JP2001064993A - Excavation earth lifting support system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To allow an operator to visually confirm an excavation earth lifting state by visually showing information such as excavation depth on the display of an operation room by a signal fro a plurality of various sensors attached to an excavator provided with a crab bucket. SOLUTION: A main winding amount detector 4 and a sub-winding amount detector 5 are attached to winding drums D1, D2 winding wires W1, W2 respectively, and a degree of the opening of a crab bucket 3 is detected. A load detector 21 for detecting total load applied on the wires W1, W2 is attached to a boom 2. The derricking angle of the boom 2 is detected at a real time by a derricking angle detector 7 attached to the base end of the boom 2, and further excavation depth and the height position of the crab bucket 3 are calculated from the derricking angle of the boom 2 and the winding mount of the wire W1. A display 10 transmits signals from various sensors to a system control board 9, and visually shows detected and calculated excavation depth or the like.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a support system for excavation and excavation work, and more particularly, to a grab bucket (including similar buckets such as a dredge bucket in this specification, simply referred to as a "grab bucket"). The operator can visually confirm the excavation and unloading situation even when the depth is deep and the groundwater level is high, so that excavation and unloading work can be performed accurately and safely without skill. The present invention relates to an excavation and unloading work support system capable of performing a work.

[0002]

2. Description of the Related Art Conventionally, for example, in the open caisson method, when excavation and excavation work is performed using an excavator such as a crawler crane equipped with a grab bucket, especially when the depth is deep or the groundwater level is high, the operator is required to Since the state of excavation by the grab bucket cannot be directly visually confirmed, usually, the main wire and the sub-wire of the grab bucket are loosened, by visually checking the marks attached to the main wire and the sub-wire, or The digging and unloading work is performed by a method that relies on the intuition and experience of the operator, such as performing the winding operation of the main wire and the sub-wire, by experiencing the impact and the like caused by the landing of the grab bucket. However, there is a problem that operation of the excavator requires skill.

[0003] In addition, since the excavation and unloading work is performed by a method that relies on the intuition and experience of the operator, (1) when the underwater excavation is performed at a large depth or a high groundwater level, the excavation using the grab bucket is performed as described above. The operator cannot visually confirm the excavation status directly, and it is difficult to accurately perform planar excavation at a certain depth. (2) In order to accurately perform planar excavation of a certain depth, in the open caisson method, a supervisor is required separately from the operator to inform the operator of the excavation status such as the excavation plane position. Also, when the groundwater level is high and underwater excavation is required, even this method cannot be adopted. (3) Sediment runoff is likely to occur due to incomplete closure of the grab bucket. (4) At the time of landing, the grab bucket is defeated by loosening the wire too much, and it takes time to correct the tilt. (5) The difference between the loads applied to the main wire and the sub-wire during the ascent and descent is likely to increase, and the grab bucket rotates, causing the main wire and the sub-wire to become entangled, resulting in reduced work efficiency and damage to the wire. (6) Operators are apt to be fatigued by long hours of work. (7) Because it is difficult to grasp the amount of one dumping instantly,
Insufficient grip is likely to occur. (8) Because it is difficult to grasp the accumulated amount of unloading instantly,
It is difficult to know when work is complete. And other various problems.

[0004]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems in the excavation and unloading work using an excavator such as a crawler crane equipped with a conventional grab bucket, and is intended to reduce the state of excavation and unloading using a grab bucket at a large depth. Excavation work that can be performed accurately and safely without skill, by allowing the operator to visually check even when the groundwater level is high. The purpose is to provide a support system.

[0005]

In order to achieve the above object, an excavating and unloading work supporting system according to the present invention provides a system for excavating with a grab bucket based on signals from a plurality of sensors mounted on an excavator equipped with a grab bucket. The depth, the plane position of the grab bucket, the height position and the degree of opening / closing, the weight of the grab bucket including the excavation and the amount of excavation are visually displayed on a display in the operator room.

[0006] This excavation and unloading work support system is necessary for excavation and unloading work using a grab bucket by signals from a plurality of sensors attached to an excavator equipped with a grab bucket on a display installed in an operator room. ,
Excavation depth by grab bucket, plane position, height position and opening / closing degree of grab bucket, weight of grab bucket including excavation and amount of excavation are displayed in real time. The operator can visually check even at large depths and high groundwater levels.

In this case, the plane position, the height position, and the opening / closing degree of the grab bucket can be audibly displayed by voice, alarm sound or the like.

Thus, the plane position, the height position and the degree of opening and closing of the grab bucket necessary for the excavation and unearthing work by the grab bucket can be audibly confirmed by voice, alarm sound, etc., and can be performed safely and efficiently. , Excavation and excavation work can be performed.

Further, the position of the excavator with respect to the excavation work position is determined by a global positioning system (global positioning system).
m) (hereinafter, referred to as “GPS”)
Can be managed.

[0010] Thus, even if the excavator is moved, the work can be continued by using the excavated excavated information as it is, and the excavated excavated work can be performed efficiently.

[0011]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing an embodiment of an excavating and unloading work support system according to the present invention.

FIG. 1 shows an example of an excavator used for an excavation work support system of the present invention. Here, a crawler crane provided with the grab bucket 3 will be described as an example of the excavator, but the excavator is not limited to this as long as the excavator is provided with the grab bucket 3.

The crawler crane is capable of traveling by disposing a traveling cart 1P provided with an endless track 1C below the crane main body 1, and is capable of traveling. Two sheaves S1 and S2 are disposed at positions, and a main wire W1 mainly supporting the grab bucket 3 and a sub-wire W2 mainly performing opening and closing operations of the grab bucket 3 are provided on the sheaves S1 and S2.
And the main wire W1 and the sub wire W
Take-up drums D 1, D 2, each of which has a front end locked on a grab bucket 3 and a base end mounted on the crane body 1.
2 are wound up.

A main winding detector (sensor) 4 and a sub winding detector (sensor) 5 are attached to the winding drums D1 and D2 which are configured to wind the wires W1 and W2, respectively. The winding amounts of the wire W1 and the sub-wire W2 are respectively detected, whereby the main wire W1 is detected.
The opening / closing degree of the grab bucket 3 can be detected based on the difference between the unwound length and the unwound length of the auxiliary wire W2. In this example, the main winding amount detector 4 and the sub winding amount detector 5 are provided with a magnetic scale (not shown) along the outer peripheral side surfaces of the winding drums D1 and D2.
The winding amounts of the main wire W1 and the sub-wire W2 are respectively detected.

The boom 2 has a load applied to the entire boom 2 on the base end side of the locking wire 22 for locking the crane body 1, that is, a load We1 applied to the main wire W1 and a load We2 applied to the auxiliary wire W2. Total load We with
A load detector (sensor) 21 for detecting 0 is attached. Further, in this example, a load detector (sensor) 6 is attached to a position near the sheave S2 on which the auxiliary wire W2 for mainly opening and closing the grab bucket 3 is hung to detect the load We2 applied to the auxiliary wire W2. Like that. Thus, the main wire W1 is determined by the total load We0 detected by the load detector 21 and the load We2 applied to the sub-wire W2 detected by the load detector 6.
Can be calculated by the following equation.

We1 = We0-We2

An up / down angle detector (sensor) 7 for detecting the up / down angle of the boom 2 is attached to the base end of the boom 2 to detect the up / down angle of the boom 2 in real time. 7, the excavation depth of the grab bucket 3 and the height position of the grab bucket 3 from the undulation angle of the boom 2 detected by 7 and the winding amount of the main wire W1 detected by the main winding amount detector 4 attached to the winding drum D1. Can be calculated.

A traveling vehicle 1P having an endless track 1C
A turning angle detector (sensor) 8 such as a rotary encoder for detecting the turning angle of the crane body 1 with respect to the crane body is attached, the turning angle of the crane body 1 is detected in real time, and the crane body detected by the turning angle detector 8 The plane position of the grab bucket 3 can be calculated from the turning angle of the boom 2 and the turning angle of the boom 2 detected by the turning angle detector 7.

Further, if necessary, the position of the crane main body 1 with respect to the excavation work position can be managed by GPS.

On the other hand, the operator room 1R of the crane body 1
, The display 10 and the operation panel 20 are arranged at a position where the operator can easily operate and visually recognize the display.

The display 10 is, as shown in FIG.
For example, it is composed of a liquid crystal panel, and the signals from the plurality of sensors 4, 5, 6, 7, 8, 21 are transmitted to the system control panel 9 and detected and calculated. The excavation depth of the grab bucket 3, the planar position, the height position and the degree of opening and closing of the grab bucket 3, the weight of the grab bucket including the excavated soil, the excavated amount, and the like are visually displayed.

And, more specifically, although not particularly limited, (1) indication of the plane position 11 of the grab bucket 3 with respect to the caisson K (2) load W applied to the main wire W1 by the grab bucket 3
Rotational range display 11A when rotating in a plane due to the difference between e1 and the load We2 applied to the sub-wire W2 (3) Even if the grab bucket 3 rotates in the plane, the grab bucket 3 remains in the caisson K body, more specifically. More specifically, a safety range display 11 that does not contact a rail K1 for an underwater excavator (not shown) installed near the cutting edge K2 of the caisson K.
B (4) Excavation depth indication 1 excavated by grab bucket 3
2 (Based on the cutting edge K2 of the caisson K, the color, the shading of the color, the pattern, etc. are changed and displayed in several steps according to the depth.) (5) The position near the cutting edge K2 of the caisson K Excavation range display 13 by the underwater excavator installed in (6) Grab bucket 3 height position display 14 (“Clam depth” (grab bucket 3 height position), “Blade depth”
(Depth and position of the blade K2 of the caisson K). (7) The load display 15 applied to the wires W1 and W2 (the load We1 applied to the main wire W1 (displayed as “support” or “support load”) and the load We2 applied to the sub-wire W2 (open / close or “open / close load”) (8) The opening / closing degree display 16 of the grab bucket 3 (9) The weight display 17 of the lifting of the grab bucket 3 (“current soil volume” (currently the grab bucket 3 is (10) The display 18 of the number of excavations by the grab bucket 3 is indicated by a numerical value, graphics, or a combination of both (for example, the height position of the grab bucket 3). Display 14, wire W
1, a load display 15 applied to W2, an opening / closing degree display 16 of the grab bucket 3, etc.).

Then, for example, the current position of the grab bucket 3 is confirmed by the plane position display 11 of the grab bucket 3 with respect to the caisson K, and a predetermined depth is displayed in accordance with the excavation depth display 12 excavated by the grab bucket 3. The grab bucket 3 is moved so that the flat excavation can be performed.

In this case, when the grab bucket 3 enters the safety range display 11B where there is a possibility that the grab bucket 3 may come into contact with the rail K1 for the underwater excavator, the glove bucket 3 is audibly displayed to the operator by voice, alarm sound, or the like. The bucket 3 is prevented from coming into contact with the underwater excavator rail K1.

The height position display 1 of the grab bucket 3
4 enables the current height position of the grab bucket 3 to be visually confirmed.

In this case, when the grab bucket 3 descends to a predetermined height position, for example, 6 m from the cutting edge K2 of the caisson K when the grab bucket 3 descends, the operator is given an audible sound or an alarm sound. In this way, the operation timing of the end of the descent of the grab bucket 3, that is, the timing of applying the brake for temporarily stopping the grab bucket 3 is visually and audibly notified to the operator. Then, the operator temporarily stops the grab bucket 3 at a predetermined height position, for example, a position of 2 to 3 m from the blade opening K2 of the caisson K, and then drops the grab bucket 3 in an open state, The wires W1 and W2 are prevented from being turbulently wound on the winding drums D1 and D2 due to the excessive slack of the wires W1 and W2, and at the same time, the work time loss due to the fall of the grab bucket 3 is prevented. To ensure that sediment is grabbed.

The opening / closing degree display 16 of the grab bucket 3 is also provided.
Thus, the current opening / closing degree of the grab bucket 3 can be visually confirmed.

In this case, when the grab bucket 3 grasps the earth and sand, when the grab bucket 3 completes the closing operation, the operator is audibly displayed by voice, alarm sound, etc., and the operation timing of the start of the ascent of the grab bucket 3 is started. Is notified, whereby the excavation and excavation work can be performed efficiently, and the occurrence of sediment runoff due to incomplete closing of the grab bucket 3 is prevented.

The display of the load 15 on the wires W1 and W2 shows the load We1 on the main wire W1 and the load on the sub-wire W
2 to prevent the grab bucket 3 from rotating in a plane, and when the difference exceeds an appropriate range, a voice and an alarm sound to the operator. And so on.

The weight display 17 of the excavated soil of the grab bucket 3 indicates the amount of soil that the grab bucket 3 is currently excavating and the accumulated amount of soil. Visually inform the operator of the amount of unloading work in real time.

As described above, the excavation and unloading work support system is provided with the display 10 installed in the operator room 1R.
In addition, based on signals from a plurality of various sensors 4, 5, 6, 7, 8, 21 attached to the crawler crane, the excavation depth by the grab bucket 3 and the plane of the Because the position, the height position and the degree of opening and closing, the weight of the grab bucket including the unloading and the unloading amount are displayed in real time,
The operator can visually confirm the excavation and unloading state by the grab bucket 3 by looking at the display 10 and, if necessary, by voice, alarm sound, etc., even when the depth is deep or the groundwater level is high. Can be accurately and safely,
It is possible to perform excavation and excavation work efficiently.

Information on the excavation and unloading status is transmitted not only to the operator room 1R of the crawler crane but also to a control room R such as an office located at a place away from the crawler crane via the transceiver 19A installed on the crawler crane. To the transmitter / receiver 19B installed in the management room R, so that the information can be displayed on the personal computer 19C or the like in the management room R, and further, the information on the excavation and unloading status can be hard-copyed or stored. Further, an appropriate instruction regarding the excavation and unloading work can be given from the management room R such as an office to the operator room 1R of the crawler crane.

In the above, the open caisson method of using the crawler crane provided with the grab bucket 3 as an excavator has been described as an example of the excavating work support system of the present invention. The present invention is not limited to this as long as it is provided with, for example, it can be applied to excavation and unloading work performed using a portal crane.
In addition to the method of performing opening and closing operations, the method can be applied to a method using an actuator such as a hydraulic cylinder, and the applicable method is not limited to the open caisson method.

In the present embodiment, the excavation and excavation work by the grab bucket 3 is performed in a state where the underwater excavator is removed from the rail K1, so that the display of the underwater excavator is omitted. If necessary, the system control panel 9 can display both the grab bucket 3 and the underwater excavator on the display 10 and incorporate a control mechanism for preventing contact between them. Furthermore, when using an excavator that is movable with respect to the excavation work position, the excavator position is managed by the GPS, so that even if the excavator is moved, the excavation excavation information up to that point is kept as it is. The work can be continuously performed by utilizing this, and thereby, the excavation and excavation work can be efficiently performed.

[0035]

According to the excavation and unloading work support system of the present invention, the excavation by the grab bucket is performed on the display installed in the operator's room by signals from a plurality of various sensors attached to the excavator equipped with the grab bucket. Since the excavation depth required by the grab bucket, the plane position, the height position, and the degree of opening and closing of the grab bucket, the weight of the grab bucket including the excavation, and the amount of excavation necessary for the excavation work are displayed in real time, the grab is used. The operator can visually confirm the excavation status by the bucket even at a large depth or a high groundwater level, so that no skill is required and the excavation status such as the excavation plane position is not required. It does not require an assistant such as a watchman to inform the operator of excavation, and excavation work using an excavator such as a crawler crane equipped with a conventional grab bucket To eliminate the matters which has been a stomach problem, accurately, safely, it is possible to perform the drilling Agetsuchi work.

Also, the plane position, the height position and the opening / closing degree of the grab bucket are audibly displayed by voice, warning sound, etc., so that information necessary for the excavation and unloading work by the grab bucket is provided by voice, warning sound, etc. It can be confirmed audibly, whereby the excavation work can be performed safely and efficiently.

Further, by managing the position of the excavator with respect to the excavation work position by GPS, even if the excavator is moved, the work can be continuously performed by using the excavated excavation information as it is. This makes it possible to perform the excavation and excavation work efficiently.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of a crawler crane used in an excavation and unloading work support system of the present invention.

FIG. 2 is an explanatory diagram of a display.

FIG. 3 is an explanatory diagram of a management room.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Crane body 1C Endless track 1P Traveling trolley 1R Operator room 2 Boom 3 Grab bucket 4 Main winding amount detector (sensor) 5 Secondary winding amount detector (sensor) 6 Load detector (sensor) 7 Undulating angle detector (sensor) 8 Turning Angle Detector (Sensor) 9 System Control Panel 10 Display 11 Planar Position Display 11A Rotation Range Display 11B Safety Range Display 12 Excavation Depth Display 13 Excavation Range Display by Underwater Excavator 14 Height Position Display 15 Load Display on Wire 16 Opening / closing degree display 17 Lifting weight display 18 Excavation frequency display 19A Transceiver 19B Transceiver 19C Personal computer 20 Operation panel 21 Load detector (sensor) R control room W1 Main wire W2 Secondary wire We0 Total load We1 Load applied to main wire We2 Load on auxiliary wire D1 Winding drum D2 Drum S1 sheaves S2 rails K2 caisson cutting edge of sheave K caisson K1 water excavator

Claims (3)

[Claims] 1. A signal from a plurality of sensors mounted on an excavator equipped with a grab bucket, the excavation depth of the grab bucket, the plane position, the height position and the degree of opening / closing of the grab bucket, and the grab bucket including the excavation. An excavation work support system wherein the weight and the amount of excavation are visually displayed on a display in an operator room. 2. The excavation and lifting work support system according to claim 1, wherein the plane position, the height position, and the opening / closing degree of the grab bucket are displayed audibly by voice, warning sound or the like. 3. The position of the excavator with respect to the excavation work position,
3. The system according to claim 1, wherein the system is managed by a global positioning system.