METHOD FOR CONTROLLING A WALL SAW SYSTEM WHEN MAKING A CUT-OFF CUT

Description

Technisches Gebiet

[0001] The present invention relates to a method for controlling a wall sawing system when making a separation cut according to the preamble of claim 1. State of the art

[0002] Examples of wall sawing systems are known from DE 10 2013 202445 A1 or WO 2014 / 124912 A1.

[0003] From EP 1 693 173 B1, a method for controlling a wall sawing system during the creation of a separation cut in a workpiece between a first endpoint and a second endpoint is known. The wall sawing system comprises a guide rail and a wall saw with a saw head, a motorized feed unit that moves the saw head parallel to a feed direction along the guide rail, and at least one saw blade that is attached to a saw arm of the saw head and driven about a rotary axis by a drive motor. The saw arm is designed to pivot about a pivot axis by means of a swivel motor. By pivoting the saw arm about the pivot axis, the penetration depth of the saw blade into the workpiece is changed. The motorized feed unit comprises a guide carriage and a feed motor, wherein the saw head is mounted on the guide carriage and moved along the guide rail by the feed motor.A sensor system with a swivel angle sensor and a displacement sensor is provided to monitor the wall saw system. The swivel angle sensor measures the current swivel angle of the saw arm, and the displacement sensor measures the current position of the saw head on the guide rail. The measured values ​​for the current swivel angle of the saw arm and the current position of the saw head are regularly transmitted to a control unit of the wall saw.

[0004] The known method for controlling a wall sawing system is divided into a preparation phase and a processing phase controlled by the control unit. In the preparation phase, the operator specifies at least the saw blade diameter, the positions of the first and second endpoints in the feed direction, and the final cutting depth; further parameters may include the material of the workpiece and the dimensions of any embedded reinforcing steel. Based on the entered parameters, the control unit determines a suitable sequence of main cuts, comprising at least a first main cut with a first main cutting angle of the saw arm and a first diameter of the saw blade used, and a subsequent second main cut with a second main cutting angle of the saw arm and a first diameter of the saw blade used.

[0005] The known method for controlling a wall saw system has the disadvantage that no details regarding the overcutting of a free endpoint with overlap are disclosed. Darstellung der Erfindung

[0006] The object of the present invention is to develop a method for controlling a wall saw system in which the overcutting of a free endpoint is controlled by the control unit of the wall saw and the processing parameters of the wall saw are adapted to the overcutting.

[0007] This problem is solved according to the invention in the aforementioned method for controlling a wall saw system by the features of the independent claim. Advantageous embodiments are specified in the dependent claims.

[0008] According to the invention, it is provided that during the machining process controlled by the control unit, the overlap sequence is performed between the penultimate main cut and the last main cut, or the overlap sequence is performed after the last main cut, and that a start position and an end position are additionally defined for the overlap sequence before the start of the machining process controlled by the control unit. By defining a separate overlap sequence for the overlap machining, the machining parameters can be adapted to the overlap machining.

[0009] Preferably, the overcut sequence comprises a number n of overcuts with j-th overcut angles of the saw arm and j-th diameters of the saw blade used, j = 1 to n. The number of overcuts required depends, among other things, on the specifications of the saw blade, the material properties of the workpiece, and the power and torque of the drive motor for the saw blade. The overcut angles can be set by the operator, or the control unit of the wall saw system can determine the overcut angles depending on various boundary conditions. For the method according to the invention, the overcut angles represent an input variable that is used to control the wall saw.

[0010] Preferably, before the start of the machining process controlled by the control unit, the saw arm length, defined as the distance between the pivot axis of the saw arm and the axis of rotation of the saw blade, and the distance between the pivot axis and the top surface of the workpiece are also specified. For controlled machining of a cut, the control unit must know various parameters. These include the saw arm length, which is a fixed, device-specific dimension of the wall saw, and the vertical distance between the pivot axis and the surface of the workpiece, which depends not only on the geometry of the wall saw but also on the geometry of the guide rail used.

[0011] In a first implementation, the first endpoint of the cut is defined as a free endpoint with an overlap. For the overlap sequence, the control unit calculates a first end position, where the pivot axis in the first end position has a spatial coordinate of X(E 1 ) + √[Δh·(D m - Δh)] - δ · sin(±α m ), where Δh = (hm - T) is the difference between the penetration depth at the last principal cutting angle and the final depth, and hm = h(±α m , D m ) = D m / 2 - Δ - δ · cos(±α m ) denotes the penetration depth of the saw blade into the workpiece at the last principal cutting angle. When the pivot axis reaches the first end position, the material at the first endpoint is completely removed, and the cut is finished in the area of ​​the free first endpoint.

[0012] In a further development of the first version, in the j-th crosscut of the crosscut sequence, j = 1 to n, the saw head is positioned in a first starting position, the saw arm in the first starting position is pivoted to the j-th crosscut angle, and the saw head with the saw arm inclined in the j-th crosscut angle is moved to the first end position.

[0013] The pivot axis in the first initial position preferably has a spatial coordinate of X(E 1 ) + √[h(±ϕ 1,n ) · (D 1,n - h(±ϕ 1,n) )] - δ · sin(±ϕ 1,n ) for 0° < ϕ 1n ≤ 90° and X(E 1 ) + √[h(±ϕ 1,n ) · (D 1n - h(±ϕ 1,n) )] - δ · sin(±90°) for 90° < ϕ 1n ≤ 180°, where h(±ϕ 1,n , D 1,n ) = D 1n / 2 - Δ - δ · cos(±ϕ 1,n ) is the penetration depth of the saw blade into the workpiece at The nth intersection angle (±ϕ 1,n ) is denoted. The first initial position ensures that the pivoting movement occurs in all intersection angles of the intersection sequence before the first endpoint and that the first endpoint is passed.

[0014] In a second embodiment, the second endpoint is defined as a free endpoint with an intersection. For the intersection sequence, the control unit calculates a second end position, where the pivot axis in the second end position has a spatial coordinate of X(E 2 ) - √[Δh · (D m - Δh)] + δ · sin(±α m ), where Δh = (hm - T) is the difference between the penetration depth hm at the last principal cutting angle and the final depth T, and hm = h(±α m , D m ) = D m / 2 - Δ - δ · cos(±α m ) denotes the penetration depth of the saw blade into the workpiece at the last principal cutting angle. When the pivot axis has reached the second end position, the material at the second endpoint has been completely removed, and the separation cut in the area of ​​the free second endpoint is complete.

[0015] In a further development of the second version, in the j-th crosscut of the crosscut sequence, j = 1 to n, the saw head is positioned in a second starting position, the saw arm is pivoted in the second starting position to the j-th crosscut angle, and the saw head with the saw arm inclined in the j-th crosscut angle is moved to the second end position.

[0016] Particularly preferably, the pivot axis in the second initial position has a spatial coordinate of X(E 2 ) - √[h(±ϕ 2,n ) · (D 2,n - h(±ϕ 2,n ))] - δ · sin(±ϕ 2,n ) for 0° < ϕ 2,n ≤ 90° and X(E 2 ) - √[h(±ϕ 2,n ) · (D 2,n - h(±ϕ 2,n ))] - δ · sin(±90°) for 90° < ϕ 2,n ≤ 180°, where h(±ϕ 2,n , D 2,n ) = D 2,n / 2 - Δ - δ · cos(±ϕ 2,n ) is the penetration depth of the saw blade used. The second starting position is denoted as the point of entry into the workpiece at the nth intersection angle (±ϕ 2,n ). This ensures that the pivoting movement occurs in all intersection angles of the intersection sequence before the second endpoint and that the second endpoint is not exceeded. Ausführungsbeispiele

[0017] Exemplary embodiments of the invention are described below with reference to the drawing. The drawing is not necessarily intended to represent the exemplary embodiments to scale; rather, where explanatory, it is presented in schematic and / or slightly distorted form. With regard to additions to the teachings directly apparent from the drawing, reference is made to the relevant prior art. It should be noted that numerous modifications and changes concerning the form and detail of an embodiment can be made without deviating from the general idea of ​​the invention. The features of the invention disclosed in the description, the drawing, and the claims can be essential for the further development of the invention, both individually and in any combination.Furthermore, the invention encompasses all combinations of at least two of the features disclosed in the description, the drawing, and / or the claims. The general idea of ​​the invention is not limited to the exact shape or detail of the preferred embodiment shown and described below, nor is it limited to an object that would be restricted compared to the object claimed in the claims. For given design ranges, values ​​lying within the stated limits are also disclosed as limit values ​​and may be used and claimed as desired. For the sake of simplicity, identical or similar parts, or parts with identical or similar functions, are used below.

[0018] They show: FIG. 1 A wall sawing system with a guide rail and a wall saw; FIG. 2A, B The machining of a separation cut between a first and second free endpoint without obstruction; FIG. 3A, B The machining of a separation cut between a first and second obstruction with a saw blade not enclosed by a blade guard; FIG. 4A, B The machining of a separation cut between a first and second obstruction with a saw blade enclosed by a blade guard; FIG. 5A-T The wall sawing system of the FIG. 1 when creating a separation cut between a first free endpoint without obstacle and a second free endpoint without obstacle.

[0019] FIG. 1 shows a wall saw system 10 with a guide rail 11, a tool device arranged slidably on the guide rail 11 12 and a remote control 13.The tool is designed as a wall saw 12 and includes a machining unit. 14 and a motorized feed unit 15. The machining unit is designed as a saw head 14 and includes a machining tool designed as a saw blade. 16, that on a saw arm 17 is attached and driven by a drive motor 18 around an axis of rotation 19 is powered.

[0020] 11To protect the operator, the saw blade 16 is protected by a blade guard. 21 surrounded, which is attached to the saw arm 17 by means of a blade guard holder. The saw arm 17 is powered by a swivel motor. 22 around a pivot axis 23 Designed to swivel. The swivel angle a of the saw arm 17 determined with a saw blade diameter D of the saw blade 16, how deep the saw blade 16 is into a workpiece to be machined 24immerses. The drive motor 18 and the swivel motor 22 are housed in a single device casing. 25 arranged. The motorized feed unit 15 includes a guide carriage. 26 and a feed motor 27, which in the exemplary embodiment is also arranged in the device housing 25. The saw head 14 is mounted on the guide carriage 26 and is moved along the guide rail 11 in a feed direction by the feed motor 27. 28 Designed to be movable. In the device housing 25, in addition to the motors 19, 22, 27, there is a control unit. 29 arranged for controlling the saw head 14 and the motorized feed unit 15.

[0021] A sensor device with several sensor elements is provided for monitoring the wall sawing system 10 and the machining process. A first sensor element 32 It functions as a swivel angle sensor and a second sensor element 33designed as a position sensor. The swivel angle sensor 32 measures the current swivel angle of the saw arm 17 and the position sensor 33 measures the current position of the saw head 14 on the guide rail 11. The measured values ​​are transmitted by the swivel angle sensor 32 and position sensor 33 to the control unit 29 and used to control the wall saw 12.

[0022] The remote control 13 includes a device housing 35, an input device 36, a display device 37 and a control unit 38, which is located inside the device housing 35. The control unit 38 converts the inputs from the input device 36 into control commands and data, which are transmitted to the wall saw 12 via a first communication link. The first communication link is a wired and wireless communication link. 41 or as a communication cable 42The wireless communication link is designed in the exemplary embodiment as a radio link 41, which connects a first radio unit. 43 on the remote control 13 and a second radio unit 44 at the tool device 12. Alternatively, the wireless communication connection 41 can be in the form of an infrared, Bluetooth, WLAN or Wi-Fi connection.

[0023] FIGN. 2A , B The guide rail 11 and the wall saw 12 of the wall saw system 10 are shown. FIG. 1 when creating a separation cut 51 in workpiece 24 of the workpiece thickness d. The separation cut 51 has a final depth T up and runs in the feed direction 28 between a first endpoint E 1 and a second endpoint E 2 . As XThe -direction is defined as a direction parallel to the feed direction 28, wherein the positive X-direction is directed from the first endpoint E 1 to the second endpoint E 2, and as Y The -direction is defined as a direction perpendicular to the X-direction into the depth of the workpiece 24.

[0024] The endpoint of a separation cut can be defined as a free endpoint without an obstacle or as an obstacle. Both endpoints can be defined as free endpoints without obstacles, both endpoints as obstacles, or one endpoint as a free endpoint and the other as an obstacle. At a free endpoint without an obstacle, an overlap is permitted. Due to the overlap, the cutting depth at the endpoint reaches the final depth T of the separation cut. In the exemplary embodiment of the FIGN. 2A , B form the endpoints E 1 , E 2 free endpoints without obstacles, where an overlap is not permitted at the free first endpoint E 1 and an overlap has occurred at the second endpoint E 2.

[0025] FIG. 2A shows the saw head 14 in a mounting position X 0 and the saw arm 17 in a basic position of 0°. The saw head 14 is positioned by the operator in mounting position X0 on the guide rail 11 using the guide carriage 26. The mounting position X0 of the saw head 14 lies between the first and second endpoints E1, E2 and is determined by the position of the swivel axis 23 in the feed direction 28. The position of the swivel axis 23 is particularly suitable as a reference position. X Ref This is necessary for monitoring the position of the saw head 14 and controlling the wall saw 12, since the X-position of the swivel axis 23 remains unchanged even during the swiveling movement of the saw arm 17. Alternatively, a different X-position on the saw head 14 can be defined as the reference position, in which case the distance in the X-direction to the swivel axis 23 must also be known.

[0026] In this embodiment, the X-positions of the first and second endpoints E1 and E2 are defined by entering partial lengths. The distance between the mounting position X 0 and the first endpoint E 1 determines a first partial length L 1 and the distance between the mounting position X 0 and the second endpoint E 2 a second partial length L 2 . Alternatively, the X-positions of the endpoints E1, E2 can be determined by entering a partial length (L1 or L2) and a total length. L The distance between the endpoints E1 and E2 is defined.

[0027] The separation cut 51 is created in several partial cuts until the desired final depth T is reached. The partial cuts between the first and second endpoints E1 and E2 are defined as main cuts, and the sequence of these main cuts is called the main cut sequence. Additional corner machining can be performed at the endpoints of the separation cut; this is referred to as obstacle machining if there is an obstacle, and as overcut machining if there is a free endpoint with an overlap.

[0028] The main cutting sequence can be set by the operator, or the control unit of the wall saw system can determine the main cutting sequence based on several boundary conditions. Typically, the first main cut, also known as the pre-cut, is performed with a reduced cutting depth and reduced drive motor power to prevent blade polishing. Subsequent main cuts are usually performed with the same cutting depth, but can also have different cutting depths. Boundary conditions typically set by an operator include the cutting depth of the pre-cut, the power of the pre-cut, and the maximum cutting depth of the subsequent main cuts. From these boundary conditions, the control unit can determine the main cutting sequence.

[0029] The main cuts of a separation cut are made with one saw blade diameter or with two or more saw blade diameters. If multiple saw blades are used, processing usually begins with the smallest saw blade diameter. In order to mount the saw blade 16 on the saw arm 17, the saw blade 16 must be positioned above the workpiece 24 in the basic position of the saw arm 17. Whether this boundary condition is met depends on two device-specific parameters of the wall saw system 10, firstly a vertical distance. Δ between the pivot axis 23 of the saw arm 17 and a top surface 53 of the workpiece 24 and secondly of a saw arm length δ of the saw arm 17, which is defined as the distance between the axis of rotation 19 of the saw blade 16 and the pivot axis 23 of the saw arm 17. If the sum of these two device-specific dimensions is greater than half the saw blade diameter D / 2, the saw blade 16 is positioned above the workpiece 24 in its home position. The saw arm length δ is a fixed device-specific dimension of the wall saw 12, whereas the vertical distance Δ between the pivot axis 23 and the surface 53 depends not only on the geometry of the wall saw 12 but also on the geometry of the guide rail 11 used.

[0030] The saw blade 16 is mounted on a flange on the saw arm 17 and, during sawing operation, is driven by the drive motor 18 around the axis of rotation 19. In the basic position of the saw arm 17, which is in FIG. 2A As shown, the swivel angle is 0° and the axis of rotation 19 of the saw blade 16 lies above the swivel axis 23 in the depth direction 52. The saw blade 16 is moved into the workpiece 24 from its initial position at 0° by a swivel movement of the saw arm 17 about the swivel axis 23. During the swivel movement of the saw arm 17, the saw blade 16 is driven about the axis of rotation 19 by the drive motor 18.

[0031] To protect the operator, the saw blade 16 should be surrounded by the blade guard 21 during operation. The wall saw 12 is operated with or without the blade guard 21. For example, the blade guard 21 may need to be removed to perform the cut-off in the area of ​​the endpoints E1 and E2. If different saw blade diameters are used for the cut-off, different blade guards with corresponding widths are generally used.

[0032] FIG. 2B shows the saw arm 17, which rotates in a negative direction 54 The saw arm 17 is inclined at a negative swivel angle -α. It is adjustable in the negative direction of rotation 54 between swivel angles from 0° to -180° and in a positive direction of rotation opposite to the negative direction of rotation 54. 55 Adjustable between swivel angles from 0° to +180°. The in FIG. 2B The illustrated arrangement of the saw arm 17 is referred to as a pulling arrangement when the saw head 14 is in a positive feed direction. 56 is moved. If the saw head 14 is moved in a negative feed direction opposite to the positive feed direction 56, 57 When moved, the arrangement of the saw arm 17 is referred to as a thrusting arrangement.

[0033] At a swivel angle of ±180°, the maximum penetration depth of the saw blade 16 into the workpiece 24 is achieved. The swivel movement of the saw arm 17 about the swivel axis 23 changes the position of the axis of rotation 19 in the X-direction and in Y -direction shifted. The displacement of the axis of rotation 19 depends on the saw arm length δ and the swivel angle α of the saw arm 17. The displacement path δ x In the X direction, δ . sin(±α) and the displacement path is δ y in Y The -direction is δ · cos(±α).

[0034] The saw blade 16 creates a cutting wedge in the workpiece 24 in the form of a circular segment with a height h and a width b.The height h of the circular segment corresponds to the penetration depth of the saw blade 16 into the workpiece 24. The following relationship applies to the penetration depth h: D / 2 = h + Δ + δ · cos(α), where D is the saw blade diameter, h is the penetration depth of the saw blade 16, Δ is the perpendicular distance between the pivot axis 23 and the top surface 53 of the workpiece 24, δ is the saw arm length, and α is the first pivot angle. The following relationship applies to the width b: b 2< = D / 2 · 8h - 4h 2< = 4Dh - 4h 2< = 4h · (D - h), where h is the penetration depth of the saw blade 16 into the workpiece 24 and D is the saw blade diameter.

[0035] The control of the wall saw 12 during the cutting process depends on whether the endpoints are defined as obstacles, and, if an obstacle exists, on whether the cutting is performed with or without the blade guard 21. With a free endpoint and no obstacle, the wall saw 12 is controlled according to the inventive method via the upper exit points of the saw blade 16 on the top surface 53 of the workpiece 24. The upper exit points of the saw blade 16 can be calculated from the reference position XRef of the pivot axis 23 in the X-direction, the displacement δx of the rotary axis 19 in the X-direction, and the width b. An upper exit point facing the first endpoint E1 is designated as the first upper exit point. 58 designated and an upper exit point facing the second endpoint E 2 as the second upper exit point 59.For the first upper exit point 58, X(58) = X Ref + δ X - b / 2 and for the second upper exit point 59, X(59) = X Ref + δ X + b / 2 with b = √[h · (D - h)] and h = h(α, D).

[0036] If the endpoints E1 and E2 are defined as obstacles, it is not possible for the wall saw 12 to pass over them. In this case, the wall saw 12 is controlled according to the inventive method via the reference position XRef of the swivel axis 23 and the limit of the wall saw 12. A distinction is made between processing without the blade guard 21 and processing with the blade guard 21.

[0037] FIGN. 3A , B Figure 10 shows the wall saw system 10 creating a separation cut between the first endpoint E1 and the second endpoint E2, which are defined as obstacles, with the machining taking place without blade guard 21. During machining without blade guard 21, a first saw blade edge forms 61,which faces the first endpoint E 1, and a second saw blade edge 62, which faces the second endpoint E 2, the boundary of the wall saw 12.

[0038] The X positions of the first and second saw blade edge 61, 62 in the X direction can be calculated from the reference position X Ref of the swivel axis 23, the displacement path δ x of the rotary axis 19 and the saw blade diameter D. FIG. 3A Figure 12 shows the wall saw with the saw arm 17 inclined in the negative direction of rotation 54 at a negative swivel angle -α (0° to -180°). For the first saw blade edge 61, X(61) = X Ref + δ · sin(-α) - D / 2 applies, and for the second saw blade edge 62, X(62) = X Ref + δ · sin(-α) + D / 2 applies. FIG. 3B Figure 12 shows the wall saw with the saw arm 17 inclined in the positive direction of rotation 55 under a positive swivel angle α (0° to + 180°). For the first saw blade edge 61, X(61) = X Ref + δ · sin(α) - D / 2 applies, and for the second saw blade edge 62, X(62) = X Ref + δ · sin(α) + D / 2 applies.

[0039] FIGN. 4A , B Figure 10 shows the wall saw system 10 creating a separation cut between the first endpoint E1 and the second endpoint E2, which are defined as obstacles, with the machining being carried out with blade guard 21. When machining without blade guard 21, a first blade guard edge forms 71, which faces the first endpoint E 1, and a second leaf protection edge 72, which faces the second endpoint E 2, the boundary of the wall saw 12.

[0040] The X positions of the first and second blade guard edge 71, 72 in the X direction can be calculated from the reference position X Ref of the pivot axis 23, the displacement path δ x of the rotation axis 19 and the blade guard width B. FIG. 4A Figure 12 shows the wall saw 12 with the saw arm 17 inclined at a negative swivel angle -α (0° to -180°) and the mounted blade guard 21 of blade guard width B. With an asymmetrical blade guard, the distances of the pivot axis 19 to the blade guard edges 71, 72 are determined before the start of the controlled machining, with the distance to the first blade guard edge 71 being the first distance. B a and the distance to the second leaf protection edge 72 as the second distance B b be designated.

[0041] For the first leaf protection edge 71, X(71) = X Ref + δ · sin(α) - B a and for the second leaf protection edge 72, X(72) = X Ref + δ · sin(α) + B b . FIG. 4B Figure 12 shows the wall saw with the saw arm 17 inclined at a positive swivel angle α (0° to + 180°) and the mounted blade guard 21 of blade guard width B. For the first blade guard edge 71, X(71) = X Ref + δ · sin(α) - B a and for the second blade guard edge 72, X(72) = X Ref + δ · sin(α) + B b . FIGN. 2A , B show a separation section between two endpoints E 1 , E 2 , which are defined as free endpoints without obstacles, and FIGN. 3A Figures B and 4A, B show a separation cut between two endpoints E1, E2, which are defined as obstacles. In practice, separation cuts are also possible where one endpoint is defined as an obstacle and the other endpoint is a free endpoint without an obstacle, whereby the wall saw is controlled at the free endpoint via the upper exit point of the saw blade and at the obstacle via the saw blade edge (machining without blade guard 21) or the blade guard edge (machining with blade guard 21).

[0042] The first upper exit point 58, the first saw blade edge 61 and the first blade guard edge 71 are summarized under the term "first limit" of the wall saw 12 and the second upper exit point 59, the second saw blade edge 62 and the second blade guard edge 72 are summarized under the term "second limit".

[0043] FIGN. 5A-T show the wall saw system 10 of the FIG. 1 with the guide rail 11 and the wall saw 12 when creating a separation cut of the final depth T in the workpiece 24 between the first endpoint E 1, which is defined as a free endpoint with overlap, and the second endpoint E 2, which is defined as a free endpoint with overlap.

[0044] The separation cut comprises a principal cut sequence of several principal cuts performed between the first endpoint E 1 and the second endpoint E 2, a first intersection sequence for the free first endpoint E 1 with intersection, and a second intersection sequence for the free second endpoint E 2 with intersection.

[0045] The principal section sequence includes a first principal section with a first principal section angle. <1 1 of the saw arm 17, a first diameter D 1 and an initial penetration depth h 1 of the saw blade used, a second main cut with a second main cutting angle α 2 of the saw arm 17, a second diameter D 2 and a second penetration depth h 2 of the saw blade used, as well as a third main cut with a third main cutting angle α 3 of the saw arm 17, a third diameter D 3 and a third penetration depth h 3 of the saw blade used.

[0046] In the exemplary embodiment, the first, second, and third main cuts are performed with the saw blade 16 and the associated blade guard 21. Therefore, the diameters D1, D2, and D3 of the main cuts correspond to the saw blade diameter D of the saw blade 16. Alternatively, the main cuts can be performed by several saw blades with different diameters. When machining with multiple saw blades, the method according to the invention includes a process step for changing the saw blade to a different diameter.

[0047] Three process variants are suitable for processing the main cuts, differing from one another in terms of the processing quality of the separation cut and the required processing time; the control of the wall saw during the execution of the main cutting sequence is not part of the method according to the invention. Depending on the requirements of the separation cut, the operator determines which process variant is used for the main cutting sequence before starting the controlled processing. In the first process variant, the main cuts are carried out with a saw arm 17 arranged in a pulling direction. The pulling arrangement of the saw arm 17 enables stable guidance of the saw blade 16 during processing and a narrow kerf. In the second and third process variants, the saw arm 17 is arranged alternately in a pulling and pushing direction, with the first main cut being carried out in a pulling direction.A separation cut in which the saw arm 17 is arranged alternately in a pulling and pushing manner has the advantage that the non-productive times required for positioning the saw head 14 and pivoting the saw arm 17 are reduced compared to a pulling arrangement.

[0048] In each main cut of the first method variant, the following steps occur successively: positioning of the saw head 14, pivoting of the saw arm 17 into the main cutting angle, machining in a first feed direction, stopping of the saw head 14, pivoting of the saw arm 17 into the negative main cutting angle, and machining of the main cut in a second, opposite feed direction. In each main cut of the second method variant, the following steps occur successively: positioning of the saw head 14, pivoting of the saw arm 17 into the main cutting angle, machining in a feed direction, and stopping of the saw head 14 in a position where the upper exit point coincides with the end point.The third method variant differs from the second method variant in that the last process step of a main cut (stopping) and the first process step of the following main cut (positioning) are combined. The saw head 14 is stopped in a position calculated such that the upper exit point after the pivoting movement of the saw arm 17 coincides with the endpoint of the main cutting angle of the following main cut.

[0049] In this embodiment, the main cuts of the main cutting sequence are performed with a saw arm 17, which is arranged alternately in a pulling and pushing motion. The processing of the separation cut begins at the first endpoint E1. After the controlled processing has started, the saw head 14 is moved into a starting position. X Start The saw arm 17 is positioned in a position where the pivot axis 23 has a distance of √[h1 · (D1 - h1)] - δ · sin(-α1) to the first endpoint E1, where h1 = h(-α1, D1) = D1 / 2 - Δ - δ · cos(-α1) denotes the penetration depth of the saw blade into the workpiece 24 at the negative first main cutting angle -α1 with the first diameter D1, which corresponds to the saw blade diameter D. In the starting position XStart, the saw arm 17 is pivoted from the basic position at 0° in the negative direction of rotation 54 to the negative first main cutting angle -α1. After the pivoting movement to the negative first main cutting angle -α1, the first upper exit point 58 of the saw blade 16 coincides with the first endpoint E1.

[0050] The saw head 14 is moved in the positive feed direction 56 with the saw arm 17 inclined at the negative first main cutting angle -α 1 , and the rotating saw blade 16 ( FIG. 5A During the feed movement, the position of the saw head 14 is regularly measured by the displacement sensor 33. The feed movement of the saw head 14 is stopped when the pivot axis 23 has a distance to the second endpoint E 2 of √[h 1 · (D 1 - h 1 )] + δ · sin(-α 1 ), where h 1 = h(-α 1 , D 1 ) = D 1 / 2 - Δ - δ · cos(-α 1 ) denotes the penetration depth of the saw blade 16 into the workpiece 24 at the negative first main cutting angle -α 1 with the first diameter D 1, which corresponds to the saw blade diameter D. In this position, the second upper exit point 59 of the saw blade 16, facing the second endpoint E 2, coincides with the second endpoint E 2, and the first main cut is completed.

[0051] For the second main cut, the saw head 14 is positioned in the feed direction 28 such that the pivot axis 23 has a distance to the second endpoint E 2 of √[h 2 · (D 2 - h 2 )] + δ · sin(-α 2 ), where h 2 = h(-α 2 , D 2 ) = D 2 / 2 - Δ - δ · cos(-α 2 ) denotes the penetration depth of the saw blade 16 into the workpiece 24 at the second negative main cutting angle -α 2, with the second diameter D 2 corresponding to the saw blade diameter D. In this position, the saw arm 17 is pivoted from the negative first main cutting angle -α 1 to the negative second main cutting angle -α 2 ( FIG. 5B During positioning, the distance is adjusted so that the second upper exit point 59 of the saw blade 16, which faces the second endpoint E 2, coincides with the second endpoint E 2 after the pivoting movement of the saw arm 17 into the negative second principal cutting angle -α 2.

[0052] In an alternative embodiment (third method variant), the feed movement of the saw head 14 in the positive feed direction 56 is stopped when the pivot axis 23 has a distance to the second endpoint E 2 of √[h 2 · (D 2 - h 2 )] + δ · sin(-α 2 ), where h 2 = h(-α 2 , D 2 ) = D 2 / 2 - Δ - δ · cos(-α 2 ) denotes the penetration depth of the saw blade used in the workpiece 24 at the negative second principal cutting angle -α 2 with the second diameter D 2, which corresponds to the saw blade diameter D. In this position, the saw arm 17 is pivoted from the negative first principal cutting angle -α 1 to the negative second principal cutting angle -α 2.

[0053] After pivoting into the negative second principal cutting angle -α 2, the saw head 14 is moved in the negative feed direction 57 towards the first endpoint E 1, with the position of the saw head 14 being measured regularly by the displacement sensor 33 during the feed movement. The feed movement of the saw head 14 is stopped when the pivot axis 23 is at a distance of √[h 2 · (D 2 · h 2 )] - δ · sin(-α 2 ) from the first endpoint E 1, where h 2 = h(-α 2 , D 2 ) = D 2 / 2 - Δ - δ · cos(-α 2 ) denotes the penetration depth of the saw blade 16 into the workpiece 24 at the negative second principal cutting angle -α 2 with the second diameter D 2. In this position, the first upper exit point 58 of the saw blade 16 coincides with the first endpoint E 1 and the second main cut is completed ( FIG. 5C ).

[0054] After the second main cut, the saw head 14 is positioned in the feed direction 28 such that the pivot axis 23 has a distance to the first endpoint E 1 of √[h 3 · (D 3 - h 3 )] - δ · sin(-α 3 ) where h 3 = h(-α 3 , D 3 ) = D 3 / 2 - Δ - δ · cos(-α 3 ) denotes the penetration depth of the saw blade 16 used into the workpiece 24 at the negative third main cutting angle -α 3 with the third diameter D 3, which corresponds to the saw blade diameter D . FIG. 5D ). In this position, the saw arm 17 is pivoted from the negative second principal cutting angle - α 2 to the negative third principal cutting angle - α 3 ( FIG. 5E ).

[0055] The third main cut represents the last main cut of the main cut sequence, and before processing the last main cut, an overcut machining of the free first endpoint E1 is performed. Before the controlled machining of the separation cut begins, the first overcut sequence for the free first endpoint E1 is defined. In the exemplary embodiment, the first overcut sequence comprises a first overcut with a first overcut angle - <P 1 , 1 des Sägearms 17 und einem ersten Durchmesser D 1,1 of the saw blade used, as well as a second overcut with a second overcut angle -ϕ 1,2 of the saw arm 17 and a second diameter D 1,2 of the saw blade used, wherein the second overcut angle -ϕ 1,2 corresponds to the negative third main cutting angle -α 3.

[0056] In the overcut angle, the first index indicates whether the overcut machining takes place at the first or second endpoint E1, E2, where the index "1" stands for the first endpoint E1 and the index "2" for the second endpoint E2. The second index indicates the step and varies from 1 to n, n ≥ 2. The overcut machining of the free first endpoint E1 is performed with saw blade 16, and the diameters D1.1 and D1.2 correspond to the saw blade diameter D.

[0057] Before the controlled machining process begins, a first starting position and a first end position are additionally defined in the method according to the invention. The first starting position is calculated such that the pivoting movement occurs in all intersection angles -ϕ 1,1 , -ϕ 1,2 of the first intersection sequence before the first endpoint E 1 and the first endpoint E 1 is not exceeded. In the first end position, the pivot axis 23 has a spatial coordinate of X(E 1 ) + √[Δh · (D 3 - Δh)] - δ · sin(-α 3 ) where Δh = h 3 - T is the difference between the third penetration depth h 3 and the final depth T and h 3 = h(-α 3 , D 3 ) = D 3 / 2 - Δ - δ · cos(-α 3 ) denotes the penetration depth of the saw blade (16) into the workpiece (24) at the negative third principal cutting angle (-α 3 ).

[0058] After the pivoting movement, the saw arm 17 is moved into the first starting position at the negative third main cutting angle -α 3 ( FIG. 5F ) and pivoted in the first initial position to the first intersection angle -ϕ 1.1 ( FIG. 5G ). With the saw arm 17 inclined at the first overlap angle -ϕ 1.1, the saw head 14 is moved in the negative feed direction 57 until the pivot axis 23 has reached the first end position ( FIG. 5H ). The saw head 14 is then returned to its initial starting position ( FIG. 5I ), the saw arm 17 pivoted into the second overcut angle -ϕ 1.2 ( FIG. 5J ) and the saw head 14 with the saw arm 17 inclined at -ϕ 1.2 in the negative feed direction 57 moves until the pivot axis 23 has reached the first end position ( FIG. 5K ).

[0059] After the overcut machining of the free first endpoint E 1, the third main cut is carried out with the saw arm 17, inclined at the negative third main cutting angle -α 3, in the positive feed direction 56 ( FIG. 5L ); the execution of the third main cut is not part of the method according to the invention. The feed movement of the saw head 14 is stopped when the pivot axis 23 has a distance of √[h 3 · (D 3 - h 3 )] + δ · sin(-α 3 ) to the second endpoint E 2, where h 3 = h(-α 3 , D 3 ) = D 3 / 2 - Δ - δ · cos(-180°) denotes the penetration depth of the saw blade 16 used into the workpiece 24 at the negative third main cutting angle -α 3 with the third diameter D 3, which corresponds to the saw blade diameter D.

[0060] In the exemplary embodiment, the second intersection sequence includes a first intersection with a first intersection angle. ϕ 2,1 of the saw arm 17 and a first diameter D 2,1 of the saw blade used, as well as a second overcut with a second overcut angle ϕ 2,2 of the saw arm 17 and a second diameter D 2,2 of the saw blade used, where the second overcut angle ϕ 2,2 corresponds to the positive third main cutting angle α 3. The overcut machining of the free second endpoint E 1 is carried out with the saw blade 16 and the diameters D 2,1 and D 2,2 correspond to the saw blade diameter D.

[0061] Before the controlled machining process begins, a second initial position and a second end position are additionally defined in the inventive method. The second initial position is calculated such that the pivoting movement in all intersection angles ϕ 21 , ϕ 22 of the second intersection sequence takes place before the second endpoint E 2 and the second endpoint E 2 is not exceeded. In the second end position, the pivot axis 23 has a spatial coordinate of X(E 2 ) - √[Δh · (D 3 - Δh)] + δ · sin(-α 3 ) where Δh = h 3 - T is the difference between the third penetration depth h 3 and the final depth T and h 3 = h(-α 3 , D 3 ) = D 3 / 2 - Δ - δ · cos(-α 3 ) denotes the penetration depth of the saw blade 16 used into the workpiece 24 at the negative third principal cutting angle -α 3.

[0062] The saw head 14 is moved to the second starting position after the end of the third main cut ( FIG. 5M ) and the saw arm 17 is pivoted in the second starting position to the first overlap angle ϕ 21 ( FIG. 5N ). With the saw arm 17 inclined at the first overlap angle ϕ 21, the saw head 14 is moved in the positive feed direction 56 until the pivot axis 23 has reached the second end position ( FIG. 5O After the material has been removed in the first overcut, the saw head 14 is returned to the second starting position ( FIG. 5P ), the saw arm 17 in the second starting position is pivoted into the second overlap angle ϕ 22 ( FIG. 5Q ) and the saw head 14 with the inclined saw arm 17 is moved in the positive feed direction 56 to the second end position ( FIG. 5R ). The saw head 14 is moved to a parking position after the end of the second overcut sequence ( FIG. 5S ) and the saw arm 17 in the park position is pivoted from the second overcut angle ϕ 22 to the basic position at 0° ( FIG. 5T ).

[0063] In the exemplary embodiment of the FIGN. 5A-TThe pivoting movements from the negative first main cutting angle -α1 to the negative second main cutting angle -α2 and from the negative second main cutting angle -α2 to the negative third main cutting angle -α3 were performed in one step. Alternatively, the pivoting movement to the negative second main cutting angle -α2 or to the negative third main cutting angle -α3 can be performed in several steps with intermediate angles; performing the pivoting movement of the saw arm 17 in at least two steps with an intermediate angle is not part of the method according to the invention. The decision as to how many steps are required depends, among other things, on the specification of the saw blade 16, the material properties of the workpiece 24, and the power and torque of the drive motor 18 for the saw blade.The intermediate angles can be set by the operator, or the control unit 29 of the wall saw 12 can determine the intermediate angles based on various boundary conditions. For the main cutting sequence, the main cutting angles of the main steps and possible intermediate angles represent an input parameter used to control the wall saw 12.

[0064] The first intersection sequence for the free first endpoint E1 and the second intersection sequence for the free second endpoint E2 each have two intersections. Alternatively, the intersection sequences can have more than two intersections.

Claims

1. Method for controlling a wall-saw system (10) comprising a guide rail (11) and a wall saw (12) with a saw head (14), with a motorized feed unit (15) which displaces the saw head (14) parallel to a feed direction (28) along the guide rail (11), with at least one saw blade (16) which is fastened to a saw arm (17), pivotable about a pivot axis (23), of the saw head (14) and is driven about an axis of rotation (19), and with at least one releasable blade guard (21), surrounding the saw blade (16), when producing a separating cut (51) of an end depth (T) in a workpiece (24) of the workpiece thickness (d) between a first end point (E1) and a second end point (E2), wherein at least one of the end points is defined as a free end point (E1, E2) with overcutting, comprising: ▪ before the start of a machining operation that is controlled by a control unit (29) of the wall saw (12), at least the saw-blade diameter (D) of the at least one saw blade (16), the positions of the first and second end points (E1, E2) in the feed direction (28), the end depth (T) of the separating cut (51) and a main-cut sequence of m main cuts, where m ≥ 2, between the first and second end points (E1, E2) are determined, wherein the main-cut sequence comprises at least a penultimate main cut with a penultimate main-cut angle (αm-1) of the saw arm (17) and a penultimate diameter (Dm-1) of the saw blade used, and a last main cut with a last main-cut angle (αm) of the saw arm (17) and a last diameter (Dm) of the saw blade used, ▪ during the machining operation controlled by the control unit (29), - the penultimate main cut is carried out with the saw arm (17) tilted at the penultimate main-cut angle (±αm-1), and - the last main cut is carried out with the saw arm (17) tilted at the last main-cut angle (±αm), ▪ before the start of the machining operation controlled by the control unit (29), in addition to the main-cut sequence for the at least one free end point (E1, E2) with overcutting, an overcut sequence with overcuts is specified, wherein the overcut sequence has at least one first overcut with a first overcut angle (±ϕ1,1, ±ϕ2,1) of the saw arm (17) and a first diameter (D1,1, D2,1) of the saw blade used and a second overcut with a second overcut angle (±ϕ1,2, ±ϕ2,2) of the saw arm (17) and a second diameter (D1,1, D2,2) of the saw blade used, characterized in that, during the machining operation controlled by the control unit (29), the overcut sequence is carried out between the penultimate main cut and the last main cut, or the overcut sequence is carried out after the last main cut and, before the start of the machining operation controlled by the control unit (29), a starting position and an end position are additionally specified for the overcut sequence.

2. Method according to Claim 1, characterized in that the overcut sequence comprises a number of n overcuts, where n ≥ 2, with j-th overcut angles (±ϕ1,j, ±ϕ2,j) of the saw arm (17) and j-th diameters (D1,j, D2,j) of the saw blade used, where j = 1 to n.

3. Method according to Claim 1, characterized in that, before the start of the machining operation controlled by the control unit (29), a saw arm length (δ) of the saw arm (17), which is defined as the distance between the pivot axis (23) of the saw arm (17) and the axis of rotation (19) of the saw blade (16), and a distance (Δ) between the pivot axis (23) and an upper side (53) of the workpiece (24) are additionally specified.

4. Method according to Claim 3, characterized in that the first end point (E1) is defined as a free end point with overcutting and a first end position is calculated for the overcut sequence by the control unit (29), wherein the pivot axis (23) in the first end position has a location coordinate of X(E1) + √[Δh (Dm - Δh)] - δ · sin(±αm), where Δh = (hm - T) denotes the difference between the penetration depth (hm) at the last main-cut angle (±αm) and the final depth (T), and hm = h(±αm, Dm) = Dm / 2 - Δ - δ · cos(±αm) denotes the penetration depth of the saw blade (16) into the workpiece (24) at the last main-cut angle (±αm).

5. Method according to Claim 4, characterized in that, in the j-th overcut of the overcut sequence, where j = 1 to n, the saw head (14) is positioned into a first starting position, the saw arm (17) in the first starting position is pivoted into j-th overcut angle (±ϕ1,j), and the saw head (14) is moved into the first end position with the saw arm (17) tilted at the j-th overcut angle (±ϕ1,j).

6. Method according to Claim 5, characterized in that the pivot axis (23) in the first starting position has a location coordinate of X(E1) + √[h(±ϕ1,n) · (D1,n - h(±ϕ1,n))] - δ · sin(±ϕ1,n) for 0° < ϕ1,n ≤ 90° and X(E1) + √[h(±ϕ1,n) (D1,n - h(±ϕ1,n))] - δ · sin(±90°) for 90° < ϕ1,n ≤ 180°, wherein h(±ϕ1,n, D1,n) = D1,n / 2 - Δ - δ · cos(±ϕ1,n) denotes the penetration depth of the saw blade used into the workpiece (24) at the n-th overcut angle (±ϕ1,n).

7. Method according to Claim 3, characterized in that the second end point (E2) is defined as a free end point with overcutting and a second end position is calculated for the overcut sequence by the control unit (29), wherein the pivot axis (23) in the second end position has a location coordinate of X(E2) - √[Δh (Dm - Δh)] + δ · sin(±αm), where Δh = (hm - T) denotes the difference between the penetration depth (hm) at the last main-cut angle (±αm) and the final depth (T), and hm = h(±αm, Dm) = Dm / 2 - Δ - δ · cos(±αm) denotes the penetration depth of the saw blade used into the workpiece (24) at the last main-cut angle (±αm).

8. Method according to Claim 7, characterized in that, in the j-th overcut of the overcut sequence, where j = 1 to n, the saw head (14) is positioned into a second starting position, the saw arm (17) in the second starting position is pivoted into the j-th overcut angle (±ϕ2,j), and the saw head (14) is moved into the second end position with the saw arm (17) tilted at the j-th overcut angle (±ϕ2,j).

9. Method according to Claim 8, characterized in that the pivot axis (23) in the second starting position has a location coordinate of X(E2) - √[h(±ϕ2,n) · (D2,n - h(±ϕ2,n))] - δ · sin(±ϕ2,n) for 0° < ϕ2,n ≤ 90° and X(E2) - √[h(±ϕ2,n) (D2,n - h(±ϕ2,n))] - δ · sin(±90°) for 90° < ϕ2,n ≤ 180°, wherein h(±ϕ2,n, D2,n) = D2n / 2 - Δ - δ · cos(±ϕ2,n) denotes the penetration depth of the saw blade used into the workpiece (24) at the n-th overcut angle (±ϕ2,n).