JP2020183681A - Vertical shaft construction device and vertical shaft construction method - Google Patents

Abstract

To efficiently construct a vertical shaft.SOLUTION: A shaft construction device 100 comprises a traveling unit 10, an arm unit 30 whose attitude can be freely changed with respect to the traveling unit 10, a drilling machine 40 supported by the arm unit 30, an attitude detection unit 60 that detects the attitude of the arm unit 30, and a controller 70 that performs arithmetic processing based on the attitude of the arm unit 30 detected by the attitude detection unit 60. The controller 70 comprises a traveling unit position calculation unit 71 that calculates the position of the traveling unit 10 based on a rock bolt 2 provided in the constructed shaft VS, and a drilling machine position calculation unit 72 that calculates the position of the tip of a drilling rod 41 based on the position of the traveling unit 10 calculated by the traveling unit position calculation unit 71 and the attitude of the arm unit 30 detected by the attitude detection unit 60.SELECTED DRAWING: Figure 3

Description

The present invention relates to an apparatus and a method for constructing a shaft.

In the construction work of the underground structure, the ground may be excavated vertically below to construct a shaft. Patent Document 1 discloses a method of constructing a shaft by excavating a ground using a working device such as a hydraulic excavator equipped with a working tool such as a bucket and a breaker at the tip of an arm.

In the method disclosed in Patent Document 1, first, a vertical shaft is excavated vertically downward using a working device to construct a shaft having a depth of about 1 m. Next, a working device is thrown into the shaft using a crane, the working device is moved in the already constructed shaft, and the bottom of the shaft is excavated using the working tool to excavate the shaft. By digging the shaft until the bottom of the shaft reaches the desired depth, the shaft is constructed to the desired depth.

JP-A-2002-201658

In the method disclosed in Patent Document 1, in order to construct a shaft in a desired shape, every time the shaft is dug to a predetermined depth, work for constructing the shaft (for example, excavation of a ground, drilling, drilling, etc.) It is preferable to determine the position where the concrete material is sprayed, insert the lock bolt, etc.) in the constructed shaft, and move the work tool to the specified position to perform the work.

As a method of moving the work tool to a predetermined position, the center position of the bottom of the shaft is manually measured by the operator, and the position where the work for constructing the shaft is performed is determined based on the measured center position. It is conceivable to mark in the shaft and move the work tool to the marked location. However, manual measurement and marking are time consuming. Therefore, it is not possible to construct a shaft efficiently.

In order to construct a shaft efficiently, it is effective to grasp the position of the work tool in the shaft. As a method of grasping the position of the work tool, GPS (Global Positioning System) or a total station can be considered, but these cannot be used in the shaft.

Specifically, in position grasping using GPS, it is necessary to receive a signal from a GPS satellite, and the signal from the GPS satellite becomes difficult to reach the bottom of the shaft as the depth of the shaft increases. Therefore, it is difficult to grasp the position of the work tool near the bottom of the shaft by using GPS.

Further, in the position grasp using the total station, it is necessary to install the total station on the ground and irradiate the work tool with the light from the total station. As the depth of the shaft increases, the light from the total station is blocked by the ground and does not reach the bottom of the shaft, so it is not possible to grasp the position of the work tool near the bottom of the shaft using the total station.

An object of the present invention is to construct a shaft efficiently.

The present invention is a shaft construction device for constructing a shaft on a ground, and the work of constructing a shaft supported by a traveling portion, an arm portion whose posture can be changed with respect to the traveling portion, and the arm portion is performed. The controller is already constructed, including a work tool to be applied to the wrist, a posture detection unit that detects the posture of the arm, and a controller that performs arithmetic processing based on the posture of the arm detected by the posture detection unit. The running unit position calculation unit that calculates the position of the traveling unit based on the reference point provided in the shaft, the position of the traveling unit calculated by the traveling unit position calculation unit, and the arm portion detected by the posture detection unit. It is provided with a work tool position calculation unit that calculates the position of the work tool based on the posture.

Further, the present invention is a shaft construction method for constructing a shaft in the ground by using a shaft construction device, wherein the shaft construction device includes a traveling portion, an arm portion whose posture can be changed with respect to the traveling portion, and an arm. It is equipped with a work tool that is supported by the part and performs the work of constructing the shaft to the ground, and the shaft construction method calculates the position of the traveling part based on the reference point provided in the already constructed shaft. , The posture of the arm portion is detected, and the position of the work tool is calculated based on the detected posture of the arm portion and the calculated position of the traveling portion.

According to the present invention, a shaft can be efficiently constructed.

It is a figure for demonstrating the outline of the procedure for constructing a shaft in the ground. It is a side view of the shaft construction apparatus which concerns on 1st Embodiment of this invention, and shows the state which the hole is drilled in the bottom of the already constructed shaft. It is a block diagram of the shaft construction apparatus which concerns on 1st Embodiment of this invention. It is a side view of the shaft construction apparatus which concerns on 1st Embodiment of this invention, and shows the state which the tip of the drilling rod is in contact with the protruding end of the 1st lock bolt. It is a top view of the shaft construction apparatus which concerns on 1st Embodiment of this invention, and shows the state where the tip of the drilling rod is in contact with the protruding end of the 1st lock bolt. It is a top view of the shaft construction apparatus which concerns on 1st Embodiment of this invention, and shows the state which the tip of the drilling rod is separated from the protruding end of the 1st lock bolt. It is a block diagram of the shaft construction apparatus which concerns on 2nd Embodiment of this invention. It is a top view of the shaft construction apparatus which concerns on 2nd Embodiment of this invention, and shows the state where the tip of the drilling rod is in contact with the protruding end of the 1st lock bolt. It is a side view of the shaft construction apparatus which concerns on 3rd Embodiment of this invention. It is a block diagram of the shaft construction apparatus which concerns on 3rd Embodiment of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

<First Embodiment>
First, the shaft construction device 100 and the shaft construction method according to the first embodiment of the present invention will be described with reference to FIGS. 1 to 6. The shaft construction device 100 and the shaft construction method are used when excavating the ground vertically downward to construct a shaft VS in the construction work of the underground structure portion.

The outline of the procedure for constructing the shaft VS in the ground will be described with reference to FIG.

In order to construct a shaft VS on the ground, first, as shown in FIG. 1A, the ground is excavated vertically downward to a predetermined depth (for example, 1 m) to form an excavation hole H. Next, in order to stabilize the inner wall W of the excavation hole H, as shown in FIG. 1B, a concrete material is sprayed onto the inner wall W of the excavation hole H to form a concrete structure 1 and a lock bolt 2 is attached. It is inserted into the inner wall W of the excavation hole H. The lock bolt 2 may be inserted before spraying the concrete material or after spraying. As described above, a shaft VS having a predetermined depth is constructed.

Next, as shown in FIG. 1 (c), the bottom of the constructed shaft VS is excavated vertically downward to a predetermined depth (for example, 1 m) to excavate the excavation hole H. Next, in order to stabilize the inner wall W exposed by the excavation of the excavation hole H, as shown in FIG. 1 (d), a concrete material is sprayed on the inner wall W of the excavation hole H and the lock bolt 2 is excavated. Insert into the inner wall W of H. By repeating the excavation process of excavating the bottom of the constructed shaft VS, the spraying process of spraying concrete material, and the insertion process of inserting the lock bolt 2 until the bottom of the shaft VS reaches the desired depth, the shaft VS Is completed.

In the excavation process, the rock mass of the ground may be crushed using an explosive (not shown), and as shown in FIG. 2, the shaft construction device 100 is a shaft VS having a hole 3 for loading the explosive. It is used when drilling holes in the bottom. The shaft construction device 100 is put into the already constructed shaft VS by using a crane or the like (not shown).

The shaft construction device 100 includes a drilling machine (working tool) 40 for drilling a hole 3 at the bottom of the shaft VS. The drilling machine 40 includes a drilling rod 41 for drilling a hole 3, a guide cell 42 provided substantially parallel to the drilling rod 41, a centralizer 43 provided at the tip of the guide cell 42, and a guide cell 42. It is equipped with a drifter 44 that is movably mounted. The drifter 44 reciprocates along the guide cell 42 by a drive mechanism (not shown). The base end of the drilling rod 41 is supported by the drifter 44 and reciprocates together with the drifter 44. The movement of the drilling rod 41 is guided by the centralizer 43.

The drifter 44 is formed so that a rotational force can be applied to the drilling rod 41. The hole 3 is drilled by rotating the drilling rod 41 with the drifter 44 while the tip of the drilling rod 41 is pressed against the bottom of the shaft VS.

When the drilling of the plurality of holes 3 is completed, the shaft construction device 100 is pulled up from the shaft VS by using a crane or the like (not shown). After that, the explosive is loaded into the hole 3 to explode, and the bedrock of the ground is crushed.

The shape of the drilling hole H drilled with the explosive depends on the loading position of the explosive. Therefore, in order to excavate the bottom of the constructed shaft VS in a desired shape, it is preferable to predetermine the position for loading the explosive and move the drilling machine 40 to the predetermined position to form the hole 3. ..

As a method of moving the drilling machine 40 to a predetermined position, the center position of the bottom of the shaft VS is manually measured by an operator, and the position to drill the hole 3 is determined based on the measured center position. It is conceivable to mark the bottom of the shaft VS and move the drilling machine 40 to the marked location. However, manual measurement and marking are time consuming. Further, in the construction of the shaft VS, the marking on the bottom of the shaft VS is removed because the bottom of the shaft VS is excavated in each excavation process. Therefore, manual measurement and marking are required for each excavation process, and the shaft VS cannot be constructed efficiently.

In order to accurately move the drilling machine 40 to a predetermined position without manual measurement and marking, it is effective to grasp the position of the drilling machine 40 in the shaft VS. As a method of grasping the position of the drilling machine 40, it is conceivable to use GPS or a total station. However, it is difficult to use them in the shaft VS and it is not suitable.

Specifically, in position grasping using GPS, it is necessary to receive a signal from a GPS satellite, and the signal from the GPS satellite becomes difficult to reach the bottom of the shaft VS as the depth of the shaft VS increases. Therefore, it is difficult to grasp the position of the work tool near the bottom of the shaft VS by using GPS.

Further, in the position grasp using the total station, it is necessary to install the total station on the ground and irradiate the work tool with the light from the total station. As the depth of the shaft VS increases, the light from the total station is blocked by the ground and does not reach the bottom of the shaft VS. Further, since the total station cannot irradiate in the vertical direction, it is difficult to grasp the position of the working tool near the bottom of the shaft VS by using the total station, which is not suitable.

In the shaft construction device 100 and the shaft construction method, the position of the drilling machine 40 in the shaft VS is calculated based on the reference point provided in the already constructed shaft VS according to the configuration described later. Therefore, the position of the drilling machine 40 in the shaft VS can be grasped. Therefore, the drilling machine 40 can be accurately moved to a predetermined position without manual measurement and marking, and the shaft VS can be efficiently constructed.

Hereinafter, the configuration of the shaft construction device 100 and the shaft construction method will be described in more detail. Here, a case will be described in which the protruding ends of the two lock bolts 2 inserted into the constructed shaft VS at intervals in the circumferential direction are used as the first and second reference points.

It is assumed that the lock bolt 2 protrudes from the shaft wall 1a of the already constructed shaft VS, and the protruding end of the lock bolt 2 is provided at a predetermined design position on the shaft wall 1a of the shaft VS. That is, it is assumed that the position of the protruding end of the lock bolt 2 is known. Further, in the following, the lock bolt 2 whose protruding end is used as the first reference point is also referred to as "first lock bolt 2a", and the lock bolt 2 whose protruding end is used as the second reference point is referred to as "second lock bolt 2b". Also called.

The shaft construction device 100 includes a traveling portion 10 capable of traveling, a vehicle body 20 supported by the traveling portion 10, and an arm portion 30 supported by the vehicle body 20. The drilling machine 40 is supported by the tip of the arm portion 30.

The traveling unit 10 includes an underframe 11 and crawlers 12 mounted on the left and right sides of the underframe 11. By driving a traveling motor (not shown) mounted on the underframe 11, the crawler 12 rotates and the traveling unit 10 travels. The direction of the traveling unit 10 can be changed by adjusting the rotation speed and the rotation direction of the left and right crawlers 12.

The vehicle body 20 is supported by the underframe 11. The vehicle body 20 is provided with a driver's seat 21, and an operation tool (not shown) for controlling the operation of the shaft construction device 100 is provided in the vicinity of the driver's seat 21. The operator operates the operating tool in the cockpit 21 to operate the shaft construction device 100.

The arm portion 30 has a boom 31 that is vertically and horizontally swingably supported by the vehicle body 20, an arm 32 that is swingably supported by the tip of the boom 31, and a vertically swingable arm 32 by the tip of the arm 32. It is provided with a bracket 33 supported by the above.

The boom 31 swings left and right by the expansion and contraction drive of the first boom cylinder 34, and swings up and down by the expansion and contraction drive of the second boom cylinder 35. The arm 32 swings up and down by the expansion and contraction drive of the arm cylinder 36. The bracket 33 swings up and down by the expansion and contraction drive of the bracket cylinder 37. That is, the posture of the arm portion 30 is changed by the expansion / contraction drive of the first boom cylinder 34, the second boom cylinder 35, the arm cylinder 36, and the bracket cylinder 37.

The drilling machine 40 is supported by the bracket 33. Specifically, the guide cell 42 of the drilling machine 40 is attached to the bracket 33 of the arm portion 30 via the holding member 50. The drilling machine 40 moves as the posture of the arm portion 30 changes.

As shown in FIG. 3, the shaft construction device 100 includes a posture detection unit 60 that detects the posture of the arm portion 30, and a controller 70 that performs arithmetic processing based on the posture of the arm portion 30 detected by the posture detection unit 60. , Is equipped.

The attitude detection unit 60 includes a boom left-right angle detection unit 61 that detects the lateral swing angle of the boom 31 with respect to the vehicle body 20, and a boom vertical angle detection unit 62 that detects the vertical swing angle of the boom 31 with respect to the vehicle body 20. The arm angle detecting unit 63 for detecting the swing angle of the arm 32 with respect to the boom 31 and the bracket angle detecting unit 64 for detecting the swing angle of the bracket 33 with respect to the arm 32 are provided.

The boom left-right angle detection unit 61 is, for example, an angle sensor provided over the vehicle body 20 and the boom 31. The boom left-right angle detection unit 61 may be a stroke sensor that detects the amount of expansion and contraction of the first boom cylinder 34 (see FIG. 2). The boom vertical angle detection unit 62, the arm angle detection unit 63, and the bracket angle detection unit 64 may be an angle sensor or a stroke sensor, similarly to the boom left / right angle detection unit 61.

The controller 70 includes a CPU (Central Processing Unit) that executes a control program and the like, a ROM (Read-Only Memory) that stores a control program and the like executed by the CPU, and a RAM (Random Access) that stores the calculation results of the CPU. It is a microcomputer equipped with a Memory). The controller 70 may be composed of one microcomputer or a plurality of microcomputers.

The controller 70 includes a traveling unit position calculation unit 71 that calculates the position of the traveling unit 10, and a drilling machine position calculation unit (work tool position calculation unit) 72 that calculates the position of the drilling machine 40. The traveling unit position calculation unit 71 is located at the positions of the protruding ends of the first and second lock bolts 2a and 2b and the protruding ends of the first and second lock bolts 2a and 2b at the tip of the drilling rod 41 in the drilling machine 40. The position of the traveling unit 10 is calculated based on the posture of the arm portion 30 detected by the posture detecting unit 60 in the state where the bolt is applied. The hole drilling machine position calculation unit 72 is based on the position of the traveling unit 10 calculated by the traveling unit position calculation unit 71 and the posture of the arm portion 30 detected by the posture detecting unit 60. Calculate the position. The traveling unit position calculation unit 71 and the drilling machine position calculation unit 72 use the functions of the microcomputer as virtual units.

First, the traveling unit position calculation process performed by the traveling unit position calculation unit 71 will be described in detail. The traveling unit position calculation process is performed in a state where the shaft construction device 100 is put into the already constructed shaft VS and the traveling unit 10 in the shaft construction device 100 is stopped.

In the traveling unit position calculation process, the detection value detected by the posture detecting unit 60 is used in a state where the tip of the drilling rod 41 is in contact with the protruding ends of the first and second lock bolts 2a and 2b. Therefore, before performing the traveling unit position calculation process, the tip of the drilling rod 41 is applied to the protruding ends of the first and second lock bolts 2a and 2b, and the detection value detected by the posture detecting unit 60 in this state is set by the controller. The work of storing in 70 is performed.

Specifically, first, the posture of the arm portion 30 is changed by the maneuvering of the operator, and as shown in FIGS. 4 and 5, the tip of the drilling rod 41 is formed in the shaft VS of the first lock bolt 2a. Hit the protruding end. The controller 70 stores the detection value detected by the posture detection unit 60 in this state as the first posture. Next, the posture of the arm portion 30 is changed by the maneuvering of the operator, and the tip of the drilling rod 41 is brought into contact with the protruding end of the second lock bolt 2b as shown by the dotted line in FIG. The controller 70 stores the detection value detected by the posture detection unit 60 in this state as the second posture.

The controller 70 performs the traveling unit position calculation process when the first posture and the second posture are stored.

First, using the memorized first posture, the horizontal distance between the protruding end of the first lock bolt 2a and the swing center axis A in the left-right direction of the boom 31 (hereinafter, referred to as "first horizontal distance L1"). Is calculated. Since the dimensions of the boom 31, arm 32, bracket 33, and drilling machine 40 are known values, these known values and the first posture (more specifically, the vertical swing angle of the boom 31, the arm). The first horizontal distance L1 can be calculated by using the swing angle of 32 and the swing angle of the bracket 33).

Next, using the memorized second posture, the horizontal distance between the protruding end of the second lock bolt 2b and the swing center axis A in the left-right direction of the boom 31 (hereinafter, referred to as "second horizontal distance L2"). ) Is calculated. Similar to the calculation of the first horizontal distance L1, the second horizontal distance L2 can be calculated by using the dimensions of the boom 31, the arm 32, the bracket 33, and the drilling machine 40, and the second posture.

Next, based on the positions of the protruding ends of the first and second lock bolts 2a and 2b and the calculated first and second horizontal distances L1 and L2, the swing center axis A in the left-right direction of the boom 31 Calculate the position of. Specifically, the circle C1 centered on the protruding end of the first lock bolt 2a when viewed from above vertically and the radius of the first horizontal distance L1 and the protruding end of the second lock bolt 2b viewed from above vertically are centered. The position of the intersection with the circle C2 having the second horizontal distance L2 as the radius is calculated. The calculated position of the intersection is the position of the swing center axis A in the left-right direction of the boom 31 when viewed from above vertically.

Next, the position of the traveling portion 10 is determined based on the calculated position of the swing center axis A in the left-right direction of the boom 31, the position of the protruding end of the first lock bolt 2a, and the memorized first posture. calculate. Specifically, the position of the center B of the traveling unit 10 is calculated, and the direction of the traveling unit 10 is calculated.

The horizontal distance between the center B of the traveling portion 10 and the swing center axis A is known. Therefore, this known horizontal distance, the position of the swing center axis A, the position of the protruding end of the first lock bolt 2a, and the first posture (more specifically, the swing angle of the boom 31 in the left-right direction). , Can be used to calculate the position of the center B of the traveling unit 10.

When calculating the position of the center B of the traveling portion 10, the position of the protruding end of the second lock bolt 2b and the second posture may be used instead of the position of the protruding end of the first lock bolt 2a and the first posture. Good. Instead of the position of the center B of the traveling portion 10, the position of another portion in the traveling portion 10 may be used as the position of the traveling portion 10.

Assuming that the orientation of the traveling portion 10 is the positional relationship of the swing center axis A in the left-right direction of the boom 31 with respect to the center B of the traveling portion 10, the calculated position of the swing center axis A in the left-right direction of the boom 31. And the calculated center B of the traveling unit 10 can be used to calculate the direction of the traveling unit 10.

As described above, the position of the traveling unit 10 is calculated, and the traveling unit position calculation process by the traveling unit position calculation unit 71 is completed.

Next, the drilling machine position calculation process by the drilling machine position calculation unit 72 will be described. The drilling machine position calculation process is repeated at a predetermined cycle after the traveling portion position calculation process. Here, a case of calculating the position of the drilling machine 40 when the posture of the arm portion 30 is changed as shown in FIG. 6 will be described.

In the drilling machine position calculation process, the drilling machine 40 drills based on the posture of the arm 30 detected by the posture detecting unit 60 and the position of the traveling unit 10 calculated by the traveling unit position calculating unit 71. The position of the tip of the hole rod 41 is calculated. Specifically, first, the horizontal distance between the tip of the drilling rod 41 and the swing center axis A in the left-right direction of the boom 31 (hereinafter, referred to as “third horizontal distance L3”) is calculated. Next, the calculated third horizontal distance L3, the calculated position of the swing center axis A in the left-right direction of the boom 31, the calculated position of the center B of the traveling portion 10, and the detected posture of the arm portion 30. (More specifically, the horizontal swing angle of the boom 31) and the position of the tip of the drilling rod 41 are calculated.

The third horizontal distance L3 was detected with the dimensions of the boom 31, arm 32, bracket 33, and drilling machine 40, as in the calculation of the first and second horizontal distances L1 and L2 (see FIG. 5). It can be calculated by using the posture of the arm portion 30 (more specifically, the vertical swing angle of the boom 31, the swing angle of the arm 32, and the swing angle of the bracket 33).

As described above, the position of the tip of the drilling rod 41 is calculated, and the processing by the drilling machine position calculation unit 72 is completed. The result of the drilling machine position calculation process is displayed on the monitor (display unit) 80 together with the result of the traveling unit position calculation process.

As shown in FIG. 2, the monitor 80 is provided in the vicinity of the cockpit 21. Therefore, the operator can operate the shaft construction device 100 while checking the position of the tip of the drilling rod 41 displayed on the monitor 80.

A predetermined drilling position is displayed on the monitor 80 together with the position of the tip of the drilling rod 41. Therefore, the operator can easily align the tip of the drilling rod 41 with the predetermined drilling position by operating the shaft construction device 100 while checking the monitor 80. Therefore, the tip of the drilling rod 41 can be moved to the drilling position without manually marking the bottom of the shaft VS with the predetermined drilling position, and the shaft VS can be efficiently constructed. Can be done.

According to the above first embodiment, the following effects are exhibited.

In the shaft construction device 100, the arm detected in a state where the tip of the drilling rod 41 in the drilling machine 40 is applied to the protruding ends of the first and second lock bolts 2a and 2b provided in the constructed shaft VS. The position of the traveling portion 10 is calculated based on the posture of the portion 30, and the position of the tip of the drilling rod 41 is determined based on the calculated position of the traveling portion 10 and the detected posture of the arm portion 30. calculate. Therefore, the position of the tip of the drilling rod 41 is calculated with reference to the protruding ends of the first and second lock bolts 2a and 2b. Therefore, the position of the tip of the drilling machine 40 in the constructed shaft VS can be grasped, and the tip of the drilling rod 41 can be easily aligned with the predetermined drilling position. As a result, the shaft VS can be constructed efficiently.

Further, in the shaft construction device 100, the monitor 80 uses the position of the traveling unit 10 calculated by the traveling unit position calculating unit 71 and the drilling rod 41 in the drilling machine 40 calculated by the drilling machine position calculating unit 72. The position of the tip and is displayed. Therefore, the operator can operate the shaft construction device 100 while checking the position of the traveling portion 10 and the position of the tip of the drilling rod 41 on the monitor 80. Therefore, the shaft VS can be constructed efficiently.

In the above embodiment, the protruding ends of the first and second lock bolts 2a and 2b provided on the shaft wall 1a of the constructed shaft VS are set as the first and second reference points, but the first and second reference points are used. The point may be provided at the bottom of the pre-built shaft VS.

However, when the first and second reference points are provided at the bottom of the shaft VS, the first and second reference points are removed by excavation of the bottom of the shaft VS. Therefore, it is necessary to newly provide the first and second reference points at the bottom of the shaft VS with the excavation of the bottom of the shaft VS.

When the first and second reference points are provided on the shaft wall 1a of the already constructed shaft VS as in the above embodiment, the first and second reference points remain even if the bottom of the shaft VS is excavated. Therefore, the number of times the first and second reference points are provided can be reduced as compared with the case where the first and second reference points are provided at the bottom of the already constructed shaft VS, and the shaft VS can be efficiently constructed. it can.

<Second Embodiment>
Next, the shaft construction device 200 according to the second embodiment of the present invention will be described with reference to FIGS. 7 and 8. Hereinafter, the differences from the first embodiment will be mainly described, and the same or equivalent configurations as those described in the first embodiment are designated by the same reference numerals as those in the first embodiment in the drawings. The explanation is omitted. Further, since the side view of the shaft construction device 200 is substantially the same as the side view of the shaft construction device 100 shown in FIG. 2, the illustration is omitted.

As shown in FIG. 7, the shaft construction device 200 further includes an orientation detection unit 265 for detecting the orientation of the traveling unit 10, and the traveling unit position calculation unit 271 is one reference provided in the constructed shaft VS. The points can be used to calculate the position of the drilling machine 40 in the shaft VS. The directional detection unit 265 is, for example, a digital compass provided on the traveling unit 10 or the vehicle body 20.

Hereinafter, the traveling unit position calculation process performed by the traveling unit position calculation unit 271 will be described in detail. Here, a case where one reference point provided in the constructed shaft VS is set as a protruding end of a predetermined lock bolt 2 whose position is known will be described.

In the traveling portion position calculation process, the posture of the arm portion 30 and the traveling portion 10 detected by the posture detecting unit 60 and the orientation detecting unit 265 with the tip of the drilling rod 41 in contact with the protruding end of the predetermined lock bolt 2. Use orientation. Therefore, before performing the traveling portion position calculation process, the tip of the drilling rod 41 is applied to the protruding end of the predetermined lock bolt 2, and the arm portion 30 detected by the posture detecting portion 60 and the orientation detecting portion 265 in this state. The work of storing the posture and the orientation of the traveling unit 10 in the controller 70 is performed.

Specifically, the posture of the arm portion 30 is changed by the maneuvering of the operator, and as shown in FIG. 8, the tip of the drilling rod 41 is brought into contact with the protruding end of the predetermined lock bolt 2 in the constructed shaft VS. In this state, the controller 70 determines the posture of the arm portion 30 and the orientation of the traveling portion 10 detected by the posture detecting unit 60 and the orientation detecting unit 265, and the posture and orientation for calculating the traveling unit position according to the operation of the operator. Get as.

First, the controller 70 calculates the horizontal distance L4 between the protruding end of the first lock bolt 2a and the swing center axis A in the left-right direction of the boom 31 by using the acquired posture for calculating the position of the traveling portion. Since the dimensions of the boom 31, arm 32, bracket 33, and drilling machine 40 are known values, these known values and the posture for calculating the position of the traveling portion (more specifically, the vertical swing of the boom 31). The horizontal distance L4 can be calculated by using the moving angle, the swing angle of the arm 32, and the swing angle of the bracket 33).

Next, the orientation of the arm portion 30 is calculated using the acquired posture and orientation for calculating the position of the traveling portion. Since the acquired orientation is the orientation of the traveling portion 10, the orientation of the arm portion 30 can be calculated by using the swing angle of the boom 31 in the left-right direction with respect to the traveling portion 10.

Next, the position of the swing center axis A in the left-right direction of the boom 31 based on the position of the protruding end of the predetermined lock bolt 2, the calculated horizontal distance L4, and the calculated orientation of the arm portion 30. Is calculated. Specifically, a position separated from the protruding end of the first lock bolt 2a by a horizontal distance L4 in the direction of the arm portion 30 is calculated. The calculated position is the position of the swing center axis A in the left-right direction of the boom 31.

As described above, the position of the traveling unit 10 is calculated, and the traveling unit position calculation process by the traveling unit position calculation unit 271 is completed.

In the above embodiment, the posture detection unit 60 and the orientation detection unit 265 are in a state where the tip of the drilling rod 41 in the drilling machine 40 is in contact with the protruding end of the predetermined lock bolt 2 provided in the constructed shaft VS. The position of the traveling portion 10 is calculated based on the posture of the arm portion 30 and the orientation of the traveling portion 10 detected by the above. Therefore, as compared with the first embodiment, the number of reference points used when calculating the position of the traveling portion 10 can be reduced, and the work of applying the reference point to the tip of the drilling rod 41 can be reduced. Therefore, the position of the traveling unit 10 can be grasped more efficiently, and the shaft VS can be constructed more efficiently.

The arm portion detected by the posture detecting unit 60 with the tip of the drilling rod 41 in contact with the protruding ends of the first and second lock bolts 2a and 2b as in the shaft construction device 100 according to the first embodiment. When the posture of 30 is used, a device that directly detects the orientation of the traveling unit 10 becomes unnecessary. Therefore, the structure of the shaft construction device 100 can be simplified.

<Third Embodiment>
Next, the shaft construction device 300 according to the third embodiment of the present invention will be described with reference to FIGS. 9 and 10. Hereinafter, the differences from the first embodiment will be mainly described, and the same or equivalent configurations as those described in the first embodiment are designated by the same reference numerals as those in the first embodiment in the drawings. The explanation is omitted.

As shown in FIG. 9, the shaft construction device 300 includes a swivel table 320 that is rotatably supported around a vertical axis by a traveling portion 10 instead of the vehicle body 20 (see FIG. 2) in the shaft construction device 100. .. A swivel motor (not shown) is mounted on the underframe 11, and the swivel table 320 swivels by driving the swivel motor.

The boom 31 of the arm portion 30 is supported by the swivel table 320 so as to be swingable in the vertical direction but not swingable in the horizontal direction. That is, the orientation of the boom 31 changes as the swivel table 320 turns.

As shown in FIG. 10, the shaft construction device 300 further includes a turning angle detection unit 361. The attitude detection unit 360 does not include the boom left / right angle detection unit 61 (see FIG. 3) in the shaft construction device 100.

The traveling unit position calculation unit 371 of the controller 370 has the traveling unit position calculation unit 71 at the positions of the protruding ends of the first and second lock bolts 2a and 2b and at the protruding ends of the first and second lock bolts 2a and 2b. The traveling unit is based on the posture of the arm 30 and the turning angle of the swivel table 320 detected by the posture detecting unit 360 and the turning angle detecting unit 361 with the tip of the drilling rod 41 of the drilling machine 40 in contact with the tip. Calculate the position of 10. Since the traveling unit position calculation process performed by the traveling unit position calculation unit 371 is substantially the same as the processing performed by the traveling unit position calculation unit 71, the description thereof will be omitted here.

The drilling machine position calculation unit 372 of the controller 370 includes the position of the traveling unit 10 calculated by the traveling unit position calculating unit 271 and the posture and turning of the arm portion 30 detected by the posture detecting unit 360 and the turning angle detecting unit 361. The position of the drilling machine 40 is calculated based on the turning angle of the table 320. Since the drilling machine position calculation process performed by the drilling machine position calculation unit 372 is substantially the same as the processing performed by the drilling machine position calculation unit 72, the description thereof will be omitted here.

Also in the shaft construction device 300, the position of the tip of the drilling rod 41 in the drilling machine 40 is calculated based on the protruding ends of the first and second lock bolts 2a and 2b. Therefore, the position of the tip of the drilling machine 40 in the already constructed shaft VS can be grasped, and the shaft VS can be efficiently constructed.

Further, the traveling unit position calculation unit 371 has the posture detection unit 360 and the turning angle detection unit 361 in a state where the tip of the drilling rod 41 in the drilling machine 40 is in contact with the protruding ends of the first and second lock bolts 2a and 2b. The position of the traveling portion 10 is calculated based on the posture of the arm portion 30 and the turning angle of the swivel base 320 detected by the above. Therefore, even in the shaft construction device 300 provided with the swivel table 320, the position of the tip of the drilling machine 40 in the already constructed shaft VS can be grasped, and the shaft VS can be efficiently constructed.

Although not shown, the shaft construction device 300 may further include a direction detection unit that detects the direction of the traveling unit 10 as in the shaft construction device 200. In this case, the number of reference points used when calculating the position of the traveling unit 10 can be reduced as compared with the case where the orientation detection unit is not provided, and the work of contacting the reference point with the tip of the drilling rod 41 Can be reduced. Therefore, the position of the traveling unit 10 can be grasped more efficiently, and the shaft VS can be constructed more efficiently.

Although the embodiments of the present invention have been described above, the above embodiments are only a part of the application examples of the present invention, and the technical scope of the present invention is limited to the specific configurations of the above embodiments. Absent.

The shaft construction device 100 may be used when drilling a hole for inserting the lock bolt 2 instead of the hole 3 for loading the explosive.

The shaft construction device 100 may be a sprayer for spraying concrete material or an insertion machine for inserting a lock bolt 2 instead of the drilling machine 40. That is, the bracket 33 of the arm portion 30 may be equipped with a work tool for performing the work of constructing the shaft VS on the ground.

In the above embodiment, the protruding end of the lock bolt 2 is used as a reference point, but a marking (for example, a depression formed in the shaft wall 1a) provided on the shaft wall 1a of the shaft VS is provided separately from the lock bolt 2. It may be used as a reference point.

The traveling unit position calculation unit 71 replaces the posture of the arm portion 30 detected by the posture detecting unit 60 with the tip of the drilling rod 41 touching the reference point, and the position of the traveling unit 10 based on another information. May be calculated. For example, the position of the traveling unit 10 may be calculated by analyzing the image of the reference point taken by using a camera (shooting means) capable of measuring the direction of the reference point and the distance to the reference point. That is, the traveling unit position calculation unit 71 may be formed so as to calculate the position of the traveling unit 10 based on the reference point provided in the constructed shaft VS.

When the position of the traveling unit 10 is calculated by analyzing the captured image of the reference point, it is preferable to mount a camera for photographing the reference point on the traveling unit 10 or the swivel table 320. Further, in order to analyze the image with high accuracy, a predetermined target may be set at the reference point and the target may be photographed.

In the above embodiment, the drilling machine 40 is non-rotatably attached to the bracket 33 of the arm portion 30, but may be rotatably attached. In this case, it is preferable to provide a detection unit for detecting the rotation angle of the drilling machine 40 with respect to the bracket 33.

A plurality of arm portions 30 may be supported by the vehicle body 20 or the swivel base 320. In this case, a working tool such as a drilling machine 40 is attached to each of the plurality of arm portions 30. Further, in this case, when acquiring the first and second postures, the working tool may be applied to the protruding ends of the first and second lock bolts 2a and 2b at the same time.

The present invention is applicable not only to the construction of a shaft VS whose central axis coincides with the vertical direction, but also to the construction of a shaft whose central axis is inclined with respect to the vertical direction. It can also be applied to the construction of shafts with a bent central axis.

100, 200, 300 ... Vertical shaft construction device 10 ... Running part 30 ... Arm part 40 ... Drilling machine (working tool)
60 ... Posture detection unit 61 ... Boom left / right angle detection unit 62 ... Boom vertical angle detection unit 63 ... Arm angle detection unit 64 ... Bracket angle detection unit 70 ... Controller 71 ... Traveling unit position calculation unit 72 ... Drilling machine position calculation unit (work tool position calculation unit)
265 ... Direction detection unit 320 ... Swivel stand 361 ... Swivel angle detection unit VS ... Vertical shaft 1a ... Pit wall

Claims (8)

It is a shaft construction device that builds a shaft on the ground.
With the running part
An arm that can change its posture with respect to the running part,
A work tool that is supported by the arm and performs the work of constructing the shaft on the ground.
A posture detection unit that detects the posture of the arm and
A controller that performs arithmetic processing based on the posture of the arm portion detected by the posture detection unit is provided.
The controller
A traveling unit position calculation unit that calculates the position of the traveling unit based on a reference point provided in the shaft that has already been constructed.
A work tool position calculation unit that calculates the position of the work tool based on the position of the running unit calculated by the running unit position calculation unit and the posture of the arm portion detected by the posture detection unit. , With
Vertical shaft construction equipment. The traveling unit position calculation unit is based on the posture of the arm portion detected by the posture detecting unit in a state where the working tool is applied to a reference point provided in the shaft that has already been constructed. Calculate the position,
The shaft construction device according to claim 1. The work tool is a drilling machine that drills a hole in the bottom of the shaft that has already been constructed.
The traveling unit position calculation unit calculates the position of the traveling unit based on a reference point provided on the shaft wall of the shaft that has already been constructed.
The shaft construction apparatus according to claim 1 or 2. The traveling unit position calculation unit calculates the position of the traveling unit based on the first reference point and the second reference point provided in the already constructed shaft.
The shaft construction device according to any one of claims 1 to 3. Further provided with an orientation detection unit for detecting the orientation of the traveling unit,
The traveling unit position calculation unit calculates the position of the traveling unit based on the reference point provided in the shaft and the orientation of the traveling unit detected by the orientation detecting unit.
The shaft construction device according to any one of claims 1 to 3. A swivel table that is rotatably supported around the vertical axis by the traveling portion,
Further provided with a turning angle detecting unit for detecting the turning angle of the turning table with respect to the traveling unit.
The arm is supported by the swivel and
The traveling unit position calculation unit calculates the position of the traveling unit based on the reference point provided in the shaft that has already been constructed and the turning angle of the turning table detected by the turning angle detecting unit.
The shaft construction apparatus according to any one of claims 1 to 5. Any of claims 1 to 6, further comprising a display unit that displays the position of the traveling unit calculated by the traveling unit position calculation unit and the position of the work tool calculated by the work tool position calculation unit. The shaft construction device according to item 1. It is a shaft construction method that constructs a shaft in the ground using a shaft construction device.
The shaft construction device is
With the running part
An arm that can change its posture with respect to the running part,
It is provided with a work tool that is supported by the arm and performs the work of constructing the shaft on the ground.
The shaft construction method is
The position of the traveling portion is calculated based on the reference point provided in the already constructed shaft.
The posture of the arm is detected, and the position of the work tool is calculated based on the detected posture of the arm and the calculated position of the traveling portion.
How to build a shaft.

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