JP2006118168A - Excavator for constructing underground continuous wall and attitude control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To quickly and highly accurately correct a twist or displacement of an excavation shaft while drilling a hole, while accurately detecting an inclination of the excavation shaft while drilling the hole, and eliminating a power cable and a hydraulic hose of attitude control devices for correcting the twist and the displacement in an excavation shaft tip part, in an excavator for constructing an underground continuous wall such as an SMW excavator. <P>SOLUTION: The inside of a connecting support device 20 of the excavation shaft tip part is provided with a power generation/charging device 30 for performing power generation/charging by being driven by rotational motive power of the excavation shaft 2, a hydraulic pressure generator 40 for similarly generating hydraulic pressure, and out-fitted inclination detecting devices 50 and 50 capable of detecting the inclination of the rotating excavation shaft 2 on the outside of the excavation shaft. The twist is corrected by the disc brake type attitude control devices 60 and 60 (for normal rotation and reverse rotation) on the basis of an angle of torsion θ in a horizontal plane obtained from the measured inclination α and displacement dXdY in the horizontal direction, and the displacement is corrected by presser plate type attitude control devices 70 and 70 (in the X direction and the Y direction). <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  TECHNICAL FIELD The present invention relates to a multi-axis excavator for underground continuous wall construction and its attitude control method, and in particular, a column row type impermeable wall, soil retaining wall, earth pressure resistance, etc. by soil cement for large depth and low head construction. It is effectively applied when constructing structures with good workability and high vertical accuracy.

For example, the Soil Mixing Wall (SMW) method is a method that mixes and mixes in-situ soil (Soil) and cementitious suspension in-situ to create an underground wall (Wall). It satisfies.
(a) SMW is applied by a drilling and kneading mechanism having both functions of drilling and kneading. The hole kneading mechanism is composed of a plurality of kneading shafts connected to each other (a drilling shaft provided with a drilling bit and a stirring blade), and a discharge port for cementitious suspension is provided at the tip of the shaft. Yes.
(b) When creating the SMW, the in-situ soil is drilled by the drilling and kneading mechanism, and at the same time, mixed and stirred by the cementitious suspension discharged from the tip of the soil to form a uniform soil cement wall .
(c) In order to maintain the continuity of the SMW, the columnar continuous wall to be formed shall be completely wrapped.
In addition, the SMW can be used as a water blocking wall itself, or can be used as a retaining wall or an earth pressure resistant structure by inserting various core materials.

  However, when there is a large depth or a gravel layer, it becomes difficult to maintain the continuity of the columnar continuous wall due to the drilling bend, and the lap construction part becomes thin, so that the water stoppage becomes worse. In large depth and low head construction where the number of connected unit rods (number of conical joints) on the excavation shaft is large, the drilling shaft is liable to be bent because the straightness of the excavation shaft cannot be secured at the unit rod connection portion (conical joint). In addition, in the ground including gravel layers and cobblestones, the excavation shaft tip is bent by an obstacle, so the vertical accuracy of the excavation shaft is deteriorated.

  For this reason, in order to maintain the continuity of the columnar continuous wall, it is necessary to grasp the vertical accuracy of the drilling shaft and to control the direction, but in the normal method, between the tip of the drilling shaft and the ground part, A signal / control cable, a power cable, and a hydraulic hose were required, making it difficult to control the vertical direction of the drilling shaft with the actual machine. In particular, poor workability at the time of drilling or drilling was an obstacle.

  Further, as prior art documents related to the present invention, there are Patent Documents 1 to 14 shown below, but each has problems to be solved.

(1) Patent Document 1 (Japanese Patent Laid-Open No. 11-200403)
The “displacement correction method for excavation shaft” disclosed in Patent Document 1 is based on the XY direction attitude information of the connection body from an inclinometer provided on the connection body at the top of the bit portion at the excavation shaft tip. The horizontal excavation shaft protruding from the body is moved forward and backward to press the soil wall of the excavation hole, and the reaction angle changes the inclination angle of the excavation shaft.
This method has a problem in workability because it requires transmission / reception of the advance / retreat control signal of the horizontal excavation shaft and the drive hydraulic pressure from the ground via a cable or pipeline.

(2) Patent Document 2 (Japanese Patent Laid-Open No. 2000-73396)
The “ground drilling machine and the drilling attitude control method in this ground drilling machine” disclosed in Patent Document 2 are capable of moving forward and backward with respect to each drilling wall at the opposite side surface position of the connection holding member of each auger shaft. Based on the twist angle with the drilling direction as the basic axis and the inclination angle with the X and Y axes in the horizontal plane as the basic axes, detected by a gyro device provided in the connection holding member with multiple sets of posture control jacks The bending of the hole is corrected by controlling the advance / retreat amount of the posture control jack. Regarding the method of supplying oil to the hydraulic jack, a method of supplying through a hydraulic oil supply passage formed in the auger shaft and a method of supplying from the hydraulic oil generating mechanism into the connection holding member are described.
In this method, it is necessary to send and receive advancing / retreating control signals and driving hydraulic pressure for advancing and retreating a plurality of attitude control jacks attached to the side surfaces of the connecting and holding members of each auger shaft from the ground via cables and auger shaft hydraulic oil supply paths. There is a problem with workability.

(3) Patent Document 3 (Japanese Patent Laid-Open No. 2002-38517)
The “drilling hole axis correction method and earth auger excavator” shown in Patent Document 3 is provided with a braking device (a type for pressing a brake piece) for each auger shaft in a connection support device at the upper end of the auger shaft. Each of the braking devices is selectively operated in accordance with the required correction amount of the auger axis to correct the drilling hole axis.
Since this method uses the torque of the auger shaft, the twist direction of the drilling hole axis can be corrected, but the vector direction in the X direction or the Y direction cannot be corrected. In addition, it is necessary to connect a signal cable and a hydraulic hose from the ground, and there is a problem in workability.

(4) Patent Document 4 (Japanese Patent Laid-Open No. 2004-68488), Patent Document 5 (Patent No. 2764771)
The "Ground improvement processing machine equipped with a wire-type excavation accuracy control device" shown in this patent document 4 individually pulls a plurality of wires connected to the excavation shaft by a hydraulic cylinder, and corrects the tip position of the excavation stirring blade shaft・ Control. The invention of Patent Document 5 is the same.
In this method, the leader of the excavator and the auger shaft tip are individually pulled with a plurality of wires and a hydraulic cylinder, and the auger shaft tip is manipulated like a puppet. This is a problem because the horizontal component of the auger shaft tip due to the wire becomes small and the required direction correction force cannot be secured. In addition, a plurality of suspension wires from the ground have a problem in workability at the time of drilling.

(5) Patent Document 6 (JP 2002-309613), Patent Document 7 (JP 2002-266370)
The "earth auger excavator" shown in Patent Document 6 transmits the first and second auger torques of the central auger shaft to the lower connecting device by rotating forward or reverse the excavation torque of the central auger shaft to the lower connecting device of the triple auger shaft. A clutch member and a sun / planetary gear device are provided, and the central auger shaft is operated up and down to connect / disconnect the forward clutch (first clutch member) or the reverse clutch (second clutch member / gear device). It corrects torsion of the entire auger shaft. The “earth auger excavator” shown in Patent Document 7 is provided with a clutch member on each of the three auger shafts, and the center auger shaft is operated up and down to similarly correct the twist of the entire triple auger shaft. It is.
In the invention of Patent Document 6, when the lower coupling device is rotated in the direction opposite to the central auger shaft, a reverse clutch via a planetary gear is connected and rotated in the direction opposite to the central auger shaft. The method is considered impossible in principle. In addition, the inventions of Patent Documents 6 and 7 have a problem that the mechanism is complicated.

(6) Patent Document 8 (Japanese Patent Laid-Open No. 6-173264)
The “shaft penetrating device and the shaft penetrating method using the shaft penetrating device” disclosed in Patent Document 8 supplies power (hydraulic pressure) from the outside, drives the hydraulically driven pressing blade equipped in the lowermost intermediate bearing, The earth wall of the hole is pressed, and this reaction force corrects the penetration direction of the excavation shaft.
This method has a problem in workability because it is necessary to transmit and receive the hydraulic pressure for driving the hydraulically driven pressing blade by a hydraulic hose from the ground.

(7) Patent Document 9 (Japanese Patent Application Laid-Open No. 6-18664)
The “penetration direction correcting device for a shaft penetrating device” disclosed in Patent Document 9 is transmitted to a driven shaft by a belt or the like of a pair of penetrating shafts without using special external power, and the rotational speed of both penetrating shafts. The earth wall of the drilling hole is pressed by a drive transmission mechanism that moves the driven shaft and the pressing blade in the front-rear direction at a speed corresponding to the difference, and the penetration direction of the excavation shaft is corrected by this reaction force.
In this method, correction in the short side direction of the columnar wall is possible, but the problem is that correction of the long side direction (columnar column direction) and torsion cannot be performed.

(8) Patent Document 10 (JP 2004-68370), Patent Document 11 (JP 2004-162504), Patent Document 12 (Patent No. 3407139)
The “pushing direction correcting device for shaft penetrating device” disclosed in Patent Document 10 is provided with a cutter and its cutter driving device at the excavation shaft tip, and excavation power at the cutter tip and agitation at the midway agitator The power can be separated from each other, and each cutter excavation shaft can be individually rotated in an arbitrary direction. Therefore, the twist of the triple auger can be corrected by applying the excavation rotation reaction force. In the invention of Patent Document 11, the lower part of the excavation shaft is integrally bent to correct the excavation direction.
Since the driving power is arranged near the auger shaft tip, the invention of Patent Document 10 has a center of gravity at the bottom of the excavating shaft and high excavation stability in the vertical direction, but it is necessary to connect the power cable from the ground part. There are problems with the risk of electric shock due to electric leakage and the workability during drilling and drilling operations.

(9) Patent Document 13 (Patent No. 3323471), Patent Document 14 (Patent No. 2805429)
The inventions of Patent Documents 13 and 14 disclose a non-contact / signal transmitter that transmits a tilt signal of an excavation shaft measured by an inclinometer in a non-contact manner at a rod connecting portion.
In this method, the distance between a pair of non-contact / signal transmitters is a method in which a signal is transmitted by a normal wire inside the auger shaft and a well-known non-contact signal transmission method is adopted at the rod connecting portion of the excavation shaft. A spring-type jig that keeps the pressure constant without difficulty is a realistic and effective means. This method can be used not only for transmitting the inclination signal of the excavation axis to the ground part but also when transmitting the excavation direction control signal from the ground part to the excavation direction control device in the excavation axis coupling device at the excavation axis tip part. . However, in the non-contact method, it is difficult to transmit the power required by the inclinometer at the tip of the excavation shaft and the solenoid valves for direction control.
JP 11-200403 A JP 2000-73396 A JP 2002-38517 A JP 2004-68488 A Japanese Patent No. 2736471 JP 2002-309613 A JP 2002-266370 A JP-A-6-173264 JP-A-6-158664 JP 2004-68370 A JP 2004-162504 A Japanese Patent No. 3407139 Japanese Patent No. 3234771 Japanese Patent No. 2805429

(1) Supply of power (1-1) Power required for inclinometers for position measurement, jack displacement gauges for vertical control and hydraulic equipment control equipment, etc., is supplied from the ground via a power cable. It is necessary to connect and extend the power cable when connecting the unit rods when extending the excavation depth, resulting in poor workability and large loss time. There is also a concern that the power cable may be caught in the excavation shaft and disconnected when excavating.
(1-2) If there is only tilt measurement without controlling the attitude of the excavation axis, there is a method of supplying power to the sensor with a battery, but manual work is required to remove the battery and charge it periodically. Also, power supply troubles occur due to overdischarge of the battery or insufficient charge.

(2) Supply of hydraulic pressure (2-1) Hydraulic pressure for correcting torsion and displacement of the drilling shaft must be supplied from the ground with a hydraulic hose, and the hydraulic pressure associated with unit rod connection work when extending the drilling depth Hose connection / extension work is required, and workability is poor, causing a large loss time. There is also concern about accidents in which the hydraulic hose is caught in the excavation shaft and damaged during excavation.
(2-2) Pumping a long distance from the ground with a hydraulic hose causes a decrease due to hydraulic oil pressure loss, a malfunction of hydraulic equipment due to an increase in back pressure, operational troubles due to a delay in hydraulic response, etc.

(3) Location of the inclinometer Normally, an inclinometer for grasping the vertical accuracy of the excavation axis is equipped at the tip of the excavation axis. During measurement, the rotation of the excavation axis is stopped and the coordinates of the continuous wall and the excavation axis are Since it is necessary to measure with the coordinates being coincident, it is impossible to measure the inclination while excavating, which causes a loss time.

(4) Excavation direction control signal transmission It is necessary to control multiple solenoid valves to control the excavation direction, and the control signal line from the ground part uses a multicore composite cable including a spare at the time of disconnection, Because the cable itself is heavy, communication line problems such as poor signal cable connection and disconnection frequently occur.

(5) Torsion direction control In the twist direction control of the shaft, it is necessary to correct the torsion angle while rotating the excavation shaft and to check the actual amount of torsion angle correction. That is, it is necessary to repeat the measurement of the tilt of the excavation shaft → calculation of the twist angle → correction of the twist angle → the confirmation of the correction amount of the twist angle by the tilt measurement. Therefore, the conventional method in which excavation must be stopped at the time of the inclinometer side has a problem in construction due to too much loss time. In addition, the method of correcting torsion using the rotational couple during excavation can only correct the torsion when the excavation shaft is rotated. It is necessary to repeat the measurement side and work efficiency is poor.

(6) Pushing amount of skid for pressing earth wall To correct displacement of the excavation shaft, the pushing signal is sent and the skid for pushing earth wall is pushed out, but the pushing amount of the skid actually moved cannot be grasped.

  The present invention has been made to solve the above-described problems, and in an excavator that constructs an underground continuous wall such as an SMW excavator, an attitude control device that corrects torsion and displacement at the tip of the excavation shaft. The power cable and hydraulic hose can be eliminated, the tilt angle of the drilling shaft can be accurately detected while drilling, and the twist or displacement of the drilling shaft can be corrected quickly and accurately while drilling. An object of the present invention is to provide an excavator for underground continuous wall construction that can be constructed with high workability and high vertical accuracy even for continuous walls of large depth and low head construction.

  The invention according to claim 1 of the present invention is an underground continuous wall construction excavation in which a plurality of excavation shafts arranged in parallel and vertically supported by an excavator body on the ground are rotationally driven and excavated into the ground to make a hole. A connecting support device for rotatably connecting and supporting each excavation shaft below the plurality of excavation shafts, and a posture control device for correcting the drilling posture of the plurality of excavation shafts provided in the connection support device, A power generation / charging device that generates electric power by being driven by the rotational power of the excavation shaft, and supplies the charged electric power to the electrical equipment of the attitude control device, and the rotational power of the excavation shaft. And a hydraulic pressure generator that is driven by the hydraulic pressure generator and supplies the hydraulic pressure to the hydraulic equipment of the attitude control device.

  The invention of claim 1 is, for example, a three-axis SMW excavator (see FIG. 1) used for construction of a water blocking wall, earth retaining wall, earth pressure resistant structure, etc., above the auger head at the tip of the excavating shaft. A connection support device (steel box-shaped connection part) is provided, and a power generation / charging device (power generation / charger and battery) is provided in the interior, for example, power is generated by using the rotational power of the central excavation shaft to generate power Electric power required for the attitude control device installed at the connecting part at the tip of the excavation shaft is generated by always charging the battery properly with the floating charging method, etc., and driving the oil pressure generator (hydraulic pump, etc.) And hydraulic pressure is supplied internally to make the power cable-less and hydraulic hose-less (see FIG. 2). The attitude control device is a device that corrects the torsion error in the horizontal plane of the excavation axis, a device that corrects the displacement error in the horizontal direction, etc., and its electrical equipment is an inclination angle detection device, an electromagnetic valve control device, etc. The related equipment is an actuator such as a hydraulic jack or a clutch device for correcting torsion (see FIG. 3).

  The invention of claim 2 of the present invention is an underground continuous wall construction excavation in which a plurality of excavation shafts arranged in parallel and vertically supported by an excavator body on the ground are rotationally driven and excavated into the ground to drill holes. A connecting support device for rotatably connecting and supporting each excavation shaft below the plurality of excavation shafts, and a posture control device for correcting the drilling posture of the plurality of excavation shafts provided in the connection support device, In the coupling support device, it is arranged in parallel with the excavation shaft via a guide that slidably contacts the outer peripheral surface of the excavation shaft, so as not to rotate together with the rotating excavation shaft, and An excavator for underground continuous wall construction, wherein the excavator is supported so that the guide can be pressed against the excavation shaft and is provided with an inclination angle detection device for detecting an inclination angle of the excavation shaft.

  The invention of claim 2 is a three-axis type SMW excavator (see FIG. 1) or the like, in which an inclination angle detection device is externally attached to the excavation shaft and the inclination is measured. The tilt angle detector is pressed against the excavation shafts at both ends in the connecting part) by means of a guide (horizontal abutment plate) and attached to the side plate of the connection support device with a support device so that it does not rotate with the excavation shaft. The tilt angle detector is set in the same coordinate system as the connection support device, so that the tilt angle α of the rotating excavation shaft can be always detected in the drilling hole (see FIG. 2). In the tilt angle detection body parallel to the excavation axis, an inclinometer for detecting the tilt angle α in the X direction and the Y direction in the horizontal plane and a transmission unit for the detection signal are provided.

  The invention of claim 3 of the present invention is an excavation for underground continuous wall construction in which a plurality of excavation shafts arranged in parallel and vertically supported by an excavator body on the ground are rotated and driven into the ground to drill holes. A connecting support device for rotatably connecting and supporting each excavation shaft below the plurality of excavation shafts, and a posture control device for correcting the drilling posture of the plurality of excavation shafts provided in the connection support device, A power generation / charging device that generates electric power by being driven by the rotational power of the excavation shaft, and supplies the charged electric power to the electrical equipment of the attitude control device, and the rotational power of the excavation shaft. Is arranged in parallel with the excavation shaft via a hydraulic pressure generator that supplies hydraulic pressure to the hydraulic equipment of the attitude control device and a guide that slidably contacts the outer peripheral surface of the excavation shaft. , Co-rotating with rotating drilling shaft In addition, an excavator for underground continuous wall construction is provided, which is provided with an inclination angle detection device that detects the inclination angle of the excavation shaft, and is supported so that the guide can be pressed against the excavation shaft. is there.

  The invention of claim 3 is a combination of claim 1 and claim 2, and always detects the inclination angle of the excavating shaft rotating in the connection support device of the power cableless / hydraulic cableless in the drilling hole. This is a case where a possible tilt angle detection device is provided. As will be described later, it is preferable to use a signal transmission cable in the excavation shaft and a non-contact type signal transmission means of a unit rod connecting portion (conical joint) of the excavation shaft, as described later.

  According to a fourth aspect of the present invention, in the excavator for underground continuous wall construction according to any one of the first to third aspects, the attitude control device is a disk rotor that rotates integrally with the excavation shaft. And a brake device (clutch device) that is pressed by the disk rotor and transmits the rotational power of the disk rotor to the connection support device. .

  The invention of claim 3 is a case where torsional direction control is performed using a disc brake (clutch) type attitude control device, and is installed on a normal excavating shaft and a reverse excavating shaft, respectively, in the torsional direction in a horizontal plane. Accordingly, by selecting the disc rotor and operating the brake device, the selected excavation shaft and the connection support device are rotated together to correct the torsion error of the entire excavation shaft, that is, the connection support device (see FIG. 2). The brake device consists of a caliper pad that interrupts the rotational power of the disc rotor and its hydraulic actuator, etc., and the caliper body is fixed to the bottom plate of the connection support device, and the rotational couple of the disc rotor that rotates forward and reverse is selected. So that it can be transmitted to the connection support device.

  According to a fifth aspect of the present invention, in the excavator for underground continuous wall construction according to any one of the first to fourth aspects, the posture control device includes a soil wall of a drilling hole, a connection support device, It is a earth wall pressing device composed of a pressing plate that is disposed between and pressed against the earth wall of the drilling hole, and a drive device that moves the pressing plate back and forth with respect to the earth wall of the drilling hole. It is an excavator for underground continuous wall construction.

  The invention of claim 5 is a case where displacement control in the X direction and Y direction in a horizontal plane is performed using a soil wall pressing plate (skid) attitude control device, and a pressing plate that also serves as a skid at the time of drilling is provided. Displacement errors in the X direction and the Y direction of the entire excavation shaft, that is, the connection support device are corrected by reaction forces placed on both end surfaces and both side portions of the connection support device and pressed against the earth wall (see FIG. 2). A hydraulic jack and a parallel link mechanism can be used for the drive device (see FIG. 10). Further, as will be described later, it is preferable to use a displacement output type hydraulic jack and feedback-control the expansion / contraction control amount of the jack and the current expansion / contraction amount of the jack. Note that this pressing plate type attitude control device can also correct torsion.

  According to a sixth aspect of the present invention, in the excavator for underground continuous wall construction according to any one of the first to fifth aspects, a signal transmission cable is provided in the excavation shaft, and the excavation shaft is connected. The excavator for underground continuous wall construction is characterized in that a non-contact type signal transmission means is provided in the section.

  In the invention of claim 6, in the transmission of the measurement signal and the control signal between the ground part and the connection support device, a non-contact type signal transmission means is provided at the unit rod connecting part of the excavation shaft, and the unit rod is added. It is simple and can be performed in a short time, and prevents disconnection of the cable. As the non-contact type signal transmission means, a resonance circuit type non-contact connector using a known pair of induction coils can be used. As will be described later, regarding the control signal, it is preferable to adopt a data multiplex transmission system in which a plurality of control signals can be sent in one circuit.

  The invention according to claim 7 of the present invention is an underground continuous wall construction excavation in which a plurality of excavation shafts arranged in parallel and vertically supported by an excavator body on the ground are rotated and driven into the ground to drill holes. This is a posture control method for correcting the drilling posture of a plurality of excavating shafts in a machine, and a connecting support device that rotatably connects and supports each excavating shaft below a plurality of excavating shafts by the rotational power of the excavating shaft. A power generation / charging device that is driven, a hydraulic pressure generator that is driven by the rotational power of the excavation shaft, an inclination angle detection device that is arranged in parallel to the excavation shaft and detects the inclination angle of the excavation shaft, and rotates together with the excavation shaft A braking device comprising a disc rotor and a braking device for the disc rotor operated by the electric power and hydraulic pressure, a pressing plate pressed against the earth wall of the drilling hole, and a driving device operated by the electric power and hydraulic pressure to advance and retract the pressing plate. Clay wall press A tilt angle α of each of the excavation shafts at both ends is detected by the tilt angle detection device, and a torsion angle θ and a horizontal displacement error dX and dY in the horizontal plane of the connection support device are obtained from the tilt angle α. Based on the torsion angle θ, a disc rotor that rotates in the forward or reverse direction with the excavating shaft is selected, and the rotational power of the selected disc rotor is transmitted to the connection support device by the brake device, and the connection support device is shared. The twist of the connecting support device is corrected by rotating it, and the pressing plate of the earth wall pressing device is moved forward and backward by the driving device based on the displacement errors dX and dY, so that the displacement of the connecting support device in the X direction and the Y direction is changed. It is the attitude control method of the excavator for underground continuous wall construction characterized by correcting.

  The invention of claim 7 is a disk brake type attitude control device using a power cableless / hydraulic cableless connection support device and an inclination angle detection device that can always detect an inclination angle of a rotating excavating shaft during drilling. Thus, the torsion correction of the entire excavation shaft, that is, the connection support device is performed, and the displacement of the entire excavation shaft, that is, the connection support device is corrected by the earth wall pressing plate type attitude control device. The torsion angle θ can be obtained using the difference between the inclination angles α of the excavation shafts at both ends, the excavation shaft length L, and the excavation shaft interval D (see FIG. 7, formula (1) described later). The displacement errors dX and dY can be obtained using the inclination angle α of the excavation shafts at both ends and the excavation shaft length L (see FIG. 7, equations (2) and (3) described later).

  According to an eighth aspect of the present invention, in the attitude control method according to the seventh aspect of the present invention, the signal transmission cable in the excavation shaft and the non-contact type signal transmission means at the connecting portion of the excavation shaft are used. A control method for an excavator for construction of an underground continuous wall, characterized by transmitting a control signal to the drive device of the apparatus and the earth wall pressing device by a data multiplex transmission method.

  In the invention of claim 8, the measurement signal and the control signal are transmitted by the signal transmission cable in the excavation shaft and the non-contact type signal transmission means, and the control signal is a data multiplex capable of sending a plurality of control signals in one circuit. A transmission method is adopted (see FIG. 3). Multiple control signals are transmitted to the individual solenoid valves of the attitude control device and the solenoid valve control device that controls the control equipment, and the control data group that has been multiplexed is assigned to the control signals corresponding to the individual solenoid valves, etc. And individual solenoid valves and the like are controlled.

  According to a ninth aspect of the present invention, in the posture control method according to the seventh or eighth aspect, a displacement output type hydraulic jack is used as the driving device of the earth wall pressing device, and the expansion / contraction control amount of the jack and the jack are controlled. This is an attitude control method for an excavator for construction of an underground continuous wall, characterized by comparing an actual expansion / contraction displacement amount and controlling expansion / contraction of a hydraulic jack by feedback control.

  According to the ninth aspect of the present invention, the displacement control of the excavation shaft can be accurately performed by using a displacement output type hydraulic jack as an actuator of the pressing plate type attitude control device and performing feedback control.

Since the present invention is configured as described above, the following effects can be obtained.
(1) Power supply (1-1) Power required for inclinometers, jack displacement gauges, solenoid valves for hydraulic equipment control, etc. can be generated, fed and stored in the connection support device at the end of the excavation shaft, and supplied internally For this reason, it is not necessary to supply power from the ground using a power cable, and connection / extension work of the power cable is not required when connecting the unit rods when extending the excavation depth, so that loss time is eliminated and workability is greatly improved. Further, there is no accident that the power cable is caught in the excavation shaft during excavation and disconnected.
(1-2) Since the battery is always properly charged, the manual work of removing the battery and charging it periodically becomes unnecessary, improving workability and saving labor. In addition, power supply troubles due to overdischarge and insufficient charging of the battery are also eliminated.

(2) Supply of hydraulic pressure (2-1) Since the hydraulic pressure of the hydraulic actuator of the attitude control device that corrects torsion or displacement of the drilling shaft can be generated in the connection support device at the tip of the drilling shaft and supplied internally, Hydraulic pressure for torsion correction and displacement correction does not need to be supplied from the ground with a hydraulic hose, connecting and extending the hydraulic hose associated with unit rod connection work when extending the excavation depth is eliminated, and loss time is eliminated. Workability is greatly improved. Further, there is no accident that the hydraulic hose is caught in the excavation shaft during the excavation and is damaged.
(2-2) Since there is no need to pump a long distance from the ground with a hydraulic hose, there are no problems due to pressure loss of hydraulic pressure, malfunction of hydraulic equipment due to increased back pressure, control trouble due to time delay of hydraulic response, etc. Is done.

(3) Location of inclinometer Since the tilt angle detector with built-in inclinometer is installed outside the excavation shaft in the connection support device, it does not rotate with the excavation shaft and is held parallel to the vertical direction of the excavation shaft. Even when the excavating shaft is rotating, the inclination angle of the excavating shaft can be accurately measured. For this reason, it is possible to always measure the tilt even during excavation, and to grasp the attitude of the excavation axis. As a result, it is possible to constantly grasp the attitude of the excavation axis and correct the attitude in real time while excavating, so that accurate vertical excavation is always possible. Moreover, since it is not necessary to stop the rotation of the excavation shaft for measurement, loss time is eliminated.

(4) Control signal transmission in the excavation direction Transmitting measurement signals and control signals using a signal transmission cable installed in the excavation shaft and non-contact type signal transmission means at the unit rod connection, and data multiplex transmission By adopting the method and transmitting multiple control signals, communication cable problems such as signal cable connection failure and disconnection due to the installation of signal cables outside the drilling shaft and the use of multi-core composite cables are drastically reduced. , Measurement and control reliability is increased.

(5) Torsion direction control The torsional orientation control device is a torque control system using a disc brake (clutch) that uses the couple of the excavation shaft's forward and reverse rotational force to correct the torsion of the entire excavation shaft, that is, the connecting support device. The twist correction can be performed while drilling, there is no loss time, the workability is good, and the high accuracy in the vertical direction can be maintained. Further, even when the earth wall pressing plate cannot obtain a reaction force from the earth wall due to soft geology, the twist direction can be corrected. Further, the twist direction can be corrected by a posture control device having a relatively simple structure including a disk rotor and a brake device.

(6) Extrusion amount of the skid for pressing the earth wall It is possible to control displacement during drilling with a relatively simple attitude control device consisting of a pressing plate skid, hydraulic jack and parallel link mechanism, no loss time and good workability. Therefore, it is possible to maintain high accuracy in the vertical direction. Further, by performing feedback control using a displacement output type hydraulic jack, it is possible to accurately grasp the push-out amount of the pressing plate and to accurately control the displacement of the excavating shaft.

  (7) Due to the above, construction with high workability and high vertical accuracy is possible, especially for large depth and low head construction where the number of unit rod connections (number of conical joints) is large, even for continuous walls of ground including gravel layers and cobblestones. Is possible.

  Hereinafter, the present invention will be described based on the illustrated embodiments. This embodiment is an example in which the present invention is applied to a three-axis SMW excavator.

(1) Overall equipment configuration of a 3-axis SMW excavator FIG. 1 shows an example of a 3-axis SMW excavator. FIGS. 1 (a) to 1 (c) show three surfaces before drilling. Fig. 1 (d) is a diagram showing a state in which unit rods of a predetermined length are connected (cone joint). The underground portion of the 3-axis SMW excavator 1 is composed of three excavation shafts 2. Each excavation shaft 2 includes an auger rod 5 having an auger head 4 having an excavation bit 3 provided at the tip thereof, and a stirring blade. A plurality of agitation rods 7 having 6 and a plurality of relay rods 8 are formed, and drilling is performed while these rods are sequentially added. A cement-based suspension such as cement milk passes through the excavation shaft 2 and is discharged from the tip portion.

  The ground portion includes a base machine (excavator main body) 10 on which a power unit and the like are mounted, a guide leader mast 11 that is vertically held on the front surface of the excavator shaft via a stay, and an excavation shaft that is attached to the top and bottom of the excavation shaft. The rotary drive device 12 and the like are used for drilling by rotating the three excavating shafts 2 and lowering the rotary drive device 12 with a hydraulic cylinder or the like. An excavation depth detector 13 is provided above the guide reader mast 11, and the depth detection wire 14 is connected to the rotary drive device 12, whereby the accumulated depth of the excavation axis is measured. A swivel joint (not shown) is provided at the upper end of the excavation shaft in the rotary drive device 12, and cement milk and compressed air are supplied into the excavation shaft 2.

  The three excavation shafts 2 are arranged in the column direction of the SMW, and the central auger head 4 is shifted upward so that the outer peripheral portions of the three drilling holes are overlapped in plan view. Further, the three excavating shafts 2 are connected and held by providing a connecting body at a position above the auger head 4 in order to restrict the relative position in plan view. A special connection support device 20 is used for the body, and the inclination measurement of the excavation shaft and the vertical direction control are performed in the connection support device 20 using an internal drive source.

(2) Main equipment configuration in excavation shaft connecting portion FIG. 2 shows an example of main equipment configuration in the connection support device 20. The connection support device 20 is a steel box having a shape in which three cylindrical bodies covering the excavation shaft 2 are connected together, and is composed of an upper plate 21, a bottom plate 22, and a side plate 23 so that excavation soil or the like does not enter. Is sealed. Further, the top plate 21 and the bottom plate 22 have a planar shape and size that can pass through three drilling holes with a gap therebetween, and are freely rotatable via bearings provided with three excavation shafts 2 on the top plate and the bottom plate, respectively. I support it.

  A power generation / charging device 30 that generates power by being driven by the rotational power of the central excavation shaft 2-2 in such a connection support device 20 and supplies the charged power to electrical related devices in the connection support device 20; The hydraulic generator 40 is driven by the rotational power of the central excavation shaft 2-2 to generate hydraulic pressure and supplies the hydraulic pressure to the hydraulic equipment in the connection support device 20, and the right and left excavation shafts 2-1 and 2 -3, an external inclination angle detecting device 50, 50 for detecting the inclination angle outside the excavation shaft, and a rotating excavation shaft 2-1 or 2-3 rotating in the reverse direction next to the central excavation shaft 2-2. Disc brake (clutch) type attitude control devices 60 (for forward rotation) and 60 (for reverse rotation) for controlling the torsion that can be transmitted to the connection support device 20 by selecting a force are provided. Further, pressure plate type attitude control devices 70 (X direction) and 70 (Y direction) for controlling the displacement in the X direction and the Y direction in the horizontal plane are provided outside the connection support device 20. In addition, hydraulic control devices (electromagnetic valve control device, electromagnetic valve, pressure control valve, etc.) 42 of attitude control devices 60 and 70 are also installed in the connection support device 20.

(3) Power Generation / Charging System FIG. 4 shows an example of a power generation / charging system using the power generation / charging device 30. The power generation / charging device 30 includes a power generation / charger (alternator) 31, a battery 32, a power take-out gear 33 provided on a central excavation shaft 2-2, a driven gear 34 meshed with the power take-off gear 33, and the like. Then, the generator / charger 31 is rotated by the power of the central excavation shaft 2-2 so that the battery 32 is always properly charged. The floating charging method is preferable for charging. As shown in FIG. 3 described later, the charged electric power is supplied to an inclination angle detection device 50, a solenoid valve control device 44, a displacement meter of a displacement output type hydraulic jack 73, and the like described later.

(4) Hydraulic Pump System FIG. 5 shows an example of a hydraulic pump system by the hydraulic pressure generator 40. The hydraulic pressure generator 40 includes a hydraulic pump 41, a hydraulic control device 42, a driven gear 43 that meshes with the power take-out gear 33, and the like, and drives the hydraulic pump 41 with the power of the central excavation shaft 2-2. As shown in FIG. 3, the hydraulic control device 42 includes a solenoid valve control device 44, a solenoid valve 45, a proportional solenoid pressure control valve 46, 46, a hydraulic oil tank, a pressure accumulator, a filter, and the like. The generated hydraulic pressure is supplied via a solenoid valve 45 to a displacement output type hydraulic jack 73 of a pressing plate type attitude control device 70, which will be described later, and proportional solenoid valve pressure control valves 46 (for forward rotation disks) and 46 (for reverse rotation disks). ) Is supplied to the disc brake attitude control device 60, and the torsional error and displacement error of the excavation shaft are corrected as will be described later.

(5) Inclination Angle Detection System FIG. 6 shows an example of an inclination angle detection system by the inclination angle detection device 50. FIG. 7 shows the relationship between the inclination angle α of the excavation shaft and the twist angle θ of the excavation shaft coupling portion. As shown in FIG. 6, the inclination angle detection device 50 is supported in parallel along the excavation axis 2 so that the inclination angle α can be detected in a state where it is placed with respect to the rotating excavation axis 2. A cylindrical inclination angle detection body 51 along the excavation axis 2, and an inclinometer guide 52 that is attached to the inclination angle detection body 51 at an interval in the vertical direction and holds the inclination angle detection body 51 in parallel with the excavation axis 2. The support device 53 is attached to the side plate 23 of the connection support device 20 and supports the tilt angle detector 51.

  The tilt angle detector 51 incorporates a precision inclinometer capable of measuring the tilt in the X direction and the Y direction and its transmission unit. The inclinometer guide 52 is a horizontal abutment plate, and a semicircular guide surface that slidably contacts the outer peripheral surface of the excavation shaft 2 is formed at the tip thereof. The support device 53 includes, for example, a vertical support plate 53a attached to the tilt angle detector 51 and a pair of sandwiching plates 53b attached to the side plate 23 of the connection support device 20, and the support plates 53a are sandwiched in pairs. It is inserted between the plates 53b and pressed against the excavation shaft side with a spring. The pair of sandwiching plates 53b prevent the support plate 53a from rotating, and provide a bottom portion to support the support plate 53a from falling. With the above configuration, the tilt angle detector 51 is always pressed in parallel to the rotating excavation shaft 2, and the tilt angle α of the excavation shaft 2 can be accurately measured in the drilling hole. Such an inclination angle detection device 50 may be provided on each excavation shaft 2, but may be installed on the excavation shafts 2-1 and 2-3 on the left and right sides.

In FIG. 7, the inclination angles α ₁ x, α ₁ y, α ₃ x, α ₃ y (partial coordinate system (x, y, z)) and the reference coordinate system (X, Y, Z) of the continuous wall are shown. By using the following equation (1), the inclination angles α ₁ x to α ₃ y are shown. Therefore, the torsion angle θ in the horizontal plane of the entire three excavation shafts, that is, the connection support device 20 can be obtained. Further, by using the following equations (2) and (3), the displacement of the entire three excavation shafts, that is, the connection support device 20 in the horizontal direction is calculated from the inclination angles α ₁ x to α ₃ y and the twist angle θ. Errors dX and dY can be determined.

θ = arctan (L · sin ((α ₁ y−α ₃ y) / 2) / D) (1)
dX = L · cos θ · sin (0.5 · (α ₁ x + α ₃ x)) · cos (0.5 · (α ₁ x−α ₃ x))
-L · sinθ · sin (0.5 · (α ₁ y + α ₃ y)) · cos (0.5 · (α ₁ y−α ₃ y))
… (2)
dY = L · sin θ · sin (0.5 · (α ₁ x + α ₃ x)) · cos (0.5 · (α ₁ x−α ₃ x))
+ L · cos θ · sin (0.5 · (α ₁ y + α ₃ y)) · cos (0.5 · (α ₁ y-α ₃ y))
(3)

θ: Twist angle of excavation shaft (plane angle)
dX: X direction displacement error of the excavation axis dY: Y direction displacement error of the excavation axis α ₁ x: x direction inclination angle of the first excavation axis α ₃ x: x direction inclination angle of the third excavation axis α ₁ y: first Y direction inclination angle of drilling axis α ₃ y: Y direction inclination angle of third drilling axis L: Length of drilling axis D: Distance between drilling holes

The excavation axis error correction can be realized by correcting the torsion angle θ with the disc brake type attitude control device 60 and then correcting the displacement errors dX and dY with the press plate type attitude control device 70.

(6) Torsion Direction Control Disc Rotor System FIG. 8 shows an example of a torsion direction control disc rotor system by the disc brake attitude control device 60. The disc brake attitude control device 60 is installed on the excavating shaft 2 and rotated together with the excavating shaft 2, and is installed on the bottom plate 22 of the connection support device 20. A brake (clutch) device 62 that transmits to the connection support device 20 is configured. A system is constituted by the device 60, the electromagnetic valve control device 44, the proportional electromagnetic pressure control valve 46, and other hydraulic equipment shown in FIG.

  The disk rotor 61 is a disk having a predetermined thickness and is disposed on the bottom plate 22 of the connection support device 20. The brake device 62 includes a caliper and a pad portion that sandwich the outer peripheral portion of the disc rotor 61 with hydraulic pressure, a hydraulic actuator, and the like, and fixes the caliper main body portion to the bottom plate 22. If the pad is pressed against the disc rotor 61 by the caliper pressing mechanism, the rotational couple can be transmitted to the connection support device 20. If the pad is released, the transmission of the rotational couple can be released.

  Since the three excavating shafts 2 are rotated in the opposite directions, disc brake attitude control devices 60 are installed on the central excavating shaft 2-2 and the adjacent excavating shaft 2-1 or 2-3. To be able to extract forward and reverse rotational couples. As shown in FIG. 3, the proportional electromagnetic valve pressure control valve 46 (for forward rotation disc) and 46 (for reverse rotation disc) of the brake device 62 are operated by the electromagnetic valve control device 44. Based on the torsion angle θ obtained by the tilt angle measurement described above, either the forward rotation direction or the reverse rotation direction of the disk rotor 61 is selected, the brake device 62 is operated, and the excavation shaft 2 rotates forward or reverse. As a result, the connection support device 20 rotates together, and the torsional error of the connection support device 20 is corrected.

(7) Soil wall pressing skid system FIG. 9 shows an example of a soil wall pressing skid system by the pressing plate type attitude control device 70. FIG. 10 shows an example of a driving mechanism for the earth wall pressing skid. As shown in FIGS. 9 and 10, the pressing plate type attitude control device 70 includes a soil wall pressing skid 71 as a pressing plate disposed outside the side plate 23 of the connection support device 20, and this skid 71 is formed as a drilling hole. The driving device 72 is configured to move forward and backward with respect to the earth wall. A system is constituted by the device 70, the electromagnetic valve control device 44, the electromagnetic valve 45, and other hydraulic equipment shown in FIG.

  Since the skid 71 is a vertically long plate and is also a sliding plate at the time of drilling, as shown in FIG. 9, the skid 71 has an arc shape according to the plan view shape of the side plate 23 of the connection support device 20, and an upper end portion and The lower end is bent inward. Further, in order to correct displacement errors in the X direction and the Y direction, the skid 71 is arranged on both end faces of the connection support device 20 (two in total) as shown in FIG. Are arranged on both side surfaces of the connection support device 20 (four in total).

  As shown in FIG. 10, the driving device 72 includes a displacement output type hydraulic jack 73 that moves the skid 71 forward and backward, a parallel link 74 that is attached to the inside of the skid 71 and moves the skid 71 in parallel, and the hydraulic jack 73. It is comprised from the attachment plate 75 etc. which attach the link 74 to the connection support apparatus 20. FIG. When the hydraulic jack 73 is extended, the vertical skid 71 is moved in parallel with the earth wall by the parallel link mechanism, and the horizontal position of the connection support device 20 can be corrected by the reaction force pressing the earth wall. .

  As shown in FIG. 3, the displacement output type hydraulic jack 73 is controlled by operating the electromagnetic valve 45 by the electromagnetic valve control device 44, compares the expansion / contraction control amount with the actual expansion / contraction amount at the present time, and performs feedback control. By doing so, accurate displacement control in the X direction and Y direction can be performed. The pressing plate attitude control device 70 is used for horizontal displacement control, but can also be controlled for torsion.

(8) Measurement / Control System FIG. 3 is a block diagram showing the device configuration and the measurement / control system of the present invention. In FIG. 3, the inclinometer of the tilt angle detecting device 50 measures the tilt angles α in two directions in the X and Y directions at the tip of the drilling shafts at both ends of the three drilling shafts. The inclination angle data is transmitted to the excavation direction measuring unit 82a of the ground-side measurement / direction control computer 82 by the signal transmission cable 80 in the shaft and the non-contact type signal transmission means 81 of the rod connecting portion (cone joint). The The accumulated depth of the excavation axis is acquired by the excavation depth detector 13 provided in the guide leader mast on the ground and input to the excavation direction measuring unit 82a together with the inclination angle data.

  The excavation direction control unit 82b calculates the vertical accuracy and direction control amount of the excavation axis based on the inclination data and the depth data. A plurality of control signals for correcting the direction of the excavation shaft are transmitted to the solenoid valve control device 44 in the connection support device 20 at the excavation shaft tip by one data multiplex transmission method. Also in this case, the signal transmission cable 80 and the non-contact signal transmission means 81 are used for transmission of the control signal. As the non-contact type signal transmission means 81, a resonance circuit type non-contact connector using a pair of induction coils arranged to face the rod connecting portion can be used. In addition, a slip ring is used for transmission of the measurement signal and the control signal in the ground part and the excavation shaft connecting part. Further, in the SMW method that is normally constructed with three axes, one axis is used for transmission of measurement signals to the ground part, and one of the remaining two axes is used for transmission of control signals from the ground part.

  In the electromagnetic valve control device 44, the direction control data group of the excavation axis that has been transmitted in a multiplexed manner is assigned to control signals corresponding to individual electromagnetic valves and control devices, and each device is controlled.

  Control of the torsional direction control disk rotor system 60 requires setting of a transmission torque control amount in addition to selection of normal rotation or reverse rotation. For this reason, the proportional electromagnetic that is reduced to a hydraulic pressure proportional to the required rotational couple. The caliper and the pad brake device are driven via the pressure control valve 46.

  Regarding the control of the skid system 70 for pressing the earth wall, since it is necessary to control the displacement of the skid 71, the displacement output type hydraulic jack 73 is used, and the current displacement amount of the hydraulic jack is returned to the solenoid valve controller. The push-out amount of the skid 73 is feedback-controlled while being compared with the displacement control amount.

  The electric power and hydraulic pressure required in the connecting support device 20 at the tip of the excavation shaft are supplied internally by a power generator / charger 31 and a hydraulic pump 41 that extract power from the rotational force of the excavation shaft.

  In addition, although the above demonstrated the SMW excavator, this invention is applicable also to the excavator for another underground continuous wall construction. Moreover, it cannot be overemphasized that it is not limited to the example of illustration.

FIG. 1 shows an embodiment of an excavator according to the present invention. (A), (b), (c) are a front view, a side view, a plan view, and (d) are a predetermined length before the drilling. It is a side view of the state which connected the unit rod of. FIG. 2 is a perspective view showing an example of a main equipment configuration in the connection support device for an excavator according to the present invention, with a part thereof broken away. It is a block diagram which shows the apparatus structure and measurement / control system of the excavator of this invention. It is an example of the electric power generation and charging system of the excavator of this invention, and is a perspective view which fractures | ruptures and shows a part. It is an example of the hydraulic pump system of the excavator of this invention, and is a perspective view which fractures | ruptures and shows a part. It is an example of the inclination angle detection system of the excavator of this invention, and is a perspective view which fractures | ruptures and shows a part. FIG. 2 shows a relationship between an inclination angle α of the excavation shaft and a twist angle θ of the excavation shaft coupling portion in the inclination angle detection system of the present invention, where (a) is a perspective view and (b) is a plan view. 1 is a perspective view showing a partially enlarged view of an example of a disc rotor system for controlling a twist direction of an excavator according to the present invention. FIG. FIG. 1 shows an example of a skid system for pressing an earth wall of an excavator according to the present invention, and is a cutaway view showing a part thereof. It is a side view which shows the drive mechanism of the skid for clay wall pressing of this invention.

Explanation of symbols

1 …… 3-axis type SMW excavator (excavator for continuous underground wall construction)
2 ... Drilling shaft 3 ... Drilling bit 4 ... Auger head 5 ... Auger rod 6 ... Agitation blade 7 ... Agitation rod 8 ... Relay rod 10 ... Base machine (excavator body)
DESCRIPTION OF SYMBOLS 11 ... Guide leader mast 12 ... Rotary drive device 13 ... Excavation depth detector 14 ... Depth detection wire 20 ... Connection support device 21 ... Top plate 22 ... Bottom plate 23 ... Side plate 30 ... Electric power generation Charging device 31 …… Power generation / charging machine (alternator)
32 …… Battery 33 …… Power take-off gear 34 …… Driving gear 40 …… Hydraulic generator 41 …… Hydraulic pump 42 …… Hydraulic control device 43 …… Driving gear 44 …… Solenoid valve control device 45 …… Solenoid valve 46 …… Proportional electromagnetic pressure control valve 50 …… Inclination angle detector 51 …… Inclination angle detector 52 …… Inclinometer guide 53 …… Support device 60 …… Disc brake (clutch) attitude control device 61 …… Disc rotor 62 …… Brake (clutch) device 70 …… Pressing plate type attitude control device 71 …… Skid for pressing earth wall (pressing plate)
72 …… Drive device 73 …… Displacement output type hydraulic jack 74 …… Parallel link 75 …… Mounting plate 80 …… Signal transmission cable 81 …… Non-contact signal transmission means 82 …… Measurement / direction control computer

Claims (9)

In the underground continuous wall construction excavator that drills into the ground while rotating a plurality of parallelly arranged excavation shafts vertically supported by the excavator body on the ground,
A connection support device that rotatably connects and supports each excavation shaft below the plurality of excavation shafts, and a posture control device that is provided in the connection support device and corrects the drilling posture of the plurality of excavation shafts, In the connection support device, a power generation / charging device that is driven by the rotational power of the excavation shaft to generate electric power and supplies the charged electric power to the electrical equipment of the attitude control device, and is driven by the rotational power of the excavation shaft. And a hydraulic pressure generating device for generating the hydraulic pressure and supplying the hydraulic pressure to the hydraulic equipment of the attitude control device. In the underground continuous wall construction excavator that drills into the ground while rotating a plurality of parallelly arranged excavation shafts vertically supported by the excavator body on the ground,
A connection support device that rotatably connects and supports each excavation shaft below the plurality of excavation shafts, and a posture control device that is provided in the connection support device and corrects the drilling posture of the plurality of excavation shafts, In the connection support device, the guide is disposed in parallel with the excavation shaft via a guide that slidably contacts the outer peripheral surface of the excavation shaft, and does not rotate together with the rotating excavation shaft. An excavator for construction of an underground continuous wall, which is supported so as to be pressed against the excavation shaft and is provided with an inclination angle detection device for detecting the inclination angle of the excavation shaft. In the underground continuous wall construction excavator that drills into the ground while rotating a plurality of parallelly arranged excavation shafts vertically supported by the excavator body on the ground,
A connection support device that rotatably connects and supports each excavation shaft below the plurality of excavation shafts, and a posture control device that is provided in the connection support device and corrects the drilling posture of the plurality of excavation shafts, In the connection support device, a power generation / charging device that is driven by the rotational power of the excavation shaft to generate electric power and supplies the charged electric power to the electrical equipment of the attitude control device, and is driven by the rotational power of the excavation shaft. It is arranged in parallel with the excavating shaft via a hydraulic pressure generating device that generates hydraulic pressure and supplies the hydraulic pressure to the hydraulic equipment of the attitude control device, and a guide that slidably contacts the outer peripheral surface of the excavating shaft and rotates. An underground having an inclination angle detecting device that is supported so as not to rotate around the excavation axis and that can press the guide against the excavation axis and detects an inclination angle of the excavation axis. Drilling for continuous wall construction .   The underground continuous wall construction excavator according to any one of claims 1 to 3, wherein the attitude control device includes a disc rotor that rotates integrally with the excavation shaft, and a disc that is pressed by the disc rotor. An excavator for underground continuous wall construction, characterized in that it is a braking device comprising a braking device that transmits the rotational power of a rotor to a connection support device.   The excavator for underground continuous wall construction according to any one of claims 1 to 4, wherein the attitude control device is disposed between the soil wall of the drilling hole and the connection support device, and the soil of the drilling hole is provided. An excavator for underground continuous wall construction, characterized in that it is a soil wall pressing device composed of a pressing plate pressed against a wall and a drive device for moving the pressing plate forward and backward with respect to the soil wall of the drilling hole.   The underground continuous wall construction excavator according to any one of claims 1 to 5, wherein a signal transmission cable is provided in the excavation shaft, and a non-contact type signal transmission means is provided at a connection portion of the excavation shaft. An excavator for underground continuous wall construction, characterized in that is provided. In an underground continuous wall construction excavator that excavates into the ground while rotating a plurality of parallelly arranged excavating shafts that are vertically supported by the excavator body on the ground, the cutting of the plural excavating shafts is performed. An attitude control method for correcting the hole attitude,
A power generation / charging device driven by the rotational power of the excavation shaft and a hydraulic pressure generator driven by the rotational power of the excavation shaft are connected to a connection support device that rotatably connects and supports each excavation shaft at the lower part of the plurality of excavation shafts An inclination angle detection device that is arranged in parallel with the excavation shaft and detects an inclination angle of the excavation shaft, a braking device that includes a disc rotor that rotates together with the excavation shaft, and a brake device for the disc rotor that operates with the electric power and hydraulic pressure, A pressing plate pressed against the earth wall of the drilling hole, and a earth wall pressing device comprising a drive device that operates by the electric power and hydraulic pressure to move the pressing plate back and forth,
The inclination angle detection device detects the inclination angles α of the excavation shafts at both ends, and obtains the torsion angle θ and the horizontal displacement errors dX and dY in the horizontal plane of the connection support device from the inclination angle α.
Based on the torsion angle θ, the disc rotor that rotates in the forward or reverse direction with the excavation shaft is selected, and the rotational power of the selected disc rotor is transmitted to the connection support device by the brake device, and the connection support device is rotated together. To correct the twist of the connection support device,
Based on the displacement error dX and dY, the pressing plate of the earth wall pressing device is moved forward and backward by a driving device to correct the displacement in the X direction and the Y direction of the connection support device. Excavator attitude control method.   The attitude control method according to claim 7, wherein a signal transmission cable in the excavation shaft and a non-contact type signal transmission means at the connecting portion of the excavation shaft are used to drive the brake device of the braking device and the driving device of the earth wall pressing device. A control method for an excavator for construction of a continuous underground wall, characterized by transmitting a control signal of the above by a data multiplex transmission method. In the posture control method according to claim 7 or claim 8, a displacement output type hydraulic jack is used as a driving device of the earth wall pressing device, and the expansion / contraction control amount of the jack is compared with the actual expansion / contraction displacement amount of the jack, An attitude control method for an excavator for continuous underground wall construction, characterized in that a hydraulic jack is extended and contracted by feedback control.

Images