated hydraulically with a hydraulic circuit, with a pressure or a pressure change in the hydraulic circuit being detected. In the case of trench wall cutters with a hydraulic drive, the pressure which is present at the hydraulic pumps of the hydraulic circuit can be used to control or regulate the rate of advance. If, for example, the torque rises above a defined limit value and thus the pressure at the hydraulic pumps, the propulsion speed can be reduced. A limit value can preferably be about 10% below the pressure for a maximum speed or a maximum torque in order to still have sufficient reserve when operating the cutting wheels.

Weiterhin kann die Steuereinheit so ausgelegt sein, dass bei einem vollständigen Blockieren des mindestens einen Fräsrades die Schlitzwandfräse durch die Steuereinheit mittels der Trageinrichtung leicht angehoben wird. Hierdurch verringert sich die Aufstandskraft und damit das erforderliche Drehmoment. Die Fräsräder können so wieder anfangen, sich zu drehen.Furthermore, the control unit can be designed in such a way that when the at least one cutting wheel is completely blocked, the trench wall cutter is lifted slightly by the control unit using the carrying device. This reduces the contact force and thus the required torque. The cutting wheels can then start turning again.

Hinsichtlich der Schlitzwandfräsvorrichtung ist die Erfindung dadurch gekennzeichnet, dass die Steuereinheit zum Steuern der Vortriebsgeschwindigkeit abhängig von einer Drehzahl und/oder einem Drehmoment des mindestens einen Fräsrades und zum Vorgeben eines Grenzwertes für die Drehzahl und/oder das Drehmoment derart ausgebildet ist, dass bei Erreichen des vorgegebenen Grenzwertes für die Drehzahl beziehungsweise für das Drehmoment die Vortriebsgeschwindigkeit der Schlitzwandfräse gegenüber dem Sollwert für die Vortriebsgeschwindigkeit verändert, insbesondere reduziert wird. Der Begriff desWith regard to the trench wall milling device, the invention is characterized in that the control unit for controlling the advance speed as a function of a speed and/or a torque of the at least one cutting wheel and for specifying a limit value for the speed and/or the torque is designed in such a way that when the predetermined limit value for the speed or for the torque, the advance speed of the trench wall cutter is changed compared to the target value for the advance speed, in particular reduced. The concept of

Steuerns im Sinne der Erfindung ist breit zu verstehen und kann auch ein Regeln umfassen.Controlling within the meaning of the invention is to be understood broadly and can also include regulating.

Mit der erfindungsgemäßen Schlitzwandfräse kann insbesondere das zuvor beschriebene Verfahren durchgeführt werden. Es sind dabei die zuvor beschriebenen Vorteile erzielbar.In particular, the method described above can be carried out with the trench wall cutter according to the invention. The advantages described above can be achieved in this case.

Eine bevorzugte Ausführungsform der erfindungsgemäßen Schlitzwandfräsvorrichtung kann darin gesehen werden, dass die Trageinrichtung ein Trägergerät mit einem Tragseil oder einer Tragstange ist, wobei die Schlitzwandfräse an dem Tragseil beziehungsweise der Tragstange vertikal verstellbar aufgehängt ist. Das Tragseil beziehungsweise die Tragstange bilden ein Tragelement, mit welchem die Schlitzwandfräse vertikal in den Boden abgeteuft werden kann. Die Trageinrichtung kann hierzu eine Winde für das Tragseil oder einen Linearantrieb, insbesondere eine Hydraulikzylindereinrichtung, für die Tragstange aufweisen. Eine Auflast kann dabei durch einen Kraftaufnehmer an der Winde oder einen Drucksensor im hydraulischen System des Hydraulikzylinders erfolgen.A preferred embodiment of the trench wall milling device according to the invention can be seen in the fact that the support device is a carrier device with a support cable or a support rod, the trench wall cutter being vertically adjustable suspended from the support cable or the support rod. The support cable or the support rod form a support element with which the trench cutter can be sunk vertically into the ground. For this purpose, the support device can have a winch for the support cable or a linear drive, in particular a hydraulic cylinder device, for the support rod. A load can be applied by a force transducer on the winch or a pressure sensor in the hydraulic system of the hydraulic cylinder.

Grundsätzlich kann die Schlitzwandfräsvorrichtung nur mit einem Fräsrad oder mit einem Paar von zwei Fräsrädern ausgebildet sein. Ein zweckmäßiger Betrieb der Schlitzwandfräsvorrichtung ergibt sich dadurch, dass insgesamt vier Fräsräder vorgesehen sind, welche paarweise nebeneinander angeordnet sind. Die Achse des mindestens einen Fräsrades ist dabei quer zur Vortriebsrichtung, insbesondere horizontal gerichtet. Bei jeweils zwei Paaren von Fräsrädern drehen die zwei Fräsräder eines Fräsradpaares um die gleiche Fräsradachse. Die Fräsradachsen der beiden Fräsradpaare sind dabei parallel und voneinander beabstandet angeordnet.In principle, the trench wall milling device can be designed with only one milling wheel or with a pair of two milling wheels. Expedient operation of the trench wall milling device results from the fact that a total of four milling wheels are provided are arranged in pairs next to each other. The axis of the at least one cutting wheel is directed transversely to the advance direction, in particular horizontally. With two pairs of cutting wheels, the two cutting wheels of a cutting wheel pair rotate about the same cutting wheel axis. The cutting wheel axes of the two cutting wheel pairs are arranged parallel and at a distance from one another.

Die Erfindung wird nachfolgend anhand eines bevorzugten Ausführungsbeispiels näher beschrieben, welches schematisch in der beigefügten Figur dargestellt ist. Die einzige beigefügte Figur zeigt eine perspektivische Ansicht einer erfindungsgemäßen Schlitzwandfräsvorrichtung 10.The invention is described in more detail below using a preferred exemplary embodiment, which is shown schematically in the accompanying figure. The only attached figure shows a perspective view of a trench wall milling device 10 according to the invention.

Die Schlitzwandfräsvorrichtung 10 gemäß der Figur weist eine Trageinrichtung 20 mit einem Trägergerät 22 auf, welches mit einem Raupenfahrwerk versehen ist. An dem Trägergerät 22 ist ein Mast 24 etwa vertikal gerichtet gelagert, über dessen Mastkopf ein Tragseil 26 geführt ist.The trench wall milling device 10 according to the figure has a carrying device 20 with a carrier device 22 which is provided with a crawler chassis. On the carrier device 22, a mast 24 is mounted approximately vertically, over the mast head a suspension cable 26 is guided.

An dem freien Ende des Tragseiles 26 ist eine grundsätzlich bekannte Schlitzwandfräse 30 mit einem gerüstartigen Fräsrahmen 32 aufgehängt. Das Tragseil 26 ist an einem oberen Ende der Schlitzwandfräse 30 mit dieser verbunden. Das andere Ende des Tragseiles 26 ist zu einer nur angedeuteten Winde 28 am Trägergerät 22 geführt. Mittels der Winde 28 kann die Schlitzwandfräse 30 vertikal angehoben und abgesenkt werden.At the free end of the suspension cable 26 a fundamentally known trench cutter 30 is suspended with a framework-like cutter frame 32 . The carrying cable 26 is connected to the trench wall cutter 30 at an upper end of the latter. The other end of the supporting cable 26 is led to a winch 28 (only indicated) on the carrier device 22 . The trench wall cutter 30 can be raised and lowered vertically by means of the winch 28 .

An einem unteren Ende des Fräsrahmens 32 der Schlitzwandfräse 30 sind insgesamt vier Fräsräder 34 jeweils paarweise angeordnet, wie nur schematisch in der Figur dargestellt ist. Über einen in der Figur schematisch angedeuteten Drehantrieb 36 am Fräsenrahmen 32, welcher hydraulisch angetrieben wird, können die Fräsräder 34 in Drehbewegung versetzt werden. Beim Ablassen der Schlitzwandfräse 30 in den Boden kann durch die drehenden Fräsräder 34 Bodenmaterial abgetragen werden.A total of four cutting wheels 34 are arranged in pairs at a lower end of the cutting frame 32 of the trench wall cutter 30, as shown only schematically in the figure. The cutting wheels 34 can be set in rotary motion via a rotary drive 36 on the cutting frame 32, which is indicated schematically in the figure and is hydraulically driven. When the trench wall cutter 30 is lowered into the ground, the rotating cutting wheels 34 can remove soil material.

Eine Vortriebsgeschwindigkeit der Schlitzwandfräse 30 kann beispielsweise an der Winde 28 durch Messung der Windendrehung über die Zeit ermittelt werden. In einer Steuereinheit am Trägergerät 22 kann ein Sollwert für die Vortriebsgeschwindigkeit eingegeben werden, wodurch beispielsweise die Winde 28 entsprechend angesteuert wird.A driving speed of the trench wall cutter 30 can be determined, for example, on the winch 28 by measuring the winch rotation over time. A target value for the propulsion speed can be entered in a control unit on the carrier device 22, as a result of which the winch 28 is controlled accordingly, for example.

Über die Steuereinheit kann weiter eine Drehzahl und/oder ein Drehmoment der Fräsräder 34 direkt oder indirekt über den Druck an den Hydraulikaggregaten, welche ebenfalls am Trägergerät 22 angeordnet sind, erfasst werden. Sinkt bei einer vorgegebenen Vortriebsgeschwindigkeit der Schlitzwandfräse 30 die Drehzahl an den Fräsrädern 34 unter einen vorgegebenen Grenzwert ab, so kann durch die Steuereinheit ein Antrieb der Winde 28 angesteuert werden, um die Vortriebsgeschwindigkeit der Schlitzwandfräse 30 herabzusetzen. Dieses Reduzieren der Vortriebsgeschwindigkeit der Schlitzwandfräse 30 erfolgt solange, bis die Drehzahl der Fräsräder 34 wieder einen Drehzahl-Grenzwert übersteigt. Anschließend kann durch die Steuereinheit die Vortriebsgeschwindigkeit der Schlitzwandfräse 30 durch entsprechendes Ansteuern der Winde 28 wieder solange erhöht werden, bis die vorgegebene Vortriebsgeschwindigkeit der Schlitzwandfräse 30 erreicht ist. Eine Steuerung beziehungsweise Regelung kann auch alternativ oder ergänzend unter Berücksichtigung des Drehmomentes an den Fräsrädern 34 erfolgen.A rotational speed and/or a torque of the cutting wheels 34 can also be detected directly or indirectly via the pressure on the hydraulic units, which are also arranged on the carrier device 22, via the control unit. If the rotational speed of the cutting wheels 34 falls below a predetermined limit value at a predetermined advance speed of the trench wall cutter 30, the control unit can control a drive of the winch 28 in order to reduce the advance speed of the trench wall cutter 30. This reduction in the rate of advance of the trench wall cutter 30 continues until the speed of the cutting wheels 34 again exceeds a speed limit value. The advance speed of the trench wall cutter 30 can then be increased again by the control unit by appropriately controlling the winch 28 until the predetermined advance speed of the trench wall cutter 30 is reached. Control or regulation can also take place alternatively or additionally, taking into account the torque on the cutting wheels 34 .

Claims (12)

  1. Method for producing a cut trench in the ground by means of a trench cutting device (10) having a trench cutter (30) and a supporting means (20) which is designed for lifting and lowering the trench cutter (30),
    wherein the trench cutter (30) is connected at its upper end to the supporting means (20) and at its lower end has at least one cutting wheel (34) which is rotatably supported and can be driven in a rotating manner via a rotary drive (36) in order to remove ground material,
    wherein a target value for an advancing speed of the trench cutter (30) during removal of ground material is preset in a control unit, through which a lowering of the trench cutter (30) by the supporting means (20) into the ground is controlled, characterized in that
    the advancing speed is controlled by means of the control unit depending on a rotational speed and/or a torque of the at least one cutting wheel (34), wherein on reaching a preset limit value for the rotational speed and/or for the torque the advancing speed of the trench cutter (30) is changed, in particular reduced, with respect to the target value for the advancing speed.
  2. Method according to claim 1,
    characterized in that
    on reaching the limit value for the rotational speed or the torque the advancing speed of the trench cutter (30) is reduced until the rotational speed is again above a preset rotational speed limit value or the torque is below a preset torque limit value.
  3. Method according to claim 2,
    characterized in that
    the advancing speed of the trench cutter (30) is increased up to the target value for the advancing speed if the rotational speed is above the rotational speed limit value or the torque is below the torque limit value.
  4. Method according to any one of claims 1 to 3,
    characterized in that
    the advancing speed is furthermore controlled depending on a load of the trench cutter (30).
  5. Method according to any one of claims 1 to 4,
    characterized in that
    the rotational speed or the torque are detected in a direct manner and a related measured value is forwarded to the control unit.
  6. Method according to claim 5,
    characterized in that
    the rotational speed is detected by means of a rotational speed pickup or the torque is detected by means of a torque pickup.
  7. Method according to any one of claims 1 to 6,
    characterized in that
    the rotational speed and/or the torque are detected in an indirect manner.
  8. Method according to claim 7,
    characterized in that
    to detect the rotational speed and/or the torque a power consumption of the rotary drive (36) is measured.
  9. Method according to claim 8,
    characterized in that
    the rotary drive (36) is operated hydraulically with a hydraulic circuit, wherein a pressure or a pressure change is detected in the hydraulic circuit.
  10. Trench cutting device, in particular for carrying out a method according to any one of claims 1 to 9, having a trench cutter (30) and a supporting means (20) which is designed for lifting and lowering the trench cutter (30) into the ground,
    wherein the trench cutter (30) is connected at its upper end to a supporting means (20) and at its lower end has at least one cutting wheel (34) which is rotatably supported and driven in a rotating manner via a rotary drive (36) in order to remove ground material,
    wherein a control unit is furthermore provided, through which a lowering of the trench cutter (30) by the supporting means (20) into the ground can be controlled, wherein a target value for an advancing speed of the trench cutter (30) during removal of ground material can be entered into the control unit, characterized in that
    the control unit is designed for controlling the advancing speed depending on a rotational speed and/or a torque of the at least one cutting wheel (34) and for presetting a limit value for the rotational speed and/or the torque such that on reaching the preset limit value for the rotational speed or for the torque the advancing speed of the trench cutter (30) is changed, in particular reduced, with respect to the target value for the advancing speed.
  11. Trench cutting device according to claim 10,
    characterized in that
    the supporting means (20) is a carrier implement (22) with a supporting rope (26) or a supporting rod, wherein the trench cutter (30) is suspended in a vertically adjustable manner on the supporting rope (26) or the supporting rod.
  12. Trench cutting device according to claim 10 or 11,
    characterized in that
    a total of four cutting wheels (34) are provided which are arranged in pairs next to each other.
EP19207471.4A 2019-11-06 2019-11-06 Method and wall milling device for creating a milled slot in the ground Active EP3819434B1 (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
EP19207471.4A EP3819434B1 (en) 2019-11-06 2019-11-06 Method and wall milling device for creating a milled slot in the ground
KR1020227013292A KR20220065857A (en) 2019-11-06 2020-11-04 Method and trench cutting apparatus for creating a cutting trench in the ground
CN202080071722.XA CN114555889A (en) 2019-11-06 2020-11-04 Method for producing milled grooves in soil and groove wall milling device
PCT/EP2020/080928 WO2021089603A1 (en) 2019-11-06 2020-11-04 Method and trench cutting device for creating a trench in the ground
CA3154436A CA3154436A1 (en) 2019-11-06 2020-11-04 Method and trench cutting device for producing a cut trench in the ground

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP19207471.4A EP3819434B1 (en) 2019-11-06 2019-11-06 Method and wall milling device for creating a milled slot in the ground

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EP3819434B1 true EP3819434B1 (en) 2022-02-16

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WO2021089603A1 (en) 2021-05-14
CN114555889A (en) 2022-05-27
KR20220065857A (en) 2022-05-20
EP3819434A1 (en) 2021-05-12

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