JP2019199784A - Spray support device - Google Patents

Abstract

To provide a spray support device capable of performing spray work of concrete more easily.SOLUTION: Based on a detection result of operation of a plurality of joints 10a-10h, a target value of the operation of a third joint 10c (a target value of a telescopic motion speed) is calculated for maintaining a position of a tip end of a spray nozzle 7h in a predetermined plane (a reference plane). Then, the operation of the third joint 10c (the target value of the telescopic motion speed) is controlled based on the calculated target value.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a spraying support device applied to a concrete spraying machine used for tunnel construction.

2. Description of the Related Art Conventionally, a concrete sprayer including a support member attached to a movable carriage and a spray head device attached to the support member and having a spray nozzle is known (see, for example, Patent Document 1). In the concrete sprayer disclosed in Patent Document 1, an operator manually operates the support member and the spray head device by moving a control lever and the like.
However, in the concrete sprayer described in Patent Document 1, when the rotary joint on the base side of the support member is operated, the tip position of the spray nozzle changes to a hemisphere. Therefore, for example, when concrete is sprayed on a wall surface or a face in a tunnel, high skill is required for the operator.

JP-A-8-303191

  This invention is made paying attention to the above points, and it aims at providing the spraying assistance apparatus which can perform concrete spraying work more easily.

  In order to solve the above problems, one embodiment of the present invention is as follows: (a) a support member attached to a movable carriage and provided with a plurality of joints; and a support member attached to the support member and attached to the movable carriage. A spray support device for supporting control of a position of a tip portion of a spray nozzle in a concrete spray machine provided with a provided support member and a spray head device attached to the support member and having a spray nozzle. ) An instruction input for the operation of the first rotary joint that enables relative displacement between the movable carriage and the first component of the support member, and relative displacement between the first component and the second component of the support member. An instruction input unit that receives an instruction input of the operation of the second rotary joint, (c) an operation amount detection unit that detects some or all of the plurality of joints, and (d) an instruction input unit Based on instruction input Second, for calculating a target value of the operation of the first and second rotary joints, and maintaining the position of the tip of the spray nozzle within a predetermined plane based on the detection result of the operation amount detection unit A target value calculation unit that calculates a target value of the motion of the linear motion joint that enables relative displacement between the component part and the third component part of the support member, and (e) based on the target value calculated by the target value calculation unit The gist of the present invention is that it is a spraying support device including a joint motion control unit that controls the motions of the first and second rotary joints and the linear motion joint.

  According to the present invention, the linear motion joint can be automatically expanded and contracted so that the tip of the spray nozzle moves within a certain plane. Therefore, the spray assistance apparatus which can perform concrete spraying work more easily can be provided.

It is a conceptual diagram showing schematic structure with a spraying assistance apparatus and a concrete spraying machine. It is explanatory drawing for demonstrating a supporting member and a spraying head apparatus, (a) is a top view, (b) is a side view. It is a flowchart showing a spray execution process. It is explanatory drawing for demonstrating the top end, left end, right end, and reference plane of a support inner surface, (a) is a figure when it sees from the A direction of FIG. 1, (b) is a figure of (a). It is sectional drawing in the BB line.

A spraying support apparatus according to an embodiment of the present invention will be described with reference to the drawings.
(Constitution)
As shown in FIG. 1, the spraying support device 1 according to the embodiment of the present invention is a tunnel construction for spraying concrete to the circumferential wall surface between the adjacent support works 2 a and 2 b of the tunnel inner wall and the face 3. It is mounted on a working vehicle (hereinafter also referred to as “concrete sprayer 4”).
A concrete sprayer 4 according to an embodiment of the present invention is attached to a movable carriage 5, a support member 6 attached to the movable carriage 5 and provided with a plurality of joints including a rotary joint and a linear motion joint, and the support member 6. A spray head device 7 having a spray nozzle 7h, and a joint drive device 8 for driving each joint (rotary joint, linear motion joint) of the support member 6.

  As shown in FIGS. 2 (a) and 2 (b), the support member 6 includes a first component 6a attached to the movable carriage 5 and a square tube-like second component attached to the first component 6a. A component 6b (outer boom) and a prismatic third component 6c (inner boom) inserted into the second component 6b are provided. Also, a fourth component 6d attached to the third component 6c and a fifth component 6e attached to the fourth component 6d are provided.

  Between the movable carriage 5 and the first component 6a, rotation with the axis extending in the vertical direction (Z direction in FIG. 2) as a rotation axis (hereinafter also referred to as “first rotation axis 9a”). A boom swing mechanism including a joint (hereinafter also referred to as “first joint 10a”) is formed. In addition, a shaft extending in the left-right direction (horizontal direction) of the movable carriage 5 is provided between the first component 6a and the second component 6b as a rotary shaft (hereinafter, “second rotary shaft 9b”). A rotary joint (hereinafter also referred to as “second joint 10 b”) is formed as a boom tilt mechanism composed of “also called a second tilt joint”. Further, a linear motion shaft (hereinafter referred to as “third linear motion shaft 9c”) extending in the longitudinal direction of the second structural component 6b is provided between the second structural component 6b and the third structural component 6c. A boom slide mechanism is formed which includes a linear motion joint (hereinafter also referred to as “third joint 10 c”) that expands and contracts along the line. That is, the first joint 10a can relatively displace the movable carriage 5 and the first component 6a, and the second joint 10b can relatively displace the first component 6a and the second component 6b. The third joint 10c enables relative displacement between the second component 6b and the third component 6c.

  Between the third component 6c and the fourth component 6d, an axis extending in the left-right direction of the movable carriage 5 parallel to the second rotation shaft 9b is referred to as a rotation shaft (hereinafter referred to as “fourth rotation”). An arm tilt mechanism is formed which includes a rotary joint (hereinafter also referred to as “fourth joint 10d”) as a shaft 9d ”. Further, an axis extending in a direction orthogonal to the fourth rotation shaft 9d is provided between the fourth component 6d and the fifth component 6e as a rotation shaft (hereinafter referred to as “fifth rotation shaft 9e”). The arm swing mechanism is formed of a rotary joint (hereinafter also referred to as “fifth joint 10e”). In the example of FIGS. 2A and 2B, the fifth rotating shaft 9e is parallel to the first rotating shaft 9a (an axis extending in the vertical direction).

  The spray head device 7 includes a sixth component 7f attached to the fifth component 6e of the support member 6, a seventh component 7g attached to the sixth component 7f, and a seventh configuration. A spray nozzle 7h (eighth component) that is attached to the component 7g and injects concrete. Between the fifth component 6e and the sixth component 7f, a linear motion shaft (hereinafter also referred to as “sixth linear motion shaft 9f”) extending in a direction orthogonal to the fifth rotation shaft 9e. ) Is formed as a nozzle slide mechanism composed of a linear motion joint (hereinafter also referred to as “sixth joint 10 f”) that expands and contracts along the horizontal axis. In the example of FIGS. 2A and 2B, the sixth linear motion shaft 9f is parallel to the third linear motion shaft 9c. Between the sixth component 7f and the seventh component 7g, an axis extending in a direction parallel to the sixth linear movement shaft 9f is a rotation axis (hereinafter referred to as “seventh rotation axis 9g”). The nozzle tilt mechanism is formed of a rotary joint (hereinafter referred to as “seventh joint 10 g”). In addition, an axis extending in a direction orthogonal to the seventh rotation shaft 9g is provided between the seventh component 7g and the spray nozzle 7h (eighth component). A nozzle swing mechanism is formed that includes a rotary joint (also referred to as “rotary shaft 9h”) (hereinafter also referred to as “eighth joint 10h”). In the example of FIGS. 2A and 2B, the eighth rotation shaft 9h is parallel to the second rotation shaft 9b (axis extending in the left-right direction).

  The joint drive device 8 drives (rotates, expands and contracts) the first to eighth joints 10a to 10h in accordance with a command from the controller 17 described later. As the joint drive device 8, for example, the first to eighth joints 10a to 10h are controlled by controlling the hydraulic pressure supply to the hydraulic cylinders and the electric motors provided in the first to eighth joints 10a to 10h, respectively. A hydraulic control device that can drive each of them can be employed. Specifically, a swing master cylinder 11a and a boom swing cylinder 11b are used as a hydraulic cylinder, an electric motor, and the like for driving the first joint 10a. Further, a tilt master cylinder 11c and a boom tilt cylinder 11d are used for driving the second joint 10b. Further, a boom slide cylinder 11e is used for driving the third joint 10c. An arm tilt cylinder 11f is used for driving the fourth joint 10d. Further, an arm swing cylinder 11g is used for driving the fifth joint 10e. A nozzle slide cylinder 11h is used for driving the sixth joint 10f. Further, a nozzle swing motor 11i is used to drive the seventh joint 10g. A nozzle tilt cylinder 11j is used to drive the eighth joint 10h.

In addition, as shown in FIG. 1, the spray assisting apparatus 1 according to the embodiment of the present invention includes operation amount detection units 12 a, 12 b, 12 c, an inclination degree detection unit 13, an instruction input unit 14, and a mode switch 15. And a position detection button 16 and a controller 17.
The movement amount detector 12a detects the rotation angle of the first component 6a by the first joint 10a. For example, a boom swing angle sensor can be employed as the operation amount detection unit 12a. Further, the motion amount detection unit 12b detects the rotation angle of the second component 6b by the second joint 10b. For example, a boom lift sensor (inclinometer) can be employed as the operation amount detection unit 12b. Furthermore, the movement amount detection unit 12c detects the amount of expansion / contraction by the third joint 10c. For example, a boom slide length sensor (hydraulic pressure) can be adopted as the operation amount detector 12c. Then, the operation amount detection units 12 a to 12 c output detection results to the controller 17.

The inclination degree detection unit 13 detects the degree of inclination of the movable carriage 5 in the front-rear and left-right directions. As the inclination degree detection unit 13, for example, a biaxial inclinometer mounted on the movable carriage 5 can be adopted. Then, the inclination degree detection unit 13 outputs the detection result to the controller 17.
In addition, in the spray assistance apparatus 1 which concerns on embodiment of this invention, although the example using an inclinometer and an oil quantity meter was shown as the operation amount detection parts 12a-12c and the inclination degree detection part 13, another structure is employ | adopted. You can also For example, other sensors that can detect similar numerical values may be employed.
The instruction input unit 14 receives instruction inputs for rotation and contraction of the first to eighth joints 10a to 10h from the operator. Then, the received instruction input is output to the controller 17.

The mode switch 15 receives an instruction input for switching the operation mode from the operator. As the operation mode, for example, a normal mode in which the first to eighth joints 10a to 10h can be manually operated, and a distal end portion of the spray nozzle 7h while allowing the first and second joints 10a and 10b to be manually operated. A mode in which the third joint 10c is automatically expanded and contracted so that the position of the second joint moves within a predetermined plane (hereinafter also referred to as “reference plane 18”) shown in FIGS. And have. Then, the received instruction input is output to the controller 17.
The position detection button 16 receives an instruction input for detecting the position of the tip of the spray nozzle 7 h for setting the reference plane 18. The received instruction input is output to the controller 17.

The controller 17 includes an A / D (Analog to Digital) conversion circuit, a D / A (Digital to Analog) conversion circuit, a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. An integrated circuit is provided. The ROM stores various processing programs executed by the CPU. The CPU operates the first to eighth joints 10a to 10h output by the instruction input unit 14 in accordance with a program stored in the ROM when the mode changeover switch 15 outputs an instruction input indicating the normal mode. Based on this instruction input, a command to operate each of the first to eighth joints 10a to 10h is output to the joint driving device 8. Thereby, the operator can manually operate the first to eighth joints 10a to 10h.
Further, the CPU realizes a target value calculation unit 17a, a joint motion control unit 17b, a position detection unit 17c, and a plane setting unit 17d in accordance with a program stored in the ROM. Then, the target value calculation unit 17a, the joint motion control unit 17b, the position detection unit 17c, and the plane setting unit 17d execute a spray execution process described later.

(Blowing execution process)
Next, spraying execution processing executed by the controller 17 (target value calculation unit 17a, joint motion control unit 17b, position detection unit 17c, plane setting unit 17d) will be described. The spray execution process is executed when the mode switch 15 outputs an instruction input indicating the spray mode.
As shown in FIG. 3, first, in step S101, the target value calculation unit 17a receives an instruction input for operation of the first joint 10a, the second joint 10b, and the third joint 10c output from the instruction input unit 14. Based on this, the target values of the operations of the first joint 10a, the second joint 10b, and the third joint 10c are calculated. In the spray assisting apparatus 1 according to the embodiment of the present invention, for example, the target value dθ ₁ ref / dt of the angular velocity of the first joint 10a can be adopted as the target value of the operation of the first joint 10a. Similarly, as the target value of the operation of the second joint 10b, for example, the target value dθ ₂ ref / dt of the angular velocity of the second joint 10b can be adopted. Further, as the target value of the operation of the third joint 10c, for example, the target value dL ₃ ref / dt of the expansion / contraction speed of the third joint 10c can be adopted.

Subsequently, the process proceeds to step S102, where the joint motion control unit 17b calculates the target values of the motions of the first joint 10a, the second joint 10b, and the third joint 10c calculated in step S101, and the motion amount detection unit 12a. Based on the detection result of ˜12c and the detection result of the inclination degree detection unit 13, a command for making the first joint 10a, the second joint 10b, and the third joint 10c equal to the target value is the joint driving device 8 Output to. For example, the target value dθ ₁ ref / dt of the angular velocity of the first joint 10a, the target value dθ ₂ ref / dt of the angular velocity of the second joint 10b, and the target value dL ₃ ref / dt of the expansion / contraction velocity of the third joint 10c. The angular velocity dθ ₁ / dt of the first joint 10 a, the angular velocity dθ ₂ / dt of the _second joint 10 b, and the third based on the detection results of the motion amount detectors 12 a to 12 c and the detection result of the inclination degree detector 13. A command for making the expansion / contraction speed dL ₃ / dt of the joint 10 c equal to the target values dθ ₁ ref / dt, dθ ₂ ref / dt, and dL ₃ ref / dt is output to the joint driving device 8. As a result, the joint drive device 8 drives the first to third joints 10a to 10c in accordance with a command from the controller 17, thereby enabling the position of the tip of the spray nozzle 7h to be operated.

  In these steps S101 and S102, the operator moves the tip end of the spray nozzle 7h so that the tip end of the spray nozzle 7h sequentially contacts any three points in the reference plane 18 shown in FIGS. 4 (a) and 4 (b). Manipulate the position of. As the three points on the reference plane 18, for example, as shown in FIGS. 4A and 4B, the top end 18a, the left end 18b, and the right end 18c of the inner surface of the support 2b on the concrete sprayer 4 side can be adopted. Further, for example, the position of the tip portion of the spray nozzle 7h so that the tip portion of the spray nozzle 7h moves sequentially in the vicinity thereof without contacting the top end 18a, the left end 18b and the right end 18c of the inner surface of the support 2b. May be operated.

Subsequently, the process proceeds to step S103, and the position detection unit 17c determines whether the position detection button 16 has been operated based on the output of the position detection button 16. And when it determines with the position detection button 16 having been operated (Yes), it transfers to step S104. On the other hand, if it is determined that the position detection button 16 has not been operated (No), the process returns to step S101.
Subsequently, the process proceeds to step S104, where the position detection unit 17c is based on the detection results of the operation amount detection units 12a to 12c and the detection result of the inclination degree detection unit 13, and the position (coordinates) of the tip of the spray nozzle 7h. Is detected.

Subsequently, the process proceeds to step S105, and the position detection unit 17c determines whether the total of the positions detected in step S104 is three or more. That is, it is determined whether or not the position of the three points is detected by the position detector 17c. If it is determined that there are three or more (Yes), it is determined that three positions have been detected by the position detector 17c, and the process proceeds to step S106. On the other hand, if it is determined that there are less than three (No), it is determined that only one or two positions are detected by the position detector 17c, and the process returns to step S101.
In step S106, the plane setting unit 17d sets a plane including the positions as the reference plane 18 based on the positions of the three points detected in step S104.

Subsequently, the process proceeds to step S107, and the target value calculation unit 17a performs the first joint 10a and the second joint based on the instruction inputs of the operations of the first and second joints 10a and 10b output from the instruction input unit 14. A target value for the motion of the joint 10b is calculated. For example, the target value dθ ₁ ref / d of the angular velocity of the first joint 10a and the target value dθ ₂ ref / dt of the angular velocity of the second joint 10b are calculated.
Subsequently, the process proceeds to step S108, and the target value calculation unit 17a uses the position of the tip of the spray nozzle 7h as a reference based on the detection results of the motion amount detection units 12a to 12c and the detection result of the inclination degree detection unit 13. A target value for the motion of the third joint 10c to be maintained within the plane 18 is calculated. For example, based on the detection results of the motion amount detection units 12a to 12c and the detection result of the inclination degree detection unit 13, the component in the normal direction of the reference plane 18 of the speed of the tip of the spray nozzle 7h is zero. The target value dL ₃ ref / dt of the expansion / contraction speed of the third joint 10c is calculated.

Subsequently, the process proceeds to step S109, where the joint motion control unit 17b determines the target value of the motion of the first joint 10a and the second joint 10b calculated in step S107, and the motion of the third joint 10c calculated in step S108. The first joint 10a, the second joint 10b, and the third joint 10c are made equal to the target values based on the target value of the movement amount, the detection results of the motion amount detection units 12a to 12c, and the detection result of the inclination degree detection unit 13. Is output to the joint drive device 8, and then the process returns to step S107. For example, the target value dθ ₁ ref / dt of the angular velocity of the first joint 10a, the target value dθ ₂ ref / dt of the angular velocity of the second joint 10b, and the target value dL ₃ ref / dt of the expansion / contraction velocity of the third joint 10c. The angular velocity dθ ₁ / dt of the first joint 10 a, the angular velocity dθ ₂ / dt of the _second joint 10 b, and the third based on the detection results of the motion amount detectors 12 a to 12 c and the detection result of the inclination degree detector 13. A command for making the expansion / contraction speed dL ₃ / dt of the joint 10 c equal to the target values dθ ₁ ref / dt, dθ ₂ ref / dt, and dL ₃ ref / dt is output to the joint drive device 8. Thereby, the joint drive device 8 drives the first to third joints 10a to 10c in accordance with a command from the controller 17, thereby maintaining the position of the tip of the spray nozzle 7h in the reference plane 18 while maintaining the reference plane 18. The operator can operate the position of the tip of the spray nozzle 7 h in the plane 18.

(Operation other)
Next, operation | movement of the spray assistance apparatus 1 which concerns on embodiment is demonstrated.
First, it is assumed that the operator operates the mode switch 15 shown in FIG. 1 to switch the operation mode from the normal mode to the spraying mode. 1 is operated to maintain the position of the tip of the spray nozzle 7h shown in FIGS. 2A and 2B (the reference shown in FIG. 4B). 2 (a) and 2 (b) so that the tip of the spray nozzle 7h shown in FIGS. 2 (a) and 2 (b) moves to the top end 18a shown in FIG. 4 (a) of the plane 18). It is assumed that an instruction input for operating the first joint 10a, the second joint 10b, and the third joint 10c is performed. Then, the controller 17 shown in FIG. 1 starts the spraying execution process shown in FIG. 3, and based on the instruction input output from the instruction input unit 14 shown in FIG. Further, target values for the movements of the first joint 10a, the second joint 10b, and the third joint 10c are calculated.

  Subsequently, the controller 17 shown in FIG. 1 calculates the target values of the motions of the first joint 10a, the second joint 10b, and the third joint 10c shown in FIGS. Based on the detection results of the motion amount detection units 12a to 12c shown in FIG. 1 and the detection result of the inclination degree detection unit 13 shown in FIG. 1, the first joint 10a shown in FIGS. A command for making the second joint 10 b and the third joint 10 c equal to the target values is output to the joint drive device 8. Thereby, the joint drive device 8 shown in FIG. 1 drives the first to third joints 10a to 10c shown in FIGS. 2A and 2B in accordance with a command from the controller 17 shown in FIG. . Therefore, the position of the tip of the spray nozzle 7h shown in FIGS. 2A and 2B is moved in accordance with the instruction input output by the instruction input unit 14 shown in FIG.

  Further, it is assumed that the above flow is repeated, and the tip of the spray nozzle 7h shown in FIGS. 2A and 2B has moved to the top end 18a of the reference plane 18 shown in FIG. 4B. Assume that the operator operates the position detection button 16 shown in FIG. Then, the controller 17 shown in FIG. 1 determines that the position detection button 16 has been operated, and based on the detection results of the motion amount detection units 12a to 12c and the detection result of the inclination degree detection unit 13 shown in FIG. The position of the tip of the spray nozzle 7h shown in FIGS. 2 (a) and 2 (b) is detected. Thereby, the position of the top end 18a of the reference plane 18 shown in FIG. 4B is detected. Subsequently, it is determined that the total of detected positions is less than 3, and the above flow is repeated.

  Subsequently, the operator operates the instruction input unit 14 shown in FIG. 1, and the tip of the spray nozzle 7h shown in FIGS. 2 (a) and 2 (b) is placed on the left end 18b of the reference plane 18 shown in FIG. 4 (b). 1 is operated, the controller 17 shown in FIG. 1 operates the tip of the spray nozzle 7h shown in FIGS. 2 (a) and 2 (b) by operating the position detection button 16 shown in FIG. The position of the left end 18b of the reference plane 18 shown in FIG. 4B is detected. Subsequently, the operator operates the instruction input unit 14 shown in FIG. 1, and the tip of the spray nozzle 7h shown in FIGS. 2 (a) and 2 (b) is placed on the right end 18c of the reference plane 18 shown in FIG. 4 (b). 1 is operated, the controller 17 shown in FIG. 1 operates the tip of the spray nozzle 7h shown in FIGS. 2 (a) and 2 (b) by operating the position detection button 16 shown in FIG. Is detected, and the position of the right end 18c of the reference plane 18 shown in FIG. 4B is detected. Then, the controller 17 shown in FIG. 1 determines that the total of the detected positions is three or more. Then, based on the detected positions of the three points, a plane including those positions is set as the reference plane 18 shown in FIG.

  Subsequently, the operator operates the concrete sprayer 4 shown in FIG. 1 to spray the concrete to the spray nozzle 7h shown in FIGS. 2 (a) and 2 (b), so that the support walls 2a adjacent to each other in the empty wall in the tunnel. The concrete is sprayed onto the circumferential wall surface between 2b. Then, by operating the instruction input unit 14 shown in FIG. 1, the tip of the spray nozzle 7 h moves to a position where the concrete is not sprayed on the circumferential wall surface as shown in FIGS. It is assumed that an instruction input for operating the illustrated first joint 10a and second joint 10b is performed. Then, the controller 17 shown in FIG. 1 inputs the instruction inputs for the operations of the first joint 10a and the second joint 10b shown in FIGS. 2 (a) and 2 (b), which are output from the instruction input unit 14 shown in FIG. Based on the above, the operation target values of the first joint 10a and the second joint 10b shown in FIGS. 2A and 2B are calculated. Subsequently, based on the detection results of the operation amount detection units 12a to 12c shown in FIG. 1 and the detection result of the inclination degree detection unit 13, the tip of the spray nozzle 7h shown in FIGS. A target value for the operation of the third joint 10c shown in FIGS. 2 (a) and 2 (b) for maintaining the position within the reference plane 18 shown in FIG. 4 (b) is calculated.

  Subsequently, the controller 17 shown in FIG. 1 calculates the target values of the motions of the first joint 10a, the second joint 10b, and the third joint 10c shown in FIGS. 1a and 1b, and the detection result of the inclination degree detection unit 13 shown in FIG. 1, the first joint 10a shown in FIGS. A command for making the second joint 10b and the third joint 10c equal to the target values is output to the joint driving device 8 shown in FIG. Thereby, the joint drive device 8 shown in FIG. 1 drives the first to third joints 10a to 10c shown in FIGS. 2A and 2B in accordance with a command from the controller 17 shown in FIG. Therefore, the position of the tip of the spray nozzle 7h shown in FIG. 1 is maintained in the reference plane 18 shown in FIG. The joint 10c is automatically expanded and contracted. Therefore, the operator only needs to operate the first joint 10a and the second joint 10b shown in FIGS. 2 (a) and 2 (b), and compares the tip of the spray nozzle 7h to a position where the concrete is not sprayed. Can move easily.

  As described above, in the present embodiment, the first joint 10a in FIGS. 2A and 2B constitutes the first rotating joint. Similarly, the second joint 10b shown in FIGS. 2A and 2B constitutes a second rotary joint. Moreover, the 3rd joint 10c of Fig.2 (a) (b) comprises a linear motion joint.

(1) As described above, in the spray assisting apparatus 1 according to the embodiment of the present invention, the position of the tip of the spray nozzle 7h is determined based on the detection result of the operation amount detectors 12a to 12c (reference plane). 18) The target value of the movement of the third joint 10c to be maintained within is calculated. Then, based on the calculated target value, the operation (elongation speed, etc.) of the third joint 10c is controlled. Therefore, the third joint 10c can be automatically expanded and contracted so that the tip of the spray nozzle 7h moves within a certain plane (reference plane 18). Therefore, it is possible to provide the spraying support device 1 that can more easily execute the concrete spraying operation.

By the way, for example, in the conventional method in which all the operations of the first to third joints 10a to 10c are manually operated, the operation is difficult, so if the operator's skill is immature, it takes time or the spraying thickness is uneven. Or increase the rebound of falling without concrete adhering. Therefore, skilled skills are required, but it takes a lot of time to master.
On the other hand, in the spraying support apparatus 1 according to the present embodiment, the concrete spraying work can be performed more easily, so even an unskilled operator can shorten the work time and suppress unevenness in the spraying thickness. And rebound can be suppressed. Further, it is possible to save labor for an operator having a skilled skill.

Moreover, in the spraying assistance apparatus 1 which concerns on embodiment of this invention, the instruction input part 14 which receives the instruction | indication input of the operation | movement of the 1st joint 10a and the 2nd joint 10b was provided. And based on the instruction | indication input received with the instruction | indication input part 14, the target value of operation | movement of the 1st joint 10a and the 2nd joint 10b was calculated. Therefore, the spray nozzle 7h can be moved while observing the state of adhesion of concrete, and concrete can be sprayed more appropriately.
Incidentally, for example, in the method of automatically reciprocating the spray nozzle 7h at a constant cycle, the operation load can be reduced, but the spray thickness becomes uneven or the rebound increases.

(2) Moreover, in the spray assistance apparatus 1 which concerns on embodiment of this invention, the position detection part 17c which detects the position of the front-end | tip part of the spray nozzle 7h was provided. Then, based on the positions of the three points detected by the position detector 17c, a plane including these positions is set as a predetermined plane (reference plane 18). Therefore, the reference plane 18 can be set more easily by moving the tip of the spray nozzle 7h and detecting the position by the position detector 17c.
Incidentally, for example, in the method of setting the reference plane 18 in the direction orthogonal to the axle of the mobile carriage 5, the reference plane 18 can be easily set, but if the axle of the mobile carriage 5 is bent with respect to the tunnel traveling direction, The position of the tip of the spray nozzle 7h is maintained in the wrong plane.

(3) Furthermore, in the spray assistance device 1 according to the embodiment of the present invention, the motion amount detection units 12a to 12c detect the motion amounts of the first joint 10a, the second joint 10b, and the third joint 10c. I did it. Therefore, the position of the tip of the spray nozzle 7h can be detected based on the detection results of the operation amount detectors 12a to 12c. Therefore, the spray support apparatus 1 can be realized. Therefore, for example, as compared with a method of detecting all the motions of the plurality of joints 10a to 10h, that is, a method of providing sensors in all of the plurality of joints 10a to 10h, the number of sensors can be reduced, and fault tolerance can be improved. . Moreover, a price can be reduced and the implementation of the spraying support apparatus 1 becomes easier. In order to perform calculation with a small number of sensors, only the operations of the first to third joints 10a to 10c are allowed. That is, the operations of the other fourth to eighth joints 10d to 10h are prohibited.
Incidentally, for example, in the method of providing sensors in all the joints 10a to 10h, the use environment is inferior, so the risk of failure is high, and the number of sensors increases, and the price is expensive.

(4) Moreover, in the spray assistance apparatus 1 which concerns on embodiment of this invention, the inclination degree detection part 13 which detects the inclination degree of the mobile trolley | bogie 5 was provided. Then, the target value calculator 17a maintains the position of the tip of the spray nozzle 7h within the reference plane 18 based on the detection results of the operation amount detectors 12a to 12c and the detection result of the inclination degree detector 13. The target value of the movement of the third joint 10c is calculated. Therefore, the third joint 10c can be controlled more appropriately, and the position of the tip of the spray nozzle 7h can be controlled more appropriately.

(Modification)
(1) In the present embodiment, the operation amount detectors 12a to 12c use the operation amounts of the first joint 10a, the second joint 10b, and the third joint 10c, the degree of inclination of the movable carriage 5, that is, a plurality of Although the example which detects the operation | movement of a part of these joints 10a-10h was shown, another structure is also employable. For example, it is good also as a structure which incorporates a sensor in all the joints 10a-10h, and detects all operation | movement of the several joints 10a-10h. In this case, the manual operation of the fourth to eighth joints 10d to 10h can be performed during the concrete spraying. Therefore, for example, by extending and contracting the sixth joint 10f and reciprocating the spray nozzle 7h, the concrete can be easily sprayed on the circumferential wall surface between the adjacent supporters 2a and 2b.

(2) In the present embodiment, the example in which the operation of the third joint 10c is controlled so that the position of the tip of the spray nozzle 7h is maintained in the reference plane 18 has been described. It can also be adopted. For example, in addition to the third joint 10c (boom slide mechanism), the operation of the sixth joint 10f (nozzle slide mechanism) may be controlled. In this case, the target value calculation unit 17a maintains the position of the tip of the spray nozzle 7h within the reference plane 18 based on the detection results of the operation amount detection units 12a to 12c and the detection result of the inclination degree detection unit 13. Therefore, the target value of the operation amount of the third joint 10c (boom slide mechanism) and the target value of the operation amount of the sixth joint 10f (nozzle slide mechanism) are calculated. Then, the joint motion control unit 17b controls the operation of the third joint 10c (boom slide mechanism) and the operation of the sixth joint 10f (nozzle slide mechanism) based on the target value calculated by the target value calculation unit 17a. To do. Note that the sixth joint 10f (nozzle slide mechanism) is used to reciprocate the spray nozzle 7h between the adjacent supporters 2a and 2b. If the sixth joint 10f is fully extended, the spray work is hindered. A configuration in which only the operation of the three joints (boom slide mechanism) is controlled is preferable.

  DESCRIPTION OF SYMBOLS 1 ... Spray support apparatus, 2a, 2b ... Supporting work, 3 ... Face, 4 ... Concrete spraying machine, 5 ... Moving cart, 6 ... Supporting member, 6a ... 1st component, 6b ... 2nd component, 6c 3rd component, 6d 4th component, 6e 5th component, 7 ... Spray head device, 7f 6th component, 7g 7th component, 7h Spray nozzle, DESCRIPTION OF SYMBOLS 8 ... Joint drive device, 9a ... 1st rotating shaft, 9b ... 2nd rotating shaft, 9c ... 3rd linear motion shaft, 9d ... 4th rotating shaft, 9e ... 5th rotating shaft, 9f ... 1st 6 linear motion axes, 9g ... 7th rotation axis, 9h ... 8th rotation axis, 10a ... 1st joint, 10b ... 2nd joint, 10c ... 3rd joint, 10d ... 4th joint, 10e ... 5th joint, 10f ... 6th joint, 10g ... 7th joint, 10h ... 8th joint, 11a ... Swing master cylinder, 1 b ... Boom swing cylinder, 11c ... Tilt master cylinder, 11c ... Boom tilt cylinder, 11e ... Boom slide cylinder, 11f ... Arm tilt cylinder, 11g ... Arm swing cylinder, 11h ... Nozzle slide cylinder, 11i ... Nozzle swing motor, 11j ... Nozzle tilt cylinders, 12a to 12c ... operation amount detection unit, 13 ... tilt degree detection unit, 14 ... instruction input unit, 15 ... mode change switch, 16 ... position detection button, 17 ... controller, 17a ... target value calculation unit, 17b ... joint motion control unit, 17c ... position detection unit, 17d ... plane setting unit, 18 ... reference plane, 18a ... top end, 18b ... left end, 18c ... right end

Claims (4)

Control of the position of the tip portion of the spray nozzle in a concrete sprayer including a support member attached to a movable carriage and provided with a plurality of joints, and a spray head device attached to the support member and having a spray nozzle A spraying support device for supporting
An instruction input for the operation of the first rotary joint that enables relative displacement between the movable carriage and the first component of the support member, and the first component and the second component of the support member. An instruction input unit that receives an instruction input of an operation of the second rotary joint that is capable of relative displacement;
An amount-of-motion detector that detects part or all of the plurality of joints;
Based on the instruction input received by the instruction input unit, the target value of the operation of the first and second rotary joints is calculated, and the position of the tip of the spray nozzle is determined based on the detection result of the operation amount detection unit. A target value calculation unit for calculating a target value of the motion of the linear motion joint capable of relatively displacing the second component and the third component of the support member for maintaining within a predetermined plane. When,
A spraying support apparatus comprising: a joint motion control unit that controls the motions of the first and second rotary joints and the linear motion joint based on the target value calculated by the target value calculation unit. A position detector for detecting the position of the tip of the spray nozzle;
The plane setting part which sets the plane containing those positions as said predetermined plane based on the position of three points detected by said position detection part, The above-mentioned is provided. Spray support device.   The spray support apparatus according to claim 1, wherein the movement amount detection unit detects movement amounts of the first rotary joint, the second rotary joint, and the linear motion joint. An inclination degree detection unit for detecting an inclination degree of the movable carriage;
The target value calculation unit is configured to maintain the position of the tip of the spray nozzle within the plane based on the detection result of the operation amount detection unit and the detection result of the inclination degree detection unit. The spray assisting device according to claim 3, wherein a target value of the motion of the joint is calculated.

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