JP2000096573A - Caisson excavator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a caisson excavator capable of preventing the effect of vibration of a swing body in an excavator and transmitting a picture without blurring. SOLUTION: A circular arc or a circular camera truck rail 15 is mounted to a traveling body 2 of an excavator D, and a camera truck 16 is provided along the camera truck rail 15 in a movable manner. A joint mechanism 19 for moving the camera truck 16 is provided between a swing body 4 of the excavator D and camera truck 16 by synchronizing the swinging direction of the swing body 4, and a TV camera 28 is mounted on the camera truck 16.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a caisson excavator, and more particularly to a caisson excavator with a television camera capable of accurately providing an image without blur.

[0002]

2. Description of the Related Art In a conventional caisson excavator, a television camera is provided on a swing body. Thus, one television camera is provided on either side of the boom located at the center of the revolving superstructure.

[0003]

By the way, in a caisson excavator, a revolving body is rotatably mounted on a traveling body via a revolving bearing. Further, a gap is provided in the slewing bearing. Therefore, when a television camera is provided on the revolving unit, the TV camera vibrates due to excavation or revolving of the revolving unit due to a gap in the revolving bearing, and the image of the television camera is blurred.

[0004] When the image of the television camera is blurred, there is a problem that the image is difficult to see, and there is a problem that the eyes are easily tired or a seasickness is caused.

When one television camera is provided on either side of the boom located at the center of the swing body, the image portion on the side where the television camera is provided is wide, and the opposite side is a blind spot. Becomes (See FIG. 12). as a result,
Suddenly, the earth and sand bucket comes into the image or the caisson wall jumps in, causing the excavation bucket or boom to collide with the earth or sand bucket or caisson wall, causing damage to the excavator was there. Since the operator has to operate the excavator in such a situation, there is a problem that the turning speed of the revolving body is reduced and the work efficiency is reduced, and the operator overuses nerves and causes fatigue. There was also.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a caisson excavator capable of transmitting an image without blurring while avoiding the influence of the vibration of a swing body of the excavator. Is to do.

Another object of the present invention is to provide a caisson excavator capable of performing excavation work without causing the excavation bucket or boom to collide with the earth and sand bucket or caisson wall surface and without lowering the work efficiency. .

[0008]

In order to achieve the above object, according to the present invention, an arc-shaped or circular camera cart rail 15 is attached to the traveling body 2 of the excavator D, and the camera cart rail 15 moves along the camera cart rail 15. A camera cart 16 is freely provided, and a coupling mechanism 19 is provided between the revolving unit 4 of the excavator D and the camera cart 16 for moving the camera cart 16 in synchronization with the revolving direction of the revolving unit 4. 16 is equipped with a television camera 28.

In order to achieve the above object, according to the present invention, an arc-shaped or circular camera cart rail 15 is attached to the traveling body 2 of the excavator D.
A camera cart 16 is provided movably along
A coupling mechanism 19 is provided between the revolving unit 4 of the excavator D and the camera trolley 16 for moving the camera trolley 16 in synchronization with the revolving direction of the revolving unit 4. D, a long slide rail 30 is attached in a direction perpendicular to the boom 9, and the slide rail 30 is provided with a camera moving base 31 and a moving mechanism for moving the camera moving base 31 along the slide rail 30. The television camera 28 is mounted on the movable base 31.

Further, in order to achieve the above object, in the present invention, an arc-shaped or circular camera cart rail 15 is attached to the traveling body 2 of the excavator D.
A camera cart 16 is provided movably along 5 and a connecting mechanism 19 for moving the camera cart 16 between the revolving unit 4 of the excavator D and the camera cart 16 in synchronization with the revolving direction of the revolving unit 4 is provided. A plurality of television cameras 28, 29,... Are mounted on the front side of the camera cart 16 at predetermined intervals in a direction orthogonal to the boom 9 of the excavator D.

[0011]

Embodiments of the present invention will be described below with reference to the drawings.

1 to 5 show a first embodiment of the present invention. FIG. 1 is a plan view of an entire excavator including a television camera.
FIG. 2 is a side view of the same, FIG. 3 is an enlarged plan view of a main part, FIG. 4 is a side view of the same, and FIG. FIGS. 6, 7 and 8 are explanatory views showing various embodiments of a coupling mechanism for synchronously moving a camera cart for mounting a television camera to a revolving structure.

In the first embodiment shown in these figures, as shown in FIG. 1, a traveling rail 1 is fixed to a lower surface of a slab A which is a ceiling surface of a caisson work room B. In addition, in FIG. 1, the code | symbol C shows the ground of the bottom part of the working room B.

A traveling body 2 of an excavator D is suspended from the traveling rail 1 as shown in FIG. A revolving unit 4 is rotatably mounted on the traveling unit 2 via a revolving bearing 3.

As shown in FIGS. 1 and 2, a control panel 6 and a hydraulic unit 8 are attached to the revolving unit 4 via a bracket 5. The control panel 6 has a driver's seat 7
Is provided. A boom 9 is attached to the swing body 4.

As shown in FIGS. 1 and 2, an arm 11 is rotatably provided on the boom 9 via an arm rotating unit 10. An excavation bucket 13 is attached to a tip end of the arm 11 via a bucket attachment bracket 12.

As can be seen from FIGS. 4 and 5, a camera cart rail 15 is mounted on the traveling body 2 via a rail mounting bracket 14. A plurality of the rail mounting brackets 14 are fixed at intervals in the circumferential direction. The camera cart rail 15
In this embodiment, as shown in FIG. 1, the rail mounting bracket 1 is formed in a circular shape.
4 and is attached concentrically with the revolving superstructure 4. The camera cart rail 15 is not limited to the circular shape shown in the drawing, and may be formed in an arc shape.

As shown in FIGS. 3 to 5, a camera cart 16 is movably mounted on the camera cart rail 15 through a thrust roller 17 and a radial roller 18.

A coupling mechanism 19 is provided between the camera cart 16 and the revolving unit 4 for moving the camera cart 16 in synchronization with the revolving unit 4.

FIGS. 4, 5 and 6 show the connecting mechanism 19 in FIGS.
In the embodiment shown in FIG. 1, an I bracket 20 attached to the camera cart 16 is inserted into a U bracket 21 attached to the revolving unit 4 side. In addition,
Place the I bracket 20 on the revolving unit 4 side and the U bracket 2
1 may be attached to the camera cart 16 side.

In the embodiment of the connecting mechanism 19 shown in FIG. 7, a screw rod 22 provided on the camera cart 16 is inserted into a sleeve 23 mounted on the revolving unit 4 side. Also in this embodiment, the screw rod 22 may be attached to the revolving unit 4 side, and the sleeve 23 may be attached to the camera cart 16 side.

Further, in the embodiment shown in FIG.
Between the I bracket 20 and the U bracket 21, and in the embodiment shown in FIG.
A cushioning material such as a sponge may be interposed between the three.

The embodiment of the connecting mechanism 19 shown in FIG. 8 is a ring 2 attached to the camera cart 16 side.
5 and a ring 26 fixed to the revolving unit 4 and attached to a link attachment bracket 24.

As shown in FIGS. 1 to 5, a television camera 28 is mounted on the camera cart 16 via a camera mounting bracket 27. The television camera 28 captures the state of excavation of the ground C by the excavation bucket 13 and transmits the image to a monitor television (not shown) installed in a driver's seat on the ground.

In the caisson excavator according to the first embodiment, when the revolving unit 4 is turned left or right to excavate the ground C at the bottom of the caisson working room B with the excavating bucket 13, the camera bogie 16 The camera trolley 16 moves to the left or right along the camera trolley rail 15 in synchronization with the revolving unit 4 via the coupling mechanism 19 provided between the revolving units 4, and the ground of the work room B by the excavation bucket 13. The excavation situation of C is photographed by the television camera 28, transmitted to the monitor television set in the driver's seat on the ground, and projected on the monitor television.

As described above, in the first embodiment, the camera cart rail 15 is mounted on the traveling body 2, the camera cart 16 is movably provided on the camera cart rail 15, and the television camera 28 is mounted on the camera cart 16. So
The television camera 28 is not affected by the vibration of the revolving unit 4 and can transmit a stable image without blurring. As a result, it is possible to eliminate symptoms such as difficulty in viewing the image on the television, easily tired eyes of the operator, and a seasickness.

In the first embodiment, the camera cart 16
, A connecting mechanism 19 is provided between the camera trolley 16 and the revolving unit 4, and when the revolving unit 4 is turned left or right, the camera trolley 16 and the television camera are connected via the connecting mechanism 19. 28 is moved leftward or rightward in synchronization with the revolving superstructure 4. Therefore,
Since the television camera 28 can be moved by following the movement of the revolving unit 4, the excavation state of the ground C at the bottom of the work room B can be accurately reflected, and the drive source for moving the camera cart can be omitted. Therefore, cost can be reduced.

9 to 11 show a second embodiment of the present invention. FIG. 9 is a plan view of a main part, FIG. 10 is a side view of the same, and FIG. is there. And
FIG. 12 is an operation explanatory diagram viewed from a plane when the television camera is fixedly installed on one side of the boom, for example, on the left side.

In the second embodiment shown in FIGS. 9 to 11, a slide rail 30 is fixed to the front side of the camera cart 16. As shown in FIG. 11, the slide rail 30 is attached long in a direction orthogonal to the boom 9 of the excavator D.

The slide rail 30 is provided with a camera moving base 31 movably along the slide rail 30. A television camera 28 is mounted on the camera carriage 31. As can be seen from FIG. 9, a reversible rotary motor 32 is attached to one end of the slide rail 30, and a screw rod 33 is rotatably supported inside. The screw rod 33 is connected to the reversible rotary motor 32.
The camera moving base 31 is connected to the screw rod 33 via a nut (not shown).

In this embodiment, the reversible rotary motor 32
The screw rod 33 and the nut constitute a moving mechanism for moving the camera moving table 31 along the slide rail 30. The direction of rotation of the reversible rotary motor 32 may be controlled in conjunction with the direction of rotation of the revolving unit 4, or an operator may manually operate and control the switch.

The other structure of the second embodiment is the same as that of the first embodiment.

When the television camera 28 is fixed to the left side of the boom 9 on the center line OO 'of the revolving unit 4 as shown in FIG. When loading into the earth and sand bucket F on the right side, the boom 9, the arm 11 and the earth and sand bucket 13 are swiveled to the right by the revolving unit 4, and the earth and sand bucket F suddenly enters the camera angle of view E and collides. is there. In addition, the wall of the caisson may suddenly appear at the camera angle of view E during excavation and turning.

On the other hand, in the second embodiment, for example, the revolving unit 4 starts from a state where the television camera is located on the left side of the boom 9 (the camera position at this time is indicated by reference numeral 28 'in FIG. 11). When turning the reversible motor 32 in the right direction a as shown in FIG. 11 in conjunction with the turning direction of the revolving body 4, or by manually operating a switch, the reversible rotary motor 32 is rotated in the direction, and the screw rod 33 and the nut (FIG. The TV camera 8 is moved to the right together with the camera moving base 31 by the screw action (not shown). As a result, as can be seen from FIG. 11, the excavation bucket 13 and the earth and sand bucket F can be accurately captured within the camera angle of view E, and the positional relationship between the boom 9 and the arm 11 and the wall surface of the caisson can be captured accurately. Can be.

Accordingly, the operator can safely operate the vehicle while watching the image displayed on the monitor television so that the collision of the excavating bucket 13 with the earth and sand bucket F and the collision of the member of the excavator D with the wall of the caisson do not occur. can do.

When the revolving unit 4 is to be turned to the left, the reversible motor 32 is rotated in this direction, and the camera rod 31 is rotated by the screw action of the screw rod 33 and the nut.
Is moved to the left along with.

Thus, the movement of the boom 9, the arm 11, and the excavation bucket 13 of the excavator D, and the positional relationship between each member of the excavator D and the earth and sand bucket F or the wall of the caisson can be accurately captured by the television camera 28. be able to.

As described above, the boom 9, the arm 11, and the excavation bucket 13 of the excavator D, the members of the excavator D, the earth and sand bucket F, the caisson Since the positional relationship with the wall surface of the revolving body 4 can be accurately grasped, the revolving unit 4 can be turned at high speed with confidence while watching the image displayed on the monitor television, so that the work efficiency can be improved.

In the second embodiment, the operation of the camera cart 16 is the same as in the first embodiment.

FIG. 13 is a plan view of a main part showing a third embodiment of the present invention.

In the third embodiment shown in FIG. 13, a camera mounting member 16 'which is long in a direction orthogonal to the boom 9 is provided on the front side of the camera cart 16.

In this embodiment, two television cameras 28 and 29 are mounted on the camera mounting member 16 '. The television cameras 28 and 29 are installed at equal intervals on the left and right of the boom 9.

The two television cameras 28 and 29 may simultaneously photograph the left half and the right half of the boom 9 and simultaneously project them on the monitor television, and rotate the revolving unit 4 clockwise. In some cases, the right television camera 29 shoots the image and displays the image on a monitor television. When the revolving unit 4 is turned to the left, the left television camera 28 shoots and displays the image on the monitor television. Good.

As described above, even when the revolving unit 4 is pivoted in either the left or right direction, the movement of the boom 9, the arm 11, and the excavation bucket 13, the members of the excavator D, and the wall of the earth and sand bucket or caisson can be obtained. TV camera 2
8 or 29, or both, can be accurately captured, while watching the video, avoid collision between the excavator D member and the earth and sand bucket or caisson wall,
The excavator D can be operated safely, the swing speed of the swing body 4 can be increased, and the work efficiency can be improved.

In the third embodiment, three or more television cameras may be appropriately arranged on the camera cart 16.

The other structure and operation of the third embodiment are the same as those of the first embodiment.

[0047]

As described above, according to the present invention, the camera cart rail 15 is attached to the traveling body 2 of the excavator D, and the camera cart 1 is movably moved along the camera cart rail 15.
6 and a television camera 28 mounted on the camera cart 16, it is possible to avoid the influence of the vibration of the revolving unit 4 of the excavator D during excavation, and to provide an image without blur. Viewing an image has the effect of eliminating symptoms such as eye fatigue and seasickness.

In the present invention, a connecting mechanism 19 is provided between the camera cart 16 and the revolving unit 4 of the excavator D for moving the camera cart 16 in synchronization with the revolving direction of the revolving unit 4.
Since the television camera 28 is mounted on the camera trolley 16, the television camera 28 can be moved in synchronization with the turning direction of the revolving unit 4 via the connecting mechanism 19, so that a driving source for moving the camera trolley is provided. As a result, the cost can be reduced.

Further, in the present invention, a long slide rail 30 is attached to the front side of the camera cart 16 in a direction orthogonal to the boom 9 of the excavator D.
And a moving mechanism for moving the camera moving table 31 along the slide rail 30.
Since the television camera 28 is mounted on the camera movable base 31, when the revolving superstructure 4 of the excavator D is moved, the television camera 28 is moved together with the camera movable base 31 in the revolving direction of the revolving superstructure 4. As a result, the operator can accurately capture and transmit the positional relationship between each member of the excavator D and the earth and sand bucket, the wall of the caisson, and the like.
There is an effect that the collision of the member of the excavator D with the wall of the caisson can be avoided and the vehicle can be safely driven, and the turning speed of the revolving unit 4 can be increased with confidence while watching the image captured by the television camera 28. There is also an effect that the working efficiency can be improved.

In the present invention, a plurality of television cameras 28, 29, 29, 29, 29 are arranged on the front side of the camera cart 16 at predetermined intervals in a direction orthogonal to the boom 9 of the excavator D.
, So that the television camera 28,
Since the positional relationship between each member of the excavator D and the wall of the earth and sand bucket or the caisson can be accurately grasped at 29,...
8. While watching the images captured at 8, 29,..., The collision of the excavation bucket 13 with the earth and sand bucket and the collision of the member of the excavator D with the wall of the caisson can be avoided, and there is an effect that the operation can be performed safely. There is an effect that the turning speed of the revolving unit 4 can be increased to improve the working efficiency.

[Brief description of the drawings]

FIG. 1 is a plan view of a first embodiment of the present invention.

FIG. 2 is a side view of FIG.

FIG. 3 is an enlarged plan view of a main part of the first embodiment.

FIG. 4 is a side view of FIG. 3;

FIG. 5 is a view taken in the direction of arrows XX in FIG. 3;

FIG. 6 is an explanatory view of an embodiment of a connecting mechanism for connecting a camera cart for mounting a television camera and a revolving body of an excavator.

FIG. 7 is an explanatory view showing another embodiment of the coupling mechanism.

FIG. 8 is an explanatory view showing another embodiment of the coupling mechanism.

FIG. 9 is a plan view of a second embodiment of the present invention.

FIG. 10 is a side view of FIG. 9;

FIG. 11 is an operation explanatory view of the second embodiment viewed from a plane.

FIG. 12 is a diagram illustrating the operation when the television camera is fixedly installed on only one side with respect to the boom as viewed from a plane.

FIG. 13 is a plan view of a main part showing a third embodiment of the present invention.

[Explanation of symbols]

 Reference Signs List A caisson slab B caisson work room C ground at bottom of work room D excavator E angle of view of TV camera 1 running rail 2 running body 4 revolving body 7 driver's seat 9 boom 11 arm 13 excavating bucket 14 rail mounting bracket 15 Camera trolley rail 16 Camera trolley 16 'Camera mounting member 19 Linkage mechanism connecting camera trolley and revolving unit 28, 29 TV camera 30 Slide rail 31 Camera moving base 32 Reversible rotation motor 33 Screw rod

Claims (3)

[Claims] 1. An arc-shaped or circular camera cart rail 15 is attached to a traveling body 2 of an excavator D, and a camera cart 16 is provided movably along the camera cart rail 15, and the excavator D is turned. A coupling mechanism 19 is provided between the body 4 and the camera cart 16 for moving the camera cart 16 in synchronization with the turning direction of the revolving body 4, and a television camera 28 is mounted on the camera cart 16.
A caisson excavator, characterized in that: 2. An arc-shaped or circular camera cart rail 15 is attached to the traveling body 2 of the excavator D. A camera cart 16 is provided movably along the camera cart rail 15, and the excavator D is turned. A coupling mechanism 19 is provided between the body 4 and the camera trolley 16 for moving the camera trolley 16 in synchronization with the turning direction of the revolving unit 4, and a boom 9 of the excavator D is provided on the front side of the camera trolley 15. A long slide rail 30 is attached in the orthogonal direction, and a camera moving base 31 and a moving mechanism for moving the camera moving base 31 along the slide rail 30 are provided on the slide rail 30. Equipped with a camera 28,
A caisson excavator, characterized in that: 3. An arc-shaped or circular camera cart rail 15 is attached to the traveling body 2 of the excavator D, and a camera cart 16 is provided movably along the camera cart rail 15, and the excavator D is turned. A coupling mechanism 19 is provided between the body 4 and the camera cart 16 for moving the camera cart 16 in synchronization with the revolving direction of the revolving body 4, and the boom 9 of the excavator D is provided on the front side of the camera cart 16. A plurality of television cameras 28, 29,... Mounted at predetermined intervals in a direction perpendicular to the excavator.