EP3819434B1 - Procédé et dispositif de fraisage de paroi de fente permettant de créer une fente fraisée dans le sol - Google Patents

Procédé et dispositif de fraisage de paroi de fente permettant de créer une fente fraisée dans le sol 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)
English (en)
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EP3819434A1 (fr
Inventor
Andreas HUGL
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bauer Maschinen GmbH
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Bauer Maschinen GmbH
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Application filed by Bauer Maschinen GmbH filed Critical Bauer Maschinen GmbH
Priority to EP19207471.4A priority Critical patent/EP3819434B1/fr
Priority to PCT/EP2020/080928 priority patent/WO2021089603A1/fr
Priority to CN202080071722.XA priority patent/CN114555889A/zh
Priority to CA3154436A priority patent/CA3154436A1/fr
Priority to KR1020227013292A priority patent/KR20220065857A/ko
Publication of EP3819434A1 publication Critical patent/EP3819434A1/fr
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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 .

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Paleontology (AREA)
  • Earth Drilling (AREA)
  • Bulkheads Adapted To Foundation Construction (AREA)
  • Crushing And Pulverization Processes (AREA)
  • Road Repair (AREA)

Claims (12)

  1. Procédé pour pratiquer une entaille de fraisage dans le sol au moyen d'un dispositif de fraisage de parois moulées (10), lequel présente une fraise de parois moulées (30) et un système de support (20), lequel est conformé pour lever et abaisser la fraise de parois moulées (30),
    la fraise de parois moulées (30) étant reliée à son extrémité supérieure au système de support (20) et présentant sur son extrémité inférieure au moins une roue de fraisage (34), laquelle est montée de manière à pouvoir tourner et peut être entraînée en rotation par l'intermédiaire d'un dispositif d'entraînement rotatif (36) pour enlever du matériau de sol,
    une valeur théorique pour une vitesse d'avancement de la fraise de parois moulées (30) étant prédéfinie dans une unité de commande lors de l'enlèvement de matériau de sol, par laquelle un abaissement de la fraise de parois moulées (30) est commandé par le système de support (20) dans le sol,
    caractérisé en ce que
    la vitesse d'avancement est commandée au moyen de l'unité de commande en fonction d'une vitesse de rotation et/ou d'un couple de rotation de l'au moins une roue de fraisage (34), et en ce que lorsqu'une valeur limite prédéfinie pour la vitesse de rotation et/ou pour le couple de rotation est atteinte, la vitesse d'avancement de la fraise de parois moulées (30) est modifiée, en particulier est réduite, par rapport à la valeur théorique pour la vitesse d'avancement.
  2. Procédé selon la revendication 1,
    caractérisé en ce que
    lorsque la valeur limite est atteinte pour la vitesse de rotation ou pour le couple de rotation, la vitesse d'avancement de la fraise de parois moulées (30) est réduite jusqu'à ce que la vitesse de rotation soit à nouveau supérieure à une valeur limite de vitesse de rotation prédéfinie ou que le couple de rotation soit inférieur à une valeur limite de couple de rotation prédéfinie.
  3. Procédé selon la revendication 2,
    caractérisé en ce que
    la vitesse d'avancement de la fraise de parois moulées (30) est augmentée jusqu'à la valeur théorique pour la vitesse d'avancement lorsque la vitesse de rotation est supérieure à la valeur limite de vitesse de rotation ou le couple de rotation est inférieur à la valeur limite de couple de rotation.
  4. Procédé selon l'une quelconque des revendications 1 à 3,
    caractérisé en ce que
    la vitesse d'avancement est commandée par ailleurs en fonction d'une charge de la fraise de parois moulées (30).
  5. Procédé selon l'une quelconque des revendications 1 à 4,
    caractérisé en ce que
    la vitesse de rotation ou le couple de rotation est directement détectée ou détecté et une valeur de mesure à ce sujet est acheminée à l'unité de commande.
  6. Procédé selon la revendication 5,
    caractérisé en ce que
    la vitesse de rotation est détectée au moyen d'un enregistreur de vitesses de rotation ou le couple de rotation est détecté au moyen d'un enregistreur de couple de rotation.
  7. Procédé selon l'une quelconque des revendications 1 à 6,
    caractérisé en ce que
    la vitesse de rotation et/ou le couple de rotation sont détectés indirectement.
  8. Procédé selon la revendication 7,
    caractérisé en ce que
    pour détecter la vitesse de rotation et/ou le couple de rotation, une consommation de puissance du dispositif d'entraînement rotatif (36) est mesurée.
  9. Procédé selon la revendication 8,
    caractérisé en ce que
    le dispositif d'entraînement rotatif (36) fonctionne de manière hydraulique avec un circuit hydraulique,
    et en ce qu'une pression ou une modification de pression est détectée dans le circuit hydraulique.
  10. Dispositif de fraisage de parois moulées, en particulier pour mettre en œuvre un procédé selon l'une des revendications 1 à 9, comportant une fraise de parois moulées (30) et un système de support (20), lequel est conformé pour soulever et abaisser la fraise de parois moulées (30) dans le sol,
    dans lequel la fraise de parois moulées (30) est reliée à son extrémité supérieure à un système de support (20) et présente sur son extrémité inférieure au moins une roue de fraisage (34), laquelle est montée de manière à pouvoir tourner et est entraînée en rotation par l'intermédiaire d'un dispositif d'entraînement rotatif (36) pour enlever du matériau de sol,
    dans lequel une unité de commande est prévue par ailleurs, par laquelle un abaissement de la fraise de parois moulées (30) peut être commandé par le système de support (20) dans le sol, une valeur théorique pour une vitesse d'avancement de la fraise de parois moulées (30) pouvant être entrée dans l'unité de commande lors de l'enlèvement de matériau de sol,
    caractérisé en ce que
    l'unité de commande est réalisée pour commander la vitesse d'avancement en fonction d'une vitesse de rotation et/ou d'un couple de rotation de l'au moins une roue de fraisage (34) et pour spécifier une valeur limite pour la vitesse de rotation et/ou le couple de rotation de telle manière que lorsque la valeur limite spécifiée pour la vitesse de rotation ou pour le couple de rotation est atteinte, la vitesse d'avancement de la fraise de parois moulées (30) est modifiée, en particulier réduite, par rapport à la valeur théorique pour la vitesse d'avancement.
  11. Dispositif de fraisage de parois moulées selon la revendication 10,
    caractérisé en ce que
    le système de support (20) est un appareil porteur (22) avec un câble de support (26) ou une tige de support, dans lequel la fraise de parois moulées (30) est suspendue de manière à pouvoir être ajustée verticalement sur le câble de support (26) ou la tige de support.
  12. Dispositif de fraisage de parois moulées selon la revendication 10 ou 11, caractérisé en ce que
    au total quatre roues de fraisage (34) sont prévues, lesquelles sont disposées côte à côte par paires.
EP19207471.4A 2019-11-06 2019-11-06 Procédé et dispositif de fraisage de paroi de fente permettant de créer une fente fraisée dans le sol Active EP3819434B1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
EP19207471.4A EP3819434B1 (fr) 2019-11-06 2019-11-06 Procédé et dispositif de fraisage de paroi de fente permettant de créer une fente fraisée dans le sol
PCT/EP2020/080928 WO2021089603A1 (fr) 2019-11-06 2020-11-04 Procédé et dispositif de coupe de tranchée destinés à la création d'une tranchée dans le sol
CN202080071722.XA CN114555889A (zh) 2019-11-06 2020-11-04 用于在土壤中产生铣削槽的方法和槽壁铣削装置
CA3154436A CA3154436A1 (fr) 2019-11-06 2020-11-04 Procede et dispositif de coupe de tranchee pour la production d?une tranchee coupee dans le sol
KR1020227013292A KR20220065857A (ko) 2019-11-06 2020-11-04 지반에서 커팅 트렌치를 생성하기 위한 방법 및 트렌치 커팅 장치

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP19207471.4A EP3819434B1 (fr) 2019-11-06 2019-11-06 Procédé et dispositif de fraisage de paroi de fente permettant de créer une fente fraisée dans le sol

Publications (2)

Publication Number Publication Date
EP3819434A1 EP3819434A1 (fr) 2021-05-12
EP3819434B1 true EP3819434B1 (fr) 2022-02-16

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EP (1) EP3819434B1 (fr)
KR (1) KR20220065857A (fr)
CN (1) CN114555889A (fr)
CA (1) CA3154436A1 (fr)
WO (1) WO2021089603A1 (fr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115233758B (zh) * 2021-11-30 2023-10-03 江苏徐工工程机械研究院有限公司 铣槽机

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EP0518297A1 (fr) 1991-06-11 1992-12-16 Bauer Spezialtiefbau GmbH Dispositif d'excavation et procédé pour la commande de la vitesse d'avance d'un outil d'excavation
WO1997005334A1 (fr) 1995-07-31 1997-02-13 Kvaerner Cementation Foundations Limited Enfoncement de tarieres ameliore
EP0790356A1 (fr) 1995-08-31 1997-08-20 Hitachi Construction Machinery Co., Ltd. Circuit de commande d'excavateur
EP1477633B1 (fr) 2003-05-08 2006-06-21 BAUER Maschinen GmbH Procédé et dispositif pour le travail du sol
EP3299523A1 (fr) 2016-09-21 2018-03-28 BAUER Spezialtiefbau GmbH Procédé et engin de travail du sol

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CN1249303C (zh) * 2003-02-27 2006-04-05 瓦克建筑设备股份公司 地面切割装置
DE502004007221D1 (de) * 2004-03-26 2008-07-03 Bauer Maschinen Gmbh Schlitzwandfräse
ITTO20110834A1 (it) * 2011-09-20 2013-03-21 Soilmec Spa Sistema di controllo per una macchina di scavo e/o perforazione di terreni e macchina di scavo e/o perforazione comprendente tale sistema.
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EP3819434A1 (fr) 2021-05-12

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