JP2000220393A - Shotcrete machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the quality of sprayed concrete. SOLUTION: In a shotcrete machine spraying ready-mixed concrete onto an excavated wall face by remotely controlling the shotcrete machine body from a controller, the controller R" is provided with a means for setting a spraying flow rate per unit time of ready-mixed concrete and a means for displaying the spraying rate of the setting means of the flow rate. The shotcrete machine body is provided with a header spraying ready-mixed concrete of the spraying flow rate based on a preset value of the setting means of a flow rate.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a concrete spraying machine for spraying concrete for reinforcement into an excavation pit such as a tunnel or a buried pit.

[0002]

2. Description of the Related Art The applicant of the present invention has proposed a technique related to a concrete spraying method and a concrete spraying machine in Japanese Patent Application No. 10-37016. FIG. 5 is an external configuration diagram of the concrete spraying machine in the patent application. As shown in this figure, the conventional concrete spraying machine main body 1
Takes a form of a vehicle so as to be able to run on its own, and has a robot arm mechanism 2 at a front end thereof and a concrete pump 3 at a rear end thereof. A head 4 for spraying ready-mixed concrete K on the excavation wall X is provided at the tip of the robot arm mechanism 2, and the ready-mixed concrete K is supplied to the head 4 via a concrete pipe 5. It is supplied from the concrete pump 3.

FIG. 6 shows a head unit 4 in the above patent application.
It is a conceptual diagram which shows schematic structure of. As shown in this figure,
The head portion 4 is connected to the concrete pipe 5 and has a cylindrical casing 7 provided with a concrete outlet 6. A plurality of blades 8a are rotatably provided in the casing 7 and formed on the outer periphery. And a nozzle 9 for discharging the quick-setting agent Q to the ready-mixed concrete K blown out from the concrete outlet 6. The ready-mixed concrete K is supplied from the concrete pump 3 through the concrete pipe 5 to the casing 7.
And is discharged from the concrete outlet 6 by the rotation of the impeller 8, and is mixed with the quick-setting agent Q by the nozzle 9 and sprayed onto the excavation wall X.

Further, the concrete spraying machine main body 1 thus configured is remotely operated by a commanding machine R. The commanding machine R and the concrete spraying machine main body 1 are set as a concrete spraying machine. Machine. Fresh concrete K using the concrete spraying machine
When performing the spraying operation, the worker A stands at a position where the sprayed portion of the excavation wall X can be confirmed well, that is, in the vicinity of the head part 4 which is separated from the concrete spraying machine main body 1 to some extent, and the fresh concrete K By operating the robot arm mechanism 2 while visually checking the spraying state, the fresh concrete K is sprayed uniformly on each part of the excavation wall X.

[0005]

The state of adhesion of the ready-mixed concrete K differs between the ceiling portion and the side wall portion of the excavated wall X. When the ready-mixed concrete K is sprayed onto the ceiling, the ready-mixed concrete K hardly adheres to the ceiling because the proportion of the sprayed ready-mixed concrete K rebounds and falls.
On the other hand, in the case of the side wall portion, the ready-mixed concrete K tends to adhere since the ready-mixed concrete K has relatively little rebound. Therefore, in consideration of the work efficiency, when the fresh concrete K is sprayed on the ceiling portion, it is necessary to increase the spray amount of the fresh concrete K or to increase the spraying speed of the fresh concrete K as compared with the side wall portion. .

In such a conventional concrete spraying machine, in such a case, the worker A instructs the assistant standing by in the vicinity of the concrete spraying machine main body 1 to increase the spraying amount and the spraying speed with his / her voice. By operating an operation element provided on the main body 1, the amount of application and the spraying speed are changed. Therefore, the responsiveness of the change of the spray amount and the spray speed during the spraying operation is poor, and the spray quality is reduced. In addition, since a burden is imposed on the worker A, the workability of the worker A is reduced, and as a result, the workability of the spraying work is also reduced.

The necessity of changing the amount of the ready-mixed concrete K and the spraying speed is determined when the type and the water content of the ready-mixed concrete K are changed, or when the ready-mixed concrete K is sprayed near the entrance of the excavation pit. This also occurs when, for example, fresh concrete K is sprayed in the middle of an excavation pit.

[0008] Further, the above-mentioned conventional concrete spraying machine,
In order to accelerate the hardening of the ready-mixed concrete K, the quick-setting agent Q is discharged together with the ready-mixed concrete K as described above. It is necessary to adjust the discharge amount of the quick setting agent Q in accordance with the change in the amount of the ready-mixed concrete K attached. However, in the above-described conventional concrete spraying machine, since the worker A instructs the assistant to adjust the discharge amount of the quick-setting binder Q, the adjustment of the discharge amount of the quick-setting binder Q is poor. As a result, the spray quality of the ready-mixed concrete K has been reduced.

Further, in the conventional concrete spraying machine,
Due to the type and the water content of the ready-mixed concrete K, the ready-mixed concrete K is continuously supplied from the concrete pump 3 to the head 4.
May be sprayed onto the excavation wall X without being supplied to the excavation wall X. Even in the case where such a situation occurs, the spraying of the fresh concrete K to the excavation wall X is not uniform, so that the spraying quality is reduced.

The present invention has been made in view of the above-mentioned problems, and has the following objects. (1) Improve the spray quality of ready-mixed concrete. (2) Improve the workability of the work of spraying ready-mixed concrete. (3) Improve the responsiveness of the change of the amount of the ready-mixed concrete, the spraying speed and the discharge amount of the quick-setting agent. (4) Reduce the burden on workers involved in the work of spraying ready-mixed concrete.

[0011]

In order to achieve the above object, the present invention provides, as a first means, a concrete spraying machine which blows ready-mixed concrete onto an excavation wall by remotely operating a concrete spraying machine main body by a commander. The commanding machine comprises a concrete spraying amount setting means for setting a spraying flow rate per unit time of the ready-mixed concrete, and a concrete spraying amount display means for displaying a setting value of the concrete spraying amount setting means. Means for providing a head portion for spraying fresh concrete at a spray flow rate based on the set value of the concrete spray amount setting means to the excavation wall.

As a second means, in the above-mentioned first means, the command device comprises: a quick-setting agent flow setting means for setting a discharge flow rate of the quick-setting agent per unit time; And quick-setting agent flow rate display means for displaying the set value of
The head unit employs a unit that includes a quick-discharging agent discharge unit that discharges a quick-setting agent having a discharge flow rate based on the setting value of the binder flow rate setting unit to the ready-mixed concrete.

[0013] As a third means, in the above second means, the commander regulates the discharge of the quick-setting agent from the quick-setting agent discharge means in accordance with the load on the head portion related to the blowing of the ready-mixed concrete. A quick-setting agent discharge threshold value setting means for setting a value, and a quick-setting agent discharge threshold value display means for displaying a setting value of the quick-setting agent discharge threshold value setting means; A means is provided which comprises a quick-discharge control means for restricting the supply of the quick-discharge agent to the quick-discharge-discharge means based on the set value of the quick-discharge-discharge threshold setting means.

As a fourth means, in the above-mentioned second or third means, a quick-setting agent supply system cleaning means for supplying compressed air to a quick-setting agent supply piping system for supplying a quick-setting agent to the quick-setting agent discharge means. Means is provided.

[0015] As a fifth means, in any one of the first to fourth means, the commander comprises a concrete spraying speed setting means for setting a spraying speed of ready-mixed concrete, and a setting value of the concrete spraying speed setting means. Concrete spraying speed display means for displaying the concrete spraying machine main body, and the concrete spraying machine main body is provided with a head portion for spraying ready-mixed concrete at a spraying speed based on the set value of the concrete spraying speed setting means to the excavation wall.

Further, as a sixth means, in any one of the first to fifth means, the head portion includes an impeller having a plurality of blades, and the airless blows the ready-mixed concrete to the excavation wall by rotation of the impeller. Means of being configured as a spraying method is adopted.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a concrete spraying machine according to the present invention will be described below with reference to the drawings. The external configuration of the concrete spraying machine according to the present embodiment is the same as that shown in FIG. 4, the description thereof is omitted below, and the components already described are given the same reference numerals and quoted. And

FIGS. 1A and 1B are views showing the external configuration of a commanding machine R 'in the present embodiment, in which FIG. 1A is a front view and FIG. 1B is a right side view. In these figures, reference numeral 10 denotes a concrete discharge switch, 11 denotes a quick-set binder discharge switch, 12 denotes an impeller rotation switch, 13 denotes a concrete flow rate control volume (concrete spraying amount setting means), and 14 denotes a quick-set agent flow rate control volume (rapid flow). Binder flow rate setting means), 15 is an impeller rotation speed adjustment volume (concrete spray speed setting means), and 16 is a tuning set pressure adjustment volume (rapid binder discharge threshold value setting means). 17 is a concrete flow rate display (concrete spraying amount display means), 18 is a quick binder flow rate display (rapid binder flow rate display means), 19 is an impeller rotation speed display (concrete spraying speed display means), and 20 is It is a tuning set pressure display (rapid binder discharge threshold value display means).

The concrete discharge switch 10 turns on / off the operation of a concrete discharge hydraulic pump described later.
Switch. The quick-setting agent discharge switch 11 is a switch for turning on / off the discharging of the quick-setting agent Q from the nozzle 9. The impeller rotation switch 12 is a switch for turning ON / OFF the rotation of the impeller 8.

The concrete flow control volume 13 is
It is a volume for adjusting the supply flow rate of the ready-mixed concrete K supplied to the head unit 4 per unit time (that is, the flow rate sprayed onto the excavation wall X). Quick set flow control volume 1
Reference numeral 4 denotes a volume for adjusting the discharge flow rate of the quick-binding agent Q discharged from the nozzle 9 per unit time. The impeller rotation speed adjustment volume 15 is a volume for adjusting the rotation speed of the impeller 8 (that is, the blowing speed of the ready-mixed concrete K).

The tuning setting pressure adjusting volume 16 is
This is for discharging the quick-setting agent Q in accordance with the state of the fresh concrete K being blown out from the concrete outlet 6. That is, depending on the type of the ready-mixed concrete K and the state of water content, the supply of the ready-mixed concrete K to the head portion 4 may be temporarily stopped because the ready-mixed concrete K is hard.

In the present embodiment, the state in which the supply of the ready-mixed concrete K is stopped to the head portion 4 is determined by the fluctuation of the hydraulic pressure P of the impeller driving hydraulic motor for rotatingly driving the impeller 8, that is, the impeller driving hydraulic pressure. The detection is performed based on the load fluctuation of the motor. The tuning set pressure adjusting volume 16 is for setting a threshold value (tuning set pressure) for determining the supply stop state of the ready-mixed concrete K based on the hydraulic pressure P.

The concrete flow rate display 17 displays the sprayed flow rate of the fresh concrete K set by the concrete flow rate control volume 13. The quick-setting agent flow indicator 18 is provided with the quick-setting agent flow control volume 1.
4 is for displaying the discharge flow rate of the quick-setting agent Q set in the step 4. The impeller rotation speed indicator 19 indicates the impeller 8 set by the impeller rotation speed adjustment volume 15.
Is displayed. Tuning set pressure indicator 20
Displays the tuning set pressure set by the tuning set pressure adjustment volume 16.

The concrete flow rate display 17, the quick setting agent flow rate display 18, the impeller rotation speed display 19 and the tuning set pressure display 20 digitally display the above-mentioned various values numerically. 8 segment LED display is applied.

Reference numeral 21 denotes an impeller lock switch, 2
Reference numeral 2 denotes a cleaning air switch, 23 denotes a first joint operation joystick, 24 denotes a second joint operation joystick, 25 denotes a third joint operation joystick, and 26 denotes a fourth joint operation joystick. Impeller lock switch 21
Are provided to lock the rotation of the impeller 8 to prevent the rotation of the impeller 8, and are provided for ensuring work safety during maintenance. A key switch is applied to the impeller lock switch 21, and a rotation lock state and a rotation lock release state of the impeller 8 are set by mounting a corresponding key.

The cleaning air switch 22 sends cleaning air through a supply pipe for the quick-setting agent Q to the nozzle 9. When the operation of the concrete spraying machine main body 1 is stopped, before the quick-setting agent Q attached to the supply pipe is solidified, cleaning air is sent through the supply pipe of the quick-setting agent Q, so that the inside of the supply pipe is reduced. The purpose of this is to remove the quick-setting adhering agent Q adhering to.

The first joint operation joystick 23, the second
Joint operating joystick 24, third joint operating joystick 25, and fourth joint operating joystick 26
Are various joints (4) constituting the robot arm mechanism 2.
One joint). By operating these, the position of the head unit 4 is changed to the excavated wall X.
Positioning is performed at an arbitrary part of.

Further, 27 is a supporting portion, 28A, 28B,
29A, 29B, 30A and 30B are belt fixing devices. The command device R 'is carried and operated by the worker A as described above. The commanding machine R 'of the present embodiment includes:
The belt is supported on the shoulder of the worker A by the belt, and the support portion 27 (more precisely, the support surface 27a) is supported by the abdomen of the worker A, so that the worker A can carry the belt. The support 27 is provided with a box body R as shown in the figure.
The angle of the support surface 27a with respect to 1 is configured to be variable.

The command device R 'is provided with such a support portion 27 so that the above-mentioned various operators can be easily operated according to the posture and the body type of the worker A. The belt fixing members 28A and 28B are a pair of members for fixing the belt provided on the support portion 27, and the belt fixing members 29.
A, 29B, 30A and 30B are two sets of belt fixing members provided in the box body R1.

Next, the functional configuration of the command device R 'will be described with reference to FIG. In this figure, the same reference numerals are given to the components already described in FIG.

In this figure, reference numerals 31 to 34 indicate A / D
It is a converter. The A / D converter 31 converts the set value (analog signal) of the concrete flow rate control volume 13 into a predetermined number of bits (for example, 8 bits = 256 resolution).
And outputs it to the microprocessor 35. The A / D converter 32 changes the set value (analog signal) of the quick-adjusting agent flow control volume 14 by 8
To a digital signal of three bits,
5 is output. The A / D converter 33 is a set value (analog signal) of the impeller rotation speed adjustment volume 15.
Is converted into an 8-bit digital signal and output to the microprocessor 35. The A / D converter 34 converts a set value (analog signal) of the tuning set pressure adjustment volume 16 into an 8-bit digital signal and outputs the digital signal to the microprocessor 35.

The microprocessor 35 is provided with each of the above A / Ds.
Each of the digital signals input from the converters 31 to 34 is converted into display data based on the data stored in the memory 36. For example, the correlation between the set value of the concrete flow rate adjusting volume 13 and the actual sprayed flow rate of the fresh concrete K is not necessarily linearly proportional.
In the present embodiment, this correlation is stored in the memory 36 as data (concrete flow rate correlation data).

The microprocessor 35 reads out the concrete flow rate correlation data stored in the memory 36 to calculate the actual spray flow rate (digital quantity) of the ready-mixed concrete K with respect to the set value of the concrete flow rate control volume 13. The spray flow rate is converted into display data for a 7-segment display and output to the concrete flow rate display 17. That is, the concrete flow rate display 17 uses the actual spray flow rate calculated by the microprocessor 35 as a display value.

In addition to the concrete flow rate correlation data, the memory 36 stores correlation data (rapid setting) between the set value of the quick setting agent flow control volume 14 and the discharge flow rate of the quick setting agent Q actually discharged from the nozzle 9. Agent flow rate correlation data), the set value of the impeller rotation speed adjustment volume 15 and the actual impeller 8
, And the correlation data between the set value of the tuning set pressure adjustment volume 16 and the actual tuning set pressure (tuning set pressure correlation data).

The microprocessor 35 uses the various correlation data stored in the memory 36 to store the actual quick-setting agent Q.
, The actual number of revolutions of the impeller 8 and the actual tuning set pressure are calculated, and the calculated data is converted into a signal for a 7-segment display, and the quick-setting agent flow display 1
8, impeller rotation speed display 19, tuning set pressure display 20
Output to

The microprocessor 35 outputs various digital signals input from the A / D converters 31 to 34 to the modulation section 37 as volume setting data, and outputs the concrete discharge switch 10 and the quick-setting agent discharge switch. 11, the operation states of the impeller rotation switch 12, the impeller lock switch 21, and the cleaning air switch 22 are detected and output to the modulation unit 37 as switch state data. Further, the microprocessor 35 outputs the respective arm operation data input from the first joint operation joystick 23, the second joint operation joystick 24, the third joint operation joystick 25, and the fourth joint operation joystick 26 to the modulation unit 37.

The modulator 37 modulates the various volume setting data, switch state data and arm operation data according to a predetermined modulation method, and transmits the modulated data as a transmission signal.
Is output to The transmission section 38 transmits the transmission signal input from the modulation section 37 to the concrete spraying machine main body 1 as a radio wave.

Next, the functional configuration of the concrete spraying machine main body 1 will be described with reference to FIG. In this figure, a receiving section 39 receives the radio wave transmitted by the transmitting section 38 and outputs it to the demodulating section 40 as a received signal.
The demodulation unit 40 demodulates the received signal and reproduces the various volume setting data, switch state data, and arm operation data described above.

That is, the demodulation unit 40 controls the concrete flow rate adjusting volume 1 among the various volume setting data.
3 is output to the D / A converter 41, and the volume setting data relating to the set value of the quick-adjusting agent flow control volume 14 is output to D / A converter 41.
/ A converter 42, and outputs the D / A volume setting data relating to the set value of the impeller rotation speed adjustment volume 15.
The D / A converter 44 outputs the volume setting data relating to the set value of the tuning set pressure adjustment volume 16 to the converter 43.
Output to

The demodulation section 40 outputs switch state data relating to the operation state of the concrete discharge switch 10 among the switch state data to the concrete discharge hydraulic pump 45, and outputs the switch state data relating to the operation state of the quick-setting agent discharge switch 11. Hydraulic pump 4
6 and outputs switch state data on the operation state of the impeller rotation switch 12 to the hydraulic pump 47, and outputs switch state data on the operation state of the impeller lock switch 21 to the impeller driving hydraulic motor 48,
The switch state data relating to the operation state of the cleaning air switch 22 is output to the cleaning air blower 49 (quick binder supply system cleaning means).

The demodulation section 40 outputs arm operation data (digital signal) relating to the operation state of the first joint operation joystick 23 among the arm operation data to the D / A converter 50, and outputs the second joint operation joystick 24. The arm operation data relating to the operation state of the D / A converter 51
To the D / A converter 52, and outputs the arm operation data relating to the operation state of the fourth joint operation joystick 26 to the D / A converter 53. I do.

The D / A converter 41 reversely converts a volume setting signal (digital signal) relating to the set value of the concrete flow rate adjusting volume 13 into an analog set value (for example, voltage) and outputs the analog set value (voltage) to the concrete discharge hydraulic pump 45. . The D / A converter 42 is provided with a quick-setting agent flow control volume 1
The volume setting data relating to the set value of No. 4 is inversely converted to an analog set voltage and output to the quick-setting agent discharge hydraulic pump 46. The D / A converter 43 inversely converts the volume setting data relating to the set value of the impeller rotation speed adjustment volume 15 into an analog set voltage and outputs the analog set voltage to the hydraulic pump 47. The D / A converter 44 is provided with a tuning set pressure adjusting volume 1
The volume setting data relating to the set value of No. 6 is inversely converted into an analog set voltage and output to the comparator 54.

The concrete discharging hydraulic pump 45 is a hydraulic pump for supplying the ready-mixed concrete K to the head section 4. Concrete discharge hydraulic pump 45 of the present embodiment
Is different from the conventional concrete pump 3 in that the demodulation unit 4
The operation state and the stop state are set based on the switch state data of the concrete discharge switch 10 input from 0, and the raw state is set based on the set value of the concrete flow rate control volume 13 input from the D / A converter 41. The discharge flow rate of the concrete K is controlled.

The quick binder discharge hydraulic pump 46 is a hydraulic pump that supplies the quick binder Q to the nozzle 9 via a quick binder stop valve 55 (quick binder discharge restricting means). The quick-discharge hydraulic pump 46 is set to an active state and a stopped state based on the switch state data of the quick-discharge switch 11 input from the demodulation unit 40, and the D / A converter 42 Input quick-adjusting agent flow control volume 14
Is controlled based on the set value of.

The hydraulic pump 47 is for supplying pressure oil for rotating the impeller driving hydraulic motor 48 to the impeller driving hydraulic motor 48. In the hydraulic pump 47, an operation state and a stop state are set based on the switch state data of the impeller rotation switch 12 input from the demodulation unit 40, and the impeller rotation speed input from the D / A converter 43 is adjusted. The discharge amount of the pressure oil supplied to the impeller driving hydraulic motor 48 is controlled based on the set value of the volume 15.

The impeller driving hydraulic motor 48 is a hydraulic motor that is rotationally driven by pressure oil supplied from the hydraulic pump 47, and directly rotates the impeller 8. The rotation speed of the impeller drive hydraulic motor 48 is controlled based on the amount of pressurized oil supplied from the hydraulic pump 47.

The cleaning air blower 49 is for supplying cleaning air to a quick-setting agent Q supply piping system (quick-setting agent supply piping system) 61 from the quick-setting agent stop valve 55 to the nozzle 9. . The operation of the cleaning air blower 49 is controlled based on switch state data of the cleaning air switch 22 input from the demodulation unit 40.

The hydraulic pressure sensor 56 detects the hydraulic pressure P of the hydraulic oil supplied from the hydraulic pump 47 to the hydraulic motor 48 for driving the impeller. This hydraulic pressure P fluctuates according to the load fluctuation of the impeller driving hydraulic motor 48. Therefore, the detection value of the hydraulic pressure sensor 56 indirectly indicates the load fluctuation of the impeller driving hydraulic motor 48. The comparator 54 detects the oil pressure P input from the oil pressure sensor 56.
Is compared with the set value (tune set pressure) of the tuning set pressure adjustment volume 16 inputted from the D / A converter 44, and the quick binder stop valve 55 is opened and closed according to the comparison result.

The quick-setting agent stop valve 55 is provided between the quick-setting agent discharging hydraulic pump 46 and the nozzle 9, and supplies the quick-setting agent Q to the nozzle 9, that is, discharges the quick-setting agent Q from the nozzle 9. Is regulated. This quick-setting agent stop valve 55
Opening and closing are controlled based on a control signal input from the comparator 54.

On the other hand, the D / A converter 50 converts arm operation data (digital signal) relating to the operation state of the first joint operation joystick 23 into an analog operation signal, and outputs the analog operation signal to the first joint drive cylinder 57. The first joint drive cylinder 57 is a hydraulic cylinder that hydraulically drives the first joint of the robot arm mechanism 2. D / A converter 51
Is a hydraulic cylinder that converts arm operation data relating to the operation state of the second joint operation joystick 24 into an analog operation signal and outputs it to the second joint drive cylinder 58.

The D / A converter 52 converts arm operation data relating to the operation state of the third joint operation joystick 25 into an analog operation signal, and converts the arm operation data into an analog operation signal.
9 is output. The third joint drive cylinder 59 is a hydraulic cylinder that hydraulically drives the third joint of the robot arm mechanism 2. The D / A converter 53 converts the arm operation data relating to the operation state of the fourth joint operation joystick 26 into an analog operation signal and converts the arm operation data into an analog operation signal.
Output to The fourth joint drive cylinder 60 is a hydraulic cylinder that hydraulically drives the fourth joint of the robot arm mechanism 2.

Next, the operation of the concrete spraying machine thus constructed will be described in detail. The operation of the command device R ′ by the worker A described below is an example,
Changes in operating procedures can occur depending on the work conditions at the site.

First, when the worker A carries the commanding device R ', the operator operates the first joint operating joystick 23, the second joint operating joystick 24, the third joint operating joystick 25, or the fourth joint operating joystick 26 to control the robot. The arm mechanism 2 is operated to position the head 4 with respect to the excavation wall X. At this time, worker A
The command device R 'is operated from the vicinity of the head portion 4, that is, a place separated from the concrete spraying machine main body 1 to some extent so that the position of the head portion 4 is easily visually recognized.

The first joint operating joystick 23 and the second joint operating joystick 2 in the command device R '
4. Each arm operation data of the third joint operation joystick 25 or the fourth joint operation joystick 26 is
As described above, the signal is input to the modulation section 37 via the microprocessor 35 and modulated. Then, it is transmitted from the modulating section 37 to the concrete spraying machine main body 1 as a radio wave.

The radio waves are received by the receiving section 39 of the concrete spraying machine main body 1, demodulated into arm operation data by the demodulating section 40, and further D / A converters 50-5.
The signal is converted into an analog signal by 3 and input to the first joint driving cylinder 57, the second joint driving cylinder 58, the third joint driving cylinder 59, and the fourth joint driving cylinder 60, respectively.

That is, the analog signal of the arm operation data of the first joint operation joystick 23 is input to the first joint drive cylinder 57, and the analog signal of the arm operation data of the second joint operation joystick 24 is sent to the second joint drive cylinder 58. The analog signal of the arm operation data of the third joint operation joystick 25 is input to the third joint drive cylinder 59, and the analog signal of the arm operation data of the fourth joint operation joystick 26 is input to the fourth joint drive cylinder 60. You. As a result, the joints of the robot arm mechanism 2 operate, and the head unit 4 moves the excavation wall X
At a predetermined site (for example, a ceiling).

When the positioning of the head portion 4 is completed in this way, the worker A operates the concrete flow rate adjusting volume 13 to set a desired flow rate of the ready-mixed concrete K. At this time, the worker A sets the intended concrete flow rate in consideration of a portion to which the fresh concrete K is to be sprayed, for example, a ceiling portion or a side wall portion of the excavation wall X.

When the concrete flow rate adjusting volume 13 is set to the predetermined flow rate in this way, the set value (analog signal) is converted into a digital signal in the A / D converter 31 and input to the microprocessor 35. Is done. The microprocessor 35 outputs the digital signal to the modulation section 37 as volume setting data relating to the concrete flow rate adjusting volume 13 and reads out the concrete flow rate correlation data from the memory 36.

The concrete flow rate correlation data is shown in FIG.
As shown in FIG. 3, data indicating the correlation between the set value of the concrete flow rate adjusting volume 13 and the supply flow rate of the ready-mixed concrete K actually supplied to the head portion 4 (that is, the flow rate of the blowout from the concrete outlet 6). is there. The microprocessor 35 calculates the blowout flow rate of the fresh concrete K by matching the set value of the concrete flow rate adjustment volume 13 with the concrete flow rate correlation data.

For example, as shown in FIG. 4, when Va is input from the A / D converter 31 as the set value of the flow control volume 13, the microprocessor 35 corresponds to the set value Va on the concrete flow rate correlation data. Is calculated as the flow rate of the fresh concrete K actually blown out from the concrete outlet 6. The outlet flow rate Ta is converted into display data for a 7-segment LED display and output to the concrete flow rate display 17. That is, in the present embodiment, the flow rate Ta of the fresh concrete K actually blown from the concrete blowout port 6 calculated based on the concrete flow rate correlation data.
Is the display value of the concrete flow rate display 17.

Similarly, the quick-adjusting agent flow control volume 1
When the operator 4 operates the nozzle A, the microprocessor 35 outputs volume setting data relating to the quick-adjusting agent flow control volume 14 to the modulation unit 37, reads out the quick-adjusting agent flow rate correlation data from the memory 36, and outputs the nozzle 9
Is calculated as the quick-discharge-agent discharge flow rate, and this quick-discharge-agent discharge flow rate is calculated as the 7-segment LE.
Converted to display data for D display and quick-set binder flow display 1
8 is displayed.

The impeller rotation speed adjusting volume 15
Is operated, the impeller rotation speed adjustment volume 1
5 is output to the modulation unit 37, the impeller rotation speed correlation data is read from the memory 36, the rotation speed of the impeller 8 is calculated, and this rotation speed is converted into display data for a 7-segment LED display. It is displayed on the impeller rotation speed indicator 19. Further, when the tuning setting pressure adjusting volume 16 is operated, the volume setting data relating to the tuning setting pressure adjusting volume 16 is output to the modulation unit 37, and the actual tuning setting is performed using the tuning setting pressure correlation data read from the memory 36. The pressure is calculated, and the tuning set pressure is converted into display data for a 7-segment LED display and displayed on the tuning set pressure display 20.

On the other hand, each volume setting data inputted to the modulation section 37 is sequentially modulated and transmitted to the concrete spraying machine main body 1 via the transmission section 38. Then, after being received by the receiving unit 39, the demodulation unit 40 demodulates the volume setting data relating to the concrete flow rate control volume 13 to the D / A converter 41, and the volume setting data relating to the quick-setting agent flow control volume 14 is The volume setting data input to the D / A converter 42 and relating to the impeller rotation speed adjustment volume 15 is D / A
Input to the converter 43, the tuning set pressure adjusting volume 16
The volume setting data relating to this is input to the D / A converter 44.

The D / A converter 41 converts the volume setting data relating to the concrete flow rate adjusting volume 13 into an analog set value and outputs the analog set value to the concrete discharge hydraulic pump 45. As a result, the concrete discharge hydraulic pump 45 is set to supply the ready-mixed concrete K to the header section 4 at a flow rate according to the set value of the concrete flow rate adjustment volume 13.

The D / A converter 42 converts the volume setting data relating to the quick-adjusting agent flow control volume 14 into an analog set value and outputs the analog setting value to the quick-adhesive agent discharge hydraulic pump 46. The quick-setting agent discharge hydraulic pump 46 is set so as to discharge the quick-setting agent Q from the nozzle 9 at a flow rate according to the set value of the quick-setting agent flow control volume 14. The D / A converter 43 converts the volume setting data relating to the impeller rotation speed adjustment volume 15 into an analog set value and outputs the analog set value to the hydraulic pump 47. As a result, the hydraulic pump 47
The impeller driving hydraulic motor 48 is set to rotate at the rotation speed according to the set value of the impeller rotation speed adjustment volume 15.

The D / A converter 44 converts the volume setting data relating to the tuning set pressure adjustment volume 16 into an analog set value (tune set pressure) and outputs the analog set value to the comparator 54. The comparator 54 compares the tuning set pressure with the hydraulic pressure P of the output pressure oil of the hydraulic pump 47 input from the hydraulic pressure sensor 56, and when the hydraulic pressure P is lower than the tuning set pressure, the comparator 54 sets the quick binder stop valve 55. Closed. At this point,
Since the hydraulic pump 47 is still in a stopped state, the hydraulic pressure P is lower than the tuning set pressure. Therefore, the comparator 54
Keeps the quick-setting agent stop valve 55 closed.

In this way, when the operation states of the above-mentioned parts are set based on the various volume setting data, the worker A turns on the concrete discharge switch 10, the quick setting agent discharge switch 11, and the impeller rotation switch 12 to "ON". To operate the concrete discharge hydraulic pump 45, the quick setting agent discharge hydraulic pump 46, and the hydraulic pump 47 (that is, the impeller driving hydraulic motor 48). Also in this case, the switch operation data of each switch is transmitted from the commander R 'to the concrete spraying machine main body 1, and the concrete discharge hydraulic pump 45, the quick-setting agent discharge hydraulic pump 46, the hydraulic pump 47, the impeller drive Hydraulic motor 48
Is activated.

For example, the concrete discharge hydraulic pump 4
For 5, the concrete discharge switch 10 is "ON"
When the operation is performed, the operation signal of the concrete discharge switch 10 is detected as switch operation data by the microprocessor 35, modulated by the modulation unit 37, and transmitted as a radio wave from the transmission unit 38. Then, this radio wave is received by the receiving unit 39, demodulated into switch operation data in the demodulation unit 40, and input to the concrete discharge hydraulic pump 45. As a result, the concrete discharge hydraulic pump 45 starts operating.

The respective operation signals of the quick-setting agent discharge switch 11 and the impeller rotation switch 12 are similarly transmitted to the concrete spraying machine main body 1, and the quick-setting agent discharging hydraulic pump 4
6. Hydraulic pump 47 and impeller driving hydraulic motor 48
From the stopped state to the operating state. Here, the impeller lock switch 21 is operated when the concrete spraying machine main body 1 is maintained. At this time, the impeller driving hydraulic motor 48 is unlocked. Therefore, when the hydraulic pump 47 starts operating, the impeller driving hydraulic motor 48 also operates, and the impeller 8 starts rotating.

With the rotation of the impeller 8, the fresh concrete K having a flow rate set by the concrete flow rate adjusting volume 13 is supplied to the head section 4, and the fresh concrete K having a spraying flow rate corresponding to the supply amount to the head section 4. Is blown from the concrete outlet 6 toward the excavation wall X at a blowing speed according to the rotation speed of the impeller 8.

When the ready-mixed concrete K is supplied to the head portion 4, the load of the impeller driving hydraulic motor 48 increases, so that the hydraulic pressure P increases and exceeds the tuning set pressure. As a result, the comparator 54 shifts the quick-setting agent stop valve 55 from the closed state to the open state, so that the quick-setting agent Q discharged from the quick-setting agent discharge hydraulic pump 46 flows from the nozzle 9 toward the ready-mixed concrete K. Sprayed.

As described above, the spraying of the ready-mixed concrete K containing the quick-setting agent Q onto the excavation wall X is started. According to the present embodiment, at the start of the spraying, the concrete flow rate indicator 17 and the sudden The binder flow rate display 18, the impeller rotation speed display 19 and the tuning set pressure display 20 include a concrete flow rate control volume 13, a quick binder flow rate control volume 14, an impeller rotation speed control volume 15, and a tuning setting pressure control volume 16 respectively. , Namely, the flow rate of the fresh concrete K, the flow rate of the quick-setting agent, the rotation speed of the impeller 8, and the tuning set pressure in the previous spraying operation. Therefore, it is possible to easily determine the setting of the various quantities in the current spraying operation based on this display.

Conventionally, such a display function is not provided in the commanding device R '. Therefore, when changing the settings of the above-described various quantities, it is necessary to perform a setting change operation while instructing an assistant to instruct the setting. The operation is extremely complicated, and it is difficult to quickly realize the set value intended by the worker A. However, according to the present embodiment, based on the display of the concrete flow rate display 17, the quick setting agent flow rate display 18, the impeller speed display 19 and the tuning set pressure display 20,
It is very easy to change the settings of various quantities.

Even after the spraying is started, it is necessary to adjust the above-mentioned various amounts in accordance with the location of the excavation wall X and the state of the wall surface. In this case, too, the concrete flow indicator 17 and the quick-setting agent flow indicator are used. 18. By confirming the current set value displayed on the impeller rotation speed display 19 or the tuning set pressure display 20, the concrete flow rate control volume 13,
By operating the quick-adjusting agent flow control volume 14, the impeller rotation speed control volume 15, or the tuning set pressure control volume 16, it is possible to accurately and quickly adjust various amounts.

As described above, according to the present embodiment, the various quantities are finely adjusted based on the display of the concrete flow rate display 17, the quick setting agent flow rate display 18, the impeller speed display 19 or the tuning set pressure display 20. And since it can adjust quickly, the quality of the spraying operation of ready-mixed concrete can be improved. In addition, since the above-mentioned various amounts can be changed at the discretion of the worker A without the need of an assistant as in the conventional art, the workability of the ready-mixed concrete spraying operation can be improved, and The burden can be reduced.

Further, since the discharge of the quick-setting agent Q is regulated by the tuning set pressure set by the tuning set pressure adjusting volume 16, the concrete discharge during the spraying operation due to, for example, the type of the ready-mixed concrete K and the water content. When the ready-mixed concrete K is not supplied from the hydraulic pump 45 to the head 4, the impeller driving hydraulic motor 4
8 is reduced, and the discharge of the quick-setting agent Q from the nozzle 9 is stopped. Therefore, it is possible to suppress the occurrence of a situation in which only the quick-setting agent Q is sprayed on the excavation wall X, and it is possible to improve the spray quality of the ready-mixed concrete K as compared with the related art.

At the time of maintenance or the like, it is necessary to keep the casing 7 in an open state to remove deposits on the inside of the casing 7 and the impeller 8. In such a case, the rotation of the impeller 8 is reliably locked by operating the impeller lock switch 21 regardless of the state of the impeller rotation switch 12 or the impeller rotation speed adjustment volume 15. Therefore, the safety of the operation at the time of maintenance of the head unit 4 can be improved.

Further, when the spraying operation is temporarily stopped or the spraying operation is completed, the cleaning air switch 22 is turned off.
Is operated, the cleaning air blower 49 is operated. By the operation of the cleaning air blower 49, compressed air is sent into the quick-setting agent supply piping system 61 from the quick-setting agent stop valve 55 to the nozzle 9 and into the nozzle 9, and the quick-setting agent Q adhered to the inside is removed. Removed. Therefore, clogging due to solidification of the quick-setting agent Q in the quick-setting agent supply piping system 61 and the nozzle 9 can be effectively prevented.

Note that the present invention is not limited to the above embodiment, and the following modifications are conceivable. (1) In the above embodiment, the spray flow rate of the ready-mixed concrete K and the rotation speed of the impeller 8 (the spraying speed of the ready-mixed concrete K)
In addition, the set values of the discharge flow rate of the quick-setting agent Q and the tuning set pressure are displayed on the command device R 'to facilitate setting change, but it is not always necessary to display all of them. The command device R ′ may be configured to display one or more of these pieces of display information.

(2) In the above embodiment, the case where the present invention is applied to the airless spraying type concrete spraying machine which blows the fresh concrete K to the excavation wall X by rotating the impeller 8 has been described. The present invention may be applied to a concrete spraying machine that sprays ready-mixed concrete K onto the excavated wall X using the above method. However, in the case of the air blowing method, there is a problem that it is difficult to accurately detect the flow rate of air blown to the excavation wall X.
In the concrete spraying machine of the airless spraying method as in the present embodiment, the supply flow rate of the ready-mixed concrete K to the head portion 4 becomes the blowout flow rate to the excavation wall X as it is, so that the blowout flow rate can be accurately calculated. .

(3) Further, the present invention employs a method in which various kinds of correlation data are stored in the memory 36 in advance, so that the microprocessor 35 calculates actual quantities. However, the present invention is not limited to this. For example, a sensor for detecting various quantities is provided in the concrete spraying machine main body 1, and the detected value is transmitted from the concrete spraying machine main body 1 to the commanding machine R '. The commander R 'displays the detected value received from the concrete sprayer main body 1 on each display means. That is, in this case, the commanding machine R 'can obtain the above-mentioned various quantities more accurately by performing bidirectional communication with the concrete spraying machine main body 1, so that each display means displays an accurate value. You.

[0082]

As described above, the concrete spraying machine according to the present invention has the following effects. (1) In a concrete spraying machine that blows ready-mixed concrete to an excavation wall by remotely controlling a concrete spraying machine main body by a commanding machine, the commanding machine includes a concrete spraying amount setting means for setting a spraying flow rate per unit time of the ready-mixed concrete; Concrete spraying amount display means for displaying a setting value of the concrete spraying amount setting means, wherein the concrete spraying machine main body blows the fresh concrete having a spraying flow rate to the excavation wall based on the setting value of the concrete spraying amount setting means. Since it is provided with a part, by confirming the display of the concrete spraying amount display means, it is possible to finely and quickly adjust the setting value of the concrete spraying amount setting means according to the site and state of the excavation wall or the state of ready-mixed concrete. it can. Therefore, the quality of the spraying operation of the ready-mixed concrete can be improved. In addition, since the amount of concrete sprayed can be changed at the discretion of the worker without the need for an assistant as in the past, the workability of the work of spraying ready-mixed concrete can be improved, and The burden can be reduced.

(2) The command device is a quick-setting agent flow rate setting means for setting the discharge flow rate of the quick-setting agent per unit time, and a quick-setting agent flow rate display means for displaying the set value of the quick-setting agent flow rate setting means. The head section includes quick-discharge agent discharging means for discharging a quick-setting agent having a discharge flow rate based on the set value of the binder flow rate setting means to the ready-mixed concrete. By confirming, the set value of the quick-setting agent flow rate setting means can be finely and promptly adjusted according to the location and condition of the excavation wall or the condition of ready-mixed concrete.

(3) The commander sets a threshold value for controlling the discharge of the quick-setting agent from the quick-setting agent discharging means in accordance with the load of the head portion related to the blowing of the ready-mixed concrete. Value setting means, comprising a quick-discharge threshold value display means for displaying the set value of the quick-discharge threshold value setting means,
The concrete spraying machine main body is provided with quick-setting agent discharge regulating means for regulating the supply of quick-setting agent to the quick-setting agent discharge means based on the setting value of the quick-setting agent discharge threshold setting means. By checking the display of the discharge threshold value display means,
The setting value of the quick-setting agent discharge threshold value setting means can be finely and promptly adjusted according to the type and the water content of the ready-mixed concrete.

(4) Since the quick-setting agent supply system cleaning means for supplying compressed air to the quick-setting agent supply piping system for supplying the quick-setting agent to the quick-setting agent discharge means is provided, the inside of the quick-setting agent supply piping system and the nozzle are provided. It is possible to effectively prevent clogging due to solidification of the quick-setting agent inside.

(5) The commanding machine comprises a concrete spraying speed setting means for setting the spraying speed of the ready-mixed concrete, and a concrete spraying speed display means for displaying the set value of the concrete spraying speed setting means. Is equipped with a head for spraying fresh concrete at a spraying speed based on the setting value of the concrete spraying speed setting means to the excavation wall. Can be finely and quickly adjusted according to the location and condition of the excavation wall or the condition of ready-mixed concrete.

(6) The head portion has an impeller having a plurality of blades, and the fresh concrete is sprayed on the excavation wall by the rotation of the impeller. Therefore, in a concrete spraying machine adopting an airless spraying method, the flow rate of the fresh concrete is sprayed. , The spraying speed, the flow rate of the quick-setting agent, and the threshold value for regulating the discharge of the quick-setting agent can be finely and promptly adjusted according to the location and condition of the excavation wall or the condition of the ready-mixed concrete.

[Brief description of the drawings]

FIG. 1 is a front view and a side view of a command device according to an embodiment of the present invention.

FIG. 2 is a block diagram illustrating a functional configuration of a command device according to an embodiment of the present invention.

FIG. 3 is a block diagram showing a functional configuration of a concrete spraying machine according to one embodiment of the present invention.

FIG. 4 is a graph showing an example of correlation data according to an embodiment of the present invention.

FIG. 5 is a configuration diagram showing an appearance of a concrete spraying machine according to the related art and one embodiment of the present invention.

FIG. 6 is a conceptual diagram illustrating a schematic configuration of a head unit according to the related art and one embodiment of the present invention.

[Explanation of symbols]

A: worker K: ready-mixed concrete X: excavated wall R, R ': commander R1: commander main body Q: quick setting agent 1: concrete spraying machine main body 2: robot arm mechanism 3 ... … Concrete pump 4… head part 5… concrete pipe 6… concrete outlet 7… casing 8… impeller 8a… blade 9… nozzle 10… concrete discharge switch 11… quick-setting agent discharge switch 12 impeller rotation switch 13 concrete flow rate adjusting volume (concrete spraying amount setting means) 14 ... rapid binder flow rate adjusting volume (rapid binder flow rate setting means) 15 impeller rotation speed adjusting volume (concrete spraying speed setting) Means) 16: Tuning setting pressure adjustment volume (rapid setting agent discharge threshold setting means) 17: Concrete flow rate table Indicator (concrete spraying amount display means) 18 ... Quick binder flow rate indicator (quick binder flow rate display means) 19 ... Impeller rotation speed indicator (concrete spraying speed display means) 20 ... Synchronization setting pressure display ( 21) Impeller lock switch 22 Cleaning air switch 23 First joint operation joystick 24 Second joint operation joystick 25 Third joint operation joystick 26 First 4 joint operation joystick 27... Support portion 27a... Support surface 28A, 28B, 29A, 29B, 30A, 30B.
Belt fixtures 31-34 are A / D converters 35 Microprocessors 36 Memory 37 Modulators 38 Transmitters 39 Receivers 40 Demodulators 41-44, 50-53 ... D / A converter 45 ... Hydraulic pump for discharging concrete 46 ... Hydraulic pump for discharging quick-setting agent 47 ... Hydraulic pump 48 ... Hydraulic motor for driving impeller 49 ... Blower for cleaning air (supply of quick-setting agent) System cleaning means) 54 comparator 55 quick-setting agent stop valve (quick-setting agent discharge restricting means) 56 hydraulic sensor 57 first joint driving cylinder 58 second joint driving cylinder 59 3 joint drive cylinder 60 ... 4th joint drive cylinder 61 ... quick setting agent supply piping system

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Kazuo Abe 2-1-1 Kyobashi 2-chome, Chuo-ku, Tokyo Livecon Engineering Co., Ltd. F-term (reference) 2D055 DB04 KA08 LA13 2E172 DB13 DC02 DC11 DC12

Claims (6)

[Claims] 1. A concrete spraying machine which blows ready-mixed concrete (K) onto a digging wall (X) by remotely controlling a concrete spraying machine main body (1) by a commanding machine (R '), wherein the commanding machine comprises: Concrete spraying amount setting means (13) for setting spraying flow rate per unit time
And a concrete spraying amount display means (17) for displaying a set value of the concrete spraying amount setting means, wherein the concrete spraying machine main body outputs a fresh concrete having a spraying flow rate based on the setting value of the concrete spraying amount setting means. A concrete spraying machine comprising a head portion (4) for spraying a drilling wall. A commander for setting a quick-setting agent flow rate setting means for setting a discharge flow rate per unit time of the quick-setting agent (Q);
And a quick-setting agent flow rate display means (18) for displaying a setting value of the quick-setting agent flow rate setting means. 2. The concrete spraying machine according to claim 1, further comprising a quick-setting agent discharging means (9) for discharging the agent into the ready-mixed concrete. 3. The quick setting agent discharge threshold value for setting a threshold value for controlling the discharge of the quick setting agent from the quick setting agent discharge means in accordance with the load of the head portion related to the blowing of the ready-mixed concrete. Setting means (16); and quick-setting agent discharge threshold value display means (2) for displaying the set value of the quick-setting agent discharge threshold value setting means.
0), and the concrete spraying machine main body is provided with a quick-setting agent discharge restricting means for restricting the supply of the quick-setting agent to the quick-setting agent discharge means based on the set value of the quick-setting agent discharge threshold value setting means. 55. The concrete spraying machine according to claim 2, further comprising (55). 4. A quick-setting agent supply system cleaning means (49) for supplying compressed air to a quick-setting agent supply piping system (61) for supplying a quick-setting agent to the quick-setting agent discharge means. Item 2
Or the concrete spraying machine according to 3. 5. A commanding machine includes a concrete spraying speed setting means (15) for setting a spraying speed of ready-mixed concrete, and a concrete spraying speed display means (19) for displaying a set value of the concrete spraying speed setting means. The concrete spraying machine according to any one of claims 1 to 4, wherein the concrete spraying machine main body includes a head portion for spraying ready-mixed concrete having a spraying speed based on a setting value of the concrete spraying speed setting means to the excavation wall. Machine. 6. The head part includes an impeller (8) having a plurality of blades (8a), and the ready-mixed concrete is sprayed on the excavation wall by the rotation of the impeller. The described concrete spraying machine.