JP2021139800A - Vibration control frame for installing measuring instrument to construction machine, construction machine with the same, and vibration control method for measuring instrument - Google Patents

Abstract

To provide a technology on a vibration control frame for mounting a measuring instrument to a construction machine, which can more suppress vibration of the construction machine propagated to the measuring instrument than prior arts.SOLUTION: A vibration control frame comprises: a frame body part fixed to a construction machine, a measuring instrument holding part that is mounted on the frame body part and holds a measuring instrument, and a plurality of support leg parts that is vertically hung from the measuring instrument holding part so as not to come into contact with the frame body part and can be expanded and contracted in a vertical direction. When using the measuring instrument, the vibration control frame extends the plurality of support leg parts, and causes the plurality of support leg parts to hold the measuring instrument holding part in a state where the plurality of supporting leg parts is grounded and the measuring instrument holding part is lifted upward from the frame body part.SELECTED DRAWING: Figure 10

Description

The present invention relates to a vibration-proof stand for installing a measuring instrument on a construction machine, a construction machine provided with the vibration-proof stand, and a vibration-proof method for the measuring instrument.

The NATM method (New Austrian Tunneling Method) is known as a method for constructing a tunnel. The NATM method is based on the idea of maintaining the stability of the tunnel by effectively utilizing the support capacity and strength of the ground, and arch-shaped steel support made of sprayed concrete, rock bolts, H-shaped steel, etc. It is a construction method to construct a tunnel structure integrated with the ground by using it as appropriate.

In tunnel construction management, various management is performed based on the measurement results obtained by the measuring instrument. For example, tunnel excavation after face excavation using a measuring instrument such as a three-dimensional scanner or a total station for the purpose of grasping the protruding part (atari) that hinders the subsequent lining after carrying out the slip generated by face excavation. The shape of the excavated surface may be measured (see, for example, Patent Document 1 and the like).

In addition, for the purpose of managing the thickness of sprayed concrete (spraying thickness) in the construction management of sprayed concrete work, the shape of the inner wall surface of the tunnel is also measured by a measuring instrument such as a three-dimensional scanner or a total station. (See, for example, Patent Document 2 and the like).

Here, when a measuring instrument for measuring the tunnel face surface and the tunnel peripheral wall surface is installed on a tripod, it is necessary to manually install and remove it, which causes a problem that a lot of labor and time are required for the work. On the other hand, when the measuring instrument is installed on the gantry erected on the wall surface behind the face, the construction machine or the like may interfere with the measurement.

On the other hand, in recent years, a technique of installing a measuring instrument on a construction machine such as an excavator or an excavator-mounted sprayer has been proposed (see, for example, Patent Documents 1 and 2).

JP-A-2019-158637 JP-A-2019-167678 Japanese Unexamined Patent Publication No. 2016-200521

However, when the measuring instrument is directly mounted on the construction machine, there is a problem that the vibration of the construction machine is transmitted to the measuring instrument, which makes the measurement difficult or reduces the measurement accuracy. In connection with this, Patent Document 1 discloses a technique in which a base for installing a measuring instrument on a construction machine is used as a seismic isolation stand. In such a seismic isolation stand, although it is possible to reduce the transmission of vibration of the construction machine, there is a risk that the construction vibration that cannot be completely removed by the seismic isolation stand will be transmitted to the measuring instrument.

The present invention has been made in view of the above problems, and an object of the present invention is a vibration-proof stand for mounting a measuring instrument on a construction machine, and conventional vibration of the construction machine transmitted to the measuring instrument. The purpose is to provide technology related to anti-vibration pedestals that can be suppressed compared to the above.

The present invention for solving the above problems is a vibration-proof pedestal for installing a measuring instrument on a construction machine, and is mounted on a gantry main body fixed to the construction machine and the gantry main body. A measuring instrument holding portion that holds the measuring instrument and a plurality of supporting legs that are vertically hung from the measuring instrument holding portion so as not to come into contact with the gantry main body and are expandable and contractible in the vertical vertical direction. When the measuring instrument is used, the plurality of support legs are extended, the plurality of support legs are grounded, and the measuring instrument holding portion is lifted upward from the gantry main body portion. The holding portion is held by the plurality of supporting legs.

Further, in the anti-vibration gantry according to the present invention, the measuring instrument holding portion has a fixing mechanism capable of switching between fixing the measuring instrument holding portion to the pedestal main body and releasing the fixed state of the measuring instrument holding portion. You may be doing it.

Further, the anti-vibration pedestal according to the present invention may further include a guide portion that regulates the relative movement in the horizontal direction while allowing the relative movement of the measuring instrument holding portion in the vertical direction with respect to the pedestal main body portion. ..

Further, the present invention can be specified as a construction machine provided with any of the above-mentioned anti-vibration mounts. Further, the present invention can be specified as a measuring unit including any of the above-mentioned anti-vibration pedestals and a measuring instrument held by the measuring instrument holding portion in the anti-vibration pedestal.

The present invention can also be specified as a vibration isolation method for measuring instruments. That is, the present invention is a method for vibration-proofing a measuring instrument installed in a construction machine via a vibration-proof pedestal. A plurality of measuring instrument holding portions that are placed on the measuring instrument and hold the measuring instrument, and a plurality of measuring instrument holding portions that are vertically hung down from the measuring instrument holding portion so as not to come into contact with the gantry main body and can be expanded and contracted in the vertical vertical direction. The vibration isolation method includes a support leg portion, and the vibration isolation method extends the plurality of support leg portions after moving the construction machine to a predetermined construction position, grounds the plurality of support leg portions, and holds the measuring instrument. The measuring instrument holding portion is held by the plurality of supporting legs in a state where the portion is lifted upward from the gantry main body portion.

Further, in the vibration isolation method according to the present invention, the measuring instrument holding portion has a fixing mechanism capable of switching between fixing the measuring instrument holding portion to the gantry main body portion and releasing the fixed state of the measuring instrument holding portion. Then, the construction machine is moved from a predetermined preparation position different from the construction position to the construction position in a state where the measuring instrument holding portion is fixed to the gantry main body portion by the fixing mechanism, and the construction machine is moved to the construction position. After moving to the construction position, the fixing state of the measuring instrument holding portion by the fixing mechanism may be released, and then the plurality of support legs may be extended.

Further, the anti-vibration pedestal further includes a guide portion that regulates the relative movement in the horizontal direction while allowing the relative movement of the measuring instrument holding portion in the vertical direction with respect to the pedestal main body portion, and the plurality of support legs. The guide portion may be used to regulate the relative movement of the measuring instrument holding portion in the horizontal direction with respect to the gantry main body portion.

According to the present invention, it is possible to provide a technique relating to a vibration-proof stand for mounting a measuring instrument on a construction machine, which can suppress the vibration of the construction machine transmitted to the measuring instrument as compared with the conventional case.

FIG. 1 is a diagram showing a construction situation using the elector-mounted sprayer according to the first embodiment. FIG. 2 is a diagram showing a vertical cross section of a tunnel constructed by the elector-mounted sprayer according to the first embodiment. FIG. 3 is a side view of the elector-mounted sprayer according to the first embodiment. FIG. 4 is a top view of the elector-mounted sprayer according to the first embodiment. FIG. 5 is a schematic configuration diagram of the construction management system according to the first embodiment. FIG. 6 is a front view of an anti-vibration stand on which a three-dimensional scanner is mounted. FIG. 7 is a side view of the anti-vibration stand on which the three-dimensional scanner is mounted. FIG. 8 is a top view of an anti-vibration stand on which a three-dimensional scanner is mounted. FIG. 9 is a bottom view of the anti-vibration stand on which the three-dimensional scanner is mounted. FIG. 10 is a diagram illustrating the internal structure of the anti-vibration stand. FIG. 11 is a diagram illustrating the internal structure of the anti-vibration stand. FIG. 12 is a diagram illustrating the operation of the anti-vibration stand. FIG. 13 is a diagram illustrating the operation of the anti-vibration gantry. FIG. 14 is a diagram illustrating the operation of the anti-vibration stand. FIG. 15 is a diagram illustrating the operation of the anti-vibration stand.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. It should be noted that each configuration in the embodiment and a combination thereof and the like are examples, and the configurations can be added, omitted, replaced, and other changes as appropriate without departing from the gist of the present invention.

<Embodiment 1>
FIG. 1 is a diagram showing a construction situation using an elector-mounted spraying machine 1 which is an example of a construction machine according to the first embodiment. The Elekta-mounted spraying machine 1 is a tunnel construction machine by the NATM method. FIG. 1 shows a cross section orthogonal to the tunnel excavation direction. FIG. 2 is a view showing a vertical cross section along the excavation direction of the tunnel constructed by the elector-mounted spraying machine 1 according to the first embodiment.

Reference numeral 2 is a front-line excavation surface in the tunnel excavation direction and is called a "face". For the tunnel, for example, (1) blasting the face 2 or excavating by machine → (2) carrying out excavated earth and sand (excavation scraps) → (3) spraying primary sprayed concrete 3 and building tunnel support 4 , Secondary spraying Concrete 5 spraying → (4) By repeating the placement of lock bolts (not shown) as one cycle, the concrete is extended in the tunnel excavation direction (tunnel axial direction). The construction situation shown in FIG. 1 is as follows: after excavating the face 2 and carrying out the excavation scraps, the Electa-mounted sprayer 1 is self-propelled to the vicinity of the face 2, and then the face 2 and the ground 7 are primary. It shows the situation where the spraying work of concrete 3 is being carried out.

FIG. 3 is a side view of the elector-mounted spraying machine 1 according to the first embodiment. FIG. 4 is a top view of the elector-mounted spraying machine 1 according to the first embodiment. The Elekta-mounted spraying machine 1 is a self-propelled heavy machine, and includes an Elekta device 10, a spraying device 20, a vibration-proof stand 30, a three-dimensional (3D) scanner 40 as an example of a measuring instrument, and the like. The measuring instrument of the Elekta-mounted sprayer 1 is a device for acquiring various data used for tunnel construction management using the Elekta-mounted sprayer 1. 3 and 4 show the positional relationship between the front and the rear of the Electa-mounted sprayer 1.

Further, the erector device 10 includes a pair of erector booms 11L and 11R having the same configuration. The pair of erector booms 11L and 11R in the erector device 10 extend toward the front of the erector-mounted sprayer 1. The pair of elector booms 11L and 11R can be freely expanded and contracted, tilted, swung, and rotated by the operation of the drive mechanism attached to them. Further, a pair of hands (grip mechanism) 12L, 12R having the same configuration are connected to the tips of the elector booms 11L, 11R. The pair of hands 12L and 12R can freely rotate and swing by the operation of the drive mechanism attached to them, and the pair of support pieces in which the arch-shaped tunnel support 4 is divided into two can be attached and detached. It is configured as a gripping mechanism that grips (holds) the pinching pressure. The pair of support pieces are, for example, an arch-shaped tunnel in which the top ends (upper ends) are integrally connected to each other in a state of being built in a predetermined built-in position by the hands 12L and 12R in the elector device 10. The support work 4 is formed.

The spraying device 20 is a device for spraying the primary sprayed concrete 3 and the secondary sprayed concrete 5 described above. The spraying device 20 includes an arm 21 extending from the center and front position in the width direction of the elector-mounted spraying machine 1 toward the front of the elector-mounted spraying machine 1, and a spraying robot 22 supported by the arm 21. , A spray nozzle 23 or the like provided on the tip side of the spray robot 22 is provided. The arm 21 can perform, for example, an expansion / contraction operation, a tilting operation, and the like. Further, the spraying robot 22 can, for example, tilt and rotate the spray nozzle 23. In addition, the spraying device 20 includes a concrete pump, a quick-setting admixture supply device, a compressor, a high-pressure water pump, and the like. The spraying robot 22 can spray the sprayed concrete onto the face 2 by discharging the sprayed concrete supplied from the concrete pump from the spraying nozzle 23.

As shown in FIGS. 3 and 4, the Elekta-mounted sprayer 1 further includes a vibration-proof stand 30 on which a three-dimensional scanner 40 is mounted. The three-dimensional scanner 40 converts the distance to the object by measuring the time from the irradiation of the laser light to the reflection of the laser light on the object and the return of the laser light. Further, the three-dimensional scanner 40 can also measure, for example, the irradiation angle of the laser beam, and can calculate the coordinates of the relative position of the measurement target with respect to the three-dimensional scanner 40 based on the converted distance and the measured irradiation angle. The coordinates of the relative position referred to here are the three-dimensional coordinates of the measurement target when the coordinates of the three-dimensional scanner 40 are used as the origin. In the present embodiment, for example, by measuring the excavated surface of the face 2 after excavation, the thickness of the sprayed concrete sprayed on the face 2 is monitored by the three-dimensional scanner 40, whereby the face 2 is measured. Manage spray thickness in real time. Further, for example, by targeting the ground 7 (pit wall surface) near the face 2 as a measurement target, the sprayed concrete thickness on the ground 7 (pit wall surface) can be monitored to reach the ground 7. Manage the spray thickness in real time. The anti-vibration stand 30 is interposed between the three-dimensional scanner 40 as an example of the measuring instrument and the elector-mounted spraying machine 1, and when the measurement work is performed using the three-dimensional scanner 40, the elector-mounted spraying is performed. This is a stand for suppressing the vibration of the machine 1 from being transmitted to the three-dimensional scanner 40. Details of the anti-vibration stand 30 will be described later.

FIG. 5 is a schematic configuration diagram of the construction management system S according to the first embodiment. The Elekta-mounted sprayer 1 includes a monitor 101, a control computer 102, an antenna 103, an operation panel 104, a keyboard 105, a Ponting device 106, and the like, which are display devices mounted on the cockpit.

Further, reference numeral 70 in FIG. 5 is an automatic tracking type total station which is a distance measuring / angle measuring instrument (surveying instrument) by laser light, reference numeral 71 is a total station controller for controlling the total station 70, and reference numeral 72 is wireless transmission / reception with the total station controller 71. It is a total station side antenna that enables it. The total station controller 71 has, for example, a portable computer, and automatically controls various mechanisms of the total station 70 by software incorporated in the computer, and processes survey data of the total station 70. Further, the total station controller 71 can transmit and receive data by wireless communication with the antenna 103 of the ejector-mounted sprayer 1, and wirelessly remotely controls various mechanisms of the total station 70 by a command from the control computer 102. It is possible. Of course, control computer 1
The mutual communication between 02 and the total station controller 71 may be wired communication.

The total station 70 is a surveying instrument that measures (measures) the position of the target 9 by irradiating a laser beam to automatically track a target 9 such as a prism and measuring the distance and angle thereof. Is installed at a known point (coordinate known point). In the present embodiment, for example, the support target 9A is attached to a pair of support pieces 4L and 4R in the tunnel support 4 newly built along the ground 7 near the face 2. When building the tunnel support 4, when connecting the support pieces 4L, 4R gripped to the pair of hands 12L, 12R, respectively, or when installing at the predetermined building position, each support piece 4L, 4R By automatically tracking the support work target 9A attached to, the positions of the support work pieces 4L and 4R can be acquired in real time. The position, number, and the like of the support target 9A attached to the support pieces 4L and 4R can be changed as appropriate.

Further, the airframe targets 9B are installed on the left side portion, the right side portion, and the central portion of the rear portion of the Electa-mounted sprayer 1. By measuring the position of each machine target 9B attached to the Electa-mounted sprayer 1 using the total station 70, the position where the Electa-mounted sprayer 1 is arranged, its orientation, and the like are acquired in real time. be able to. Since the total station 70 automatically tracks the machine target 9B attached to the rear part of the elector-mounted spraying machine 1 and the support target 9A attached to each of the support pieces 4L and 4R, such a target 9A, It may be installed in an appropriate place where the collimation of 9B is not obstructed, for example, a pedestal provided on the ceiling or wall surface of a tunnel appropriately separated from the face 2.

Next, the details of the anti-vibration stand 30 included in the Elekta-mounted spraying machine 1 will be described with reference to FIGS. 6 to 15. FIG. 6 is a front view of the anti-vibration stand 30 on which the three-dimensional scanner 40 is mounted. The front surface of the anti-vibration gantry 30 is the side that is visually recognized when the Elekta-mounted sprayer 1 is viewed from the front, and the anti-vibration gantry 30 viewed from the direction of arrow A in FIG. 4 is shown in FIG. Has been done. FIG. 7 is a side view of the anti-vibration stand 30 on which the three-dimensional scanner 40 is mounted. The side surface of the anti-vibration gantry 30 is the side that is visually recognized when the Elekta-mounted sprayer 1 is viewed from the side, and the anti-vibration gantry 30 viewed from the arrow B direction in FIG. 4 is shown in FIG. It is shown. FIG. 8 is a top view of the vibration isolation frame 30 on which the three-dimensional scanner 40 is mounted. FIG. 9 is a bottom view of the vibration isolation frame 30 on which the three-dimensional scanner 40 is mounted. FIG. 10 is a diagram illustrating the internal structure of the anti-vibration gantry 30 when the anti-vibration gantry 30 is viewed from the front side. FIG. 11 is a diagram illustrating the internal structure of the anti-vibration gantry 30 when the anti-vibration gantry 30 is viewed from the side surface side.

The anti-vibration gantry 30 is mounted on the gantry main body 31 and the gantry main body 31 fixed to the gantry fixing frame 13 (see FIGS. 3 and 4) of the Elekta-mounted spraying machine 1, and is a three-dimensional scanner. It includes a measuring instrument holding unit 32 that holds the 40, a plurality of supporting leg portions 50 that are vertically provided downward from the measuring instrument holding unit 32, and the like. The gantry main body 31 is, for example, a box-shaped frame formed by welding a steel plate, and the upper portion is open. Further, the gantry main body 31 is fixed to the gantry fixing frame 13 of the erector mounting type spraying machine 1 via the mounting bracket 14.

The gantry main body 31 of the anti-vibration gantry 30 is formed by a rectangular bottom plate 311 and a side plate 312 erected vertically upward from the bottom plate 311. In the present embodiment, the side plate 312 has a square-shaped shape in a plan view. Further, the upper end of the side plate 312 in the gantry main body 31 is an open end, and a rectangular opening 313 is formed.

The measuring instrument holding portion 32 includes a base plate 33 which is a flat plate member having a rectangular shape in a plan view, a locking air cylinder 34 which is vertically hung downward from the bottom surface of the base plate 33, a mounting leg portion 35, and the like. The outer shape of the base plate 33 is formed to be one size smaller than the opening 313 of the gantry main body 31, and the base plate 33 is surrounded by the side plates 312 in the gantry main body 31 through the opening 313. It is possible to enter (accommodate) in. The shape, size, and the like of the gantry main body 31 and the base plate 33 are not particularly limited.

Here, reference numeral 33A is the upper surface of the base plate 33, and reference numeral 33B is the lower surface of the base plate 33. In a state where the measuring instrument holding portion 32 is placed on the bottom plate 311 of the gantry main body 31, the base plate 33 is arranged to face the bottom plate 311 so that the lower surface 33B of the base plate 33 faces the upper surface of the bottom plate 311. There is.

Further, a three-dimensional scanner 40 is installed on the upper surface 33A of the base plate 33 via a vibration-proof rubber 36, a mounting plate 37, and the like. For example, the anti-vibration rubber 36 is sandwiched between a plurality of places between the base plate 33 and the mounting plate 37, and the mounting plate 37 is fixed by screwing or the like so as to be parallel to the base plate 33 in a compressed state. Further, the bottom portion of the three-dimensional scanner 40 is fixed to the upper surface 37A of the mounting plate 37 by screwing or the like. As described above, the three-dimensional scanner 40 is fixed to the base plate 33 of the measuring instrument holding unit 32 via the anti-vibration rubber 36, the mounting plate 37, etc., so that the measuring instrument holding unit 32 becomes the three-dimensional scanner 40. Is held integrally. In this embodiment, the three-dimensional scanner 40 is arranged at the center of the plane of the base plate 33. Further, as shown in FIGS. 7 and 8, the upper surface 33A of the base plate 33 is provided with a biaxial tilt meter 60, which enables horizontal measurement of the base plate 33. The position, number, and the like on which the biaxial tilting system 60 is installed are not particularly limited.

Next, the locking air cylinder 34 vertically hung from the lower surface 33B of the base plate 33 and the mounting leg 35 will be described. In this embodiment, a single locking air cylinder 34 is provided at the center of the plane of the base plate 33 (see FIG. 8 for the plane position). Further, four mounting legs 35 are vertically installed on the lower surface 33B of the base plate 33. In the present embodiment, the four mounting legs 35 vertically hung from the base plate 33 all have the same structure. Each mounting leg 35 is arranged on the lower surface 33B of the base plate 33 at positions near the four corners of the mounting plate 37 (see FIG. 8 for the planar position).

Here, the mounting leg portion 35 is formed by an air cylinder which is a pneumatic linear actuator, and is expandable and contractible along an axial direction extending perpendicularly to the base plate 33. The mounting legs 35 are connected to a cylinder tube 351 fixed to the lower surface 33B of the base plate 33, a piston (not shown) slidably arranged along the inner peripheral surface of the cylinder tube 351, and a piston. It is configured to include a piston rod 352, a mounting plate 353 attached to the tip end side of the piston rod 352, and the like. As shown in FIG. 10, a mounting plate 351A is provided at the upper end of the cylinder tube 351, and the cylinder tube 351 is fixed to the base plate 33 via the mounting plate 351A. Further, the shape, size, and the like of the mounting plate 353 attached to the tip end side of the piston rod 352 are not particularly limited, but in the present embodiment, the piston rod 352 has a disk shape. Each mounting leg 35 controls the compressed air supplied into the cylinder tube 351 based on a control signal from the control computer 102. As a result, the piston connected to the piston rod 352 moves along the axial direction of the cylinder tube 351, so that the piston rod 352 expands and contracts.

As shown in FIG. 10, a first guide portion 38 for guiding the mounting plate 353 in each mounting leg portion 35 is vertically erected on the upper surface 311A of the bottom plate 311 in the gantry main body portion 31. The first guide portion 38 is a cylindrical member having an inner diameter equal to the diameter of the mounting plate 353 provided at the tip of the piston rod 352, and its inner peripheral surface guides the mounting plate 353 to the guide surface 38A. It is configured as. The first guide portions 38 are provided at positions corresponding to the respective mounting leg portions 35, and in the present embodiment, the first guide portions 38 are provided at four locations. For example, each of the first guide portions 38 is arranged coaxially with the piston rod 352 and the mounting plate 353 in each mounting leg portion 35. When the piston rod 352 of each mounting leg 35 expands and contracts, the side peripheral surface of the mounting plate 353 attached to the tip of the piston rod 352 moves up and down along the guide surface 38A of the first guide portion 38. Slide in the direction. As a result, the horizontal movement of the piston rod 352 is restricted by the first guide portion 38 when the piston rod 352 in each mounting leg portion 35 expands and contracts.

Next, the locking air cylinder 34 will be described. The locking air cylinder 34 is an air cylinder having basically the same structure as the mounting leg portion 35, and is along the inner peripheral surfaces of the cylinder tube 341 and the cylinder tube 341 fixed to the lower surface 33B of the base plate 33. It includes a slidably arranged piston (not shown), a piston rod 342 connected to the piston, a locking plate 343 attached to the tip end side of the piston rod 342, and the like. The cylinder tube 341 of the locking air cylinder 34 is provided with a mounting plate 341A at the upper end thereof, and the cylinder tube 341 is fixed to the base plate 33 via the mounting plate 341A. The locking air cylinder 34 also operates based on the control signal from the control computer 102. By controlling the compressed air supplied into the cylinder tube 341 of the locking air cylinder 34, the piston connected to the piston rod 342 moves along the axial direction of the cylinder tube 341, so that the piston rod 342 moves. It expands and contracts.

Further, as shown in FIGS. 10 and 11, the bottom plate 311 of the gantry main body 31 is opened with an insertion port 311C through which the piston rod 342 of the locking air cylinder 34 can be inserted. The insertion port 311C of the bottom plate 311 in the gantry main body 31 is formed at the center position of the bottom plate 311, and the locking plate 343 is positioned on the lower surface 311B side of the bottom plate 311 with the piston rod 342 inserted through the insertion port 311C. ing. The shape, size, and the like of the locking plate 343 in the locking air cylinder 34 are not particularly limited, but in the present embodiment, the locking plate 343 has a disk shape. The cross-sectional area of the insertion port 311C opened in the bottom plate 311 in the gantry main body 31 is smaller than the cross-sectional area of the locking plate 343. Therefore, the locking plate 343 in the locking air cylinder 34 cannot enter the insertion port 311C of the bottom plate 311. That is, when the piston rod 342 of the locking air cylinder 34 is pulled, that is, when the piston rod 342 is reduced, the locking plate 343 of the piston rod 342 is the lower surface 311B (insertion port 311C) of the bottom plate 311 in the gantry main body 31. At the time of contact with the edge surface formed around the piston rod 342, further pulling operation of the piston rod 342 is restricted.

Further, in the present embodiment, as shown in FIGS. 10 and 11, the lower surface 311B of the bottom plate 311 in the gantry main body 31 is provided with a locking plate provided at the tip of the piston rod 342 in the locking air cylinder 34. A second guide portion 39 for guiding the 343 is vertically installed. The second guide portion 39 is a cylindrical member having an inner diameter equal to the diameter of the locking plate 343 provided at the tip of the piston rod 352 in the locking air cylinder 34, and its inner peripheral surface is the locking plate. It is configured as a guide surface 39A that guides the 343. The second guide portion 39 is provided at a position corresponding to the locking air cylinder 34, and is arranged coaxially with the piston rod 342 and the locking plate 343 in the locking air cylinder 34. When the piston rod 342 of the locking air cylinder 34 expands and contracts, the side peripheral surface of the locking plate 343 attached to the tip of the piston rod 342 is in the vertical direction along the guide surface 39A of the second guide portion 39. Sliding on. As a result, the movement of the piston rod 342 in the horizontal direction is restricted by the second guide portion 39 when the piston rod 342 in the locking air cylinder 34 expands and contracts.

Next, the support leg 50 of the anti-vibration stand 30 will be described. The anti-vibration pedestal 30 according to the present embodiment includes four support leg portions 50, and each support leg portion 50 is vertically hung downward from the base plate 33 in the measuring instrument holding portion 32. Each support leg 50 is composed of a power cylinder which is an electric linear actuator. Since the configuration of the power cylinder itself is well known, detailed description thereof will be omitted, but the support leg portion 50 is a case 51 fixed to the lower surface 33B of the base plate 33, a support rod 52 held by the case 51, and a support rod 52. It has a ground plate 53 attached to the tip side, a motor 54 for rotationally driving a ball screw (not shown) housed in the case 51 and integrally provided with the support rod 52. The motor 54 is, for example, a servomotor provided at the upper end of the case 51, and the support rod 52 can be expanded and contracted with respect to the case 51 by rotationally driving the ball screw in the forward and reverse directions. Although the case 51 has a cylindrical shape in the present embodiment, the shape is not particularly limited. Further, the motor 54 on each support leg 50 is controlled by the control computer 102 of the ejector-mounted sprayer 1, and the expansion / contraction operation of the support rod 52 is controlled based on the control signal from the control computer 102. Will be done. The motor 54 in each support leg 50 can be controlled not only by the control computer 102 but also by using, for example, a manual pulse generator. Further, the motor torque when the motor 54 of each support leg 50 operates is detected in real time based on the control signal of the control computer 102. For example, the detection data regarding the torque of the motor 54 is sequentially generated. It may be input to the control computer 102.

Here, as shown in FIGS. 8 and 9, the support legs 50 are arranged at positions near the four corners of the base plate 33, respectively. Further, as shown in FIGS. 10 and 11, a mounting plate 51A is provided at the upper end of the case 51 in the support leg portion 50, and the case 51 is fixed to the lower surface 33B of the base plate 33 via the mounting plate 51A. ing. Further, openings 33 for suppressing the motor 54 in the support leg 50 from interfering with the base plate 33 are formed at the four corners of the base plate 33, and the support legs are formed through the openings 33 of the base plate 33. The motor 54 in 50 projects toward the upper surface 33A of the base plate 33.

Further, the bottom plate 311 of the gantry main body 31 is provided with an opening 311D through which the case 51 of the support leg 50 can be inserted. The opening 311D formed in the bottom plate 311 of the gantry main body 31 is larger than the cross section of the case 51 of the support leg 50, and a predetermined clearance is formed between the case 51 and the opening 311D. Further, the opening 311D in the bottom plate 311 is opened at a position corresponding to each support leg 50. The case 51 of each support leg 50 suspended from the base plate 33 extends below the bottom plate 311 in the gantry main body 31 through the corresponding opening 311D.

Next, a vibration isolation method for the three-dimensional scanner 40 when performing measurement work using the three-dimensional scanner 40 mounted on the vibration isolation frame 30 will be described. Here, an operation example will be described when the spraying thickness of the sprayed concrete to be sprayed on the ground 7 by using the spraying device 20 of the Elekta-mounted spraying machine 1 is measured and managed by the three-dimensional scanner 40.

For example, the face 2 in the new section for newly constructing the support structure is excavated, and after slipping out, the elector-mounted sprayer 1 that has been waiting at the predetermined standby place is self-propelled to the construction position near the face 2. Deploy. At that time, the pair of hands 12L and 12R in the erector device 10 hold the pair of support pieces, respectively, and move the erector-mounted spraying machine 1 from the standby place to the construction position near the face 2. Here, the above-mentioned waiting place is an example of a predetermined preparation position different from the construction position near the face 2.

In the present embodiment, when the elector-mounted sprayer 1 is moved to a construction position near the face 2, an impact on the three-dimensional scanner 40 due to vibration or the like during running of the elector-mounted sprayer 1 is applied. In order to relax, the measuring instrument holding portion 32 of the anti-vibration gantry 30 is fixed to the gantry main body 31. In the present embodiment, the measuring instrument holding portion 32 is fixed to the gantry main body 31 by causing the locking air cylinder 34 to pull and push each mounting leg 35. As a result, the piston rod 352 in each mounting leg 35 is extended, and the piston rod 342 in the locking air cylinder 34 is reduced.

As a result, as shown in FIG. 12, the mounting plate 353 attached to the tip of the piston rod 352 in each mounting leg 35 and the engagement attached to the tip of the piston rod 342 in the locking air cylinder 34. The bottom plate 311 of the gantry main body 31 is sandwiched by the stop plate 343, and is mounted on the bottom plate 311 of the gantry main body 31 by the air pressure supplied to each mounting leg 35 and the locking air cylinder 34. The measuring instrument holding portion 32 is fixed to the bottom plate 311. Hereinafter, as shown in FIG. 12, a state in which the measuring instrument holding portion 32 is fixed to the bottom plate 311 of the gantry main body portion 31 is referred to as a “fixed state”. As described above, by fixing the measuring instrument holding unit 32 to the gantry main body 31, the measuring instrument holding unit is placed on the bottom plate 311 of the gantry main body 31 when the erector-mounted spraying machine 1 is running. 32 does not flutter. As a result, the impact, vibration, and the like acting on the three-dimensional scanner 40 held by the measuring instrument holding unit 32 can be alleviated.

Further, according to the anti-vibration stand 30 in the present embodiment, the anti-vibration rubber 36 is arranged between the base plate 33 in the measuring instrument holding portion 32 and the mounting plate 37 on which the three-dimensional scanner 40 is installed. , It is possible to preferably suppress the vibration caused by the running of the Elekta-mounted spraying machine 1 and the like from being transmitted to the three-dimensional scanner 40.

As described above, after moving the Elekta-mounted sprayer 1 from the standby place to the construction position near the face 2 with the measuring instrument holding portion 32 fixed to the bottom plate 311 of the gantry main body 31 in the anti-vibration pedestal 30. , The control computer 102 pushes and operates the locking air cylinder 34. As a result, as shown in FIG. 13, the piston rod 342 of the locking air cylinder 34 extends, and the locking plate 343 attached to the tip of the piston rod 342 separates from the bottom plate 311 of the gantry main body 31. As a result, the locking of the bottom plate 311 by the locking plate 343 of the locking air cylinder 34 is released, and as a result, the fixed state of the measuring instrument holding unit 32 with respect to the gantry main body 31 is released.

As described above, after releasing the fixing of the measuring instrument holding portion 32 to the gantry main body portion 31, the control computer 102 extends the support rods 52 in the four support leg portions 50. Then, when the grounding plate 53 of the support rod 52 in each support leg 50 touches the ground G, the motor 54 of the support leg 50 to which the grounding plate 53 touches the ground is temporarily stopped. While the support rod 52 of each support leg 50 is being extended, the torque fluctuation of each motor 54 is detected in real time. The control computer 102 can detect that the ground plate 53 of the support rod 52 has touched the ground G based on the detection result of the torque fluctuation of the motor 54 when the support rod 52 of each support leg 50 is extended. Further, as another embodiment, a contact sensor for detecting that the grounding plate 53 provided at the tip of each support rod 52 has touched the ground G is installed on the lower surface of each grounding plate 53, and the contact sensor detects the grounding plate 53. The signal may be configured to be transmitted to the control computer 102 in real time. In this embodiment, the control computer 102 can detect the ground contact timing of the ground plate 53 on each support leg 50 based on the detection signal from the contact sensor. As described above, the control computer 102 grounds the grounding plates 53 of all the support legs 50 in the anti-vibration pedestal 30 to the ground G. Even if the amount of movement of the ball screw (support rod 52) rotationally driven by the motor 54 in each support leg 50 in the axial direction is displayed on the monitor 101 of the elector-mounted sprayer 1. good. When the control computer 102 detects the ground contact of the grounding plate 53 at each support leg 50, the control computer 102 sets the height of the support leg 50 at that time to the origin “0”.

FIG. 14 shows a state in which the grounding plate 53 of the support rod 52 of the support leg 50 of the anti-vibration pedestal 30 is grounded to the ground G. In this way, after the grounding plates 53 of all the support legs 50 of the anti-vibration pedestal 30 are grounded to the ground G, for example, the biaxial inclinometer 60 provided on the base plate 33 is visually confirmed and appropriately checked. The base plate 33 is leveled by adjusting the height of each support leg 50 using a manual pulse generator (not shown). Further, when leveling the base plate 33, for example, the height of the other support legs 50 may be adjusted with reference to the highest support leg 50 among the four support legs 50. The three-dimensional scanner 40 in the present embodiment may be equipped with a known auto-leveling device that automatically adjusts the mounting plate 37 of the three-dimensional scanner 40 so as to be horizontal. As described above, when the three-dimensional scanner 40 is provided with the auto-leveling device, the two-axis tilt meter 60 may be omitted, or the two-axis tilt meter 60 may be used to horizontally align the base plate 33. However, it may be limited to rough horizontal alignment, and detailed horizontal alignment of the three-dimensional scanner 40 may be performed by an auto-leveling device. Further, instead of the biaxial inclinometer 60, a simple bubble level may be installed and the base plate 33 may be leveled using the bubble level.

After leveling the base plate 33 in the measuring instrument holding unit 32 as described above, the control computer 102 drives all the motors 54 of the support legs 50 all at once to a predetermined height (predetermined height). For example, the support rod 52 of each support leg 50 is extended at the same time by a few centimeters). As a result, as shown in FIG. 15, the ground plate 53 of each support leg 50 is separated from the ground G and floats above the ground G. Further, since each support leg 50 is fixed to the base plate 33 of the measuring instrument holding portion 32, each support leg 50 is in a state where the ground plate 53 of each support leg 50 is in contact with the ground G as described above. By extending 50 (support rod 52), the measuring instrument holding portion 32 is lifted upward by each support leg portion 50. That is, the measuring instrument holding portion 32 mounted on the bottom plate 311 of the gantry main body 31 is lifted upward by each support leg 50, so that the measuring instrument holding portion 32 does not come into contact with the gantry main body 31. It becomes.

As described above, when the measuring instrument holding portion 32 of the anti-vibration pedestal 30 is lifted upward from the gantry main body 31 and the measuring instrument holding portion 32 is held by each support leg portion 50, the measurement by the three-dimensional scanner 40 is performed. Ready to start. In this way, after the preparation for starting the measurement by the three-dimensional scanner 40 is completed, the three-dimensional scanner 40 can measure the position of each machine target 9B of the ejector-mounted spraying machine 1 by using the total station 70. Get the position (three-dimensional coordinates) where it is placed. After that, the measurement by the three-dimensional scanner 40 is started, and the primary sprayed concrete 3 is started to be sprayed on the face 2 and the ground 7 (pit wall surface) by using the spraying device 20. Here, the spray thickness of the sprayed concrete is monitored by measuring the shape of the face 2 and the ground 7 (pit wall surface) in the vicinity thereof using a three-dimensional scanner 40. Further, the monitoring result of the sprayed concrete thickness on the face 2 and the ground 7 is displayed on the monitor 101 in real time.

Here, when the spraying concrete spraying work by the spraying device 20 is started, the elector-mounted spraying machine 1 vibrates. On the other hand, in the present embodiment, since the measuring instrument holding portion 32 is lifted upward by each support leg portion 50 with respect to the bottom plate 311 of the gantry main body portion 31, the machine of the Electa-mounted spraying machine 1 It is possible to suppress the vibration from being transmitted to the three-dimensional scanner 40 mounted on the measuring instrument holding unit 32 via the frame 13 for fixing the frame and the frame body 31. As a result, it is possible to perform accurate measurement using the three-dimensional scanner 40 mounted on the elector-mounted spraying machine 1 while operating the elector-mounted spraying machine 1. That is, the spraying thickness of the sprayed concrete can be controlled accurately. Along with this, uneven spraying of sprayed concrete is less likely to occur, and excessive spraying of sprayed concrete can be avoided, so construction time can be shortened and materials can be wasted (cost reduction). Can be done.

After confirming that the primary sprayed concrete 3 has been sprayed as designed by the spraying device 20, for example, the operation of the spraying device 20 is temporarily stopped, and the tunnel support 4 is designated by using the elector device 10. Build in the build position of. For example, by setting the support pieces 4L and 4R gripped on the pair of hands 12L and 12R at predetermined built-in positions, and joining the upper ends (top ends) of the support pieces 4L and 4R in that state. , An arched tunnel support 4 is formed. Needless to say, the connecting structure of each support piece 4L, 4R is not particularly limited. The joint plates provided at the upper ends (top ends) of the respective support pieces 4L and 4R may be bolted together, or each support piece may be joined by using a one-touch joint for joining the joint plates with one touch. 4L and 4R may be connected. Further, as described above, the tunnel support 4 may be built after the spraying of the primary sprayed concrete 3 to the ground 7 in the new section is completed, or the spraying work of the primary sprayed concrete 3 may be performed. Part of the construction work of the support pieces 4L and 4R may be performed in duplicate. When building the tunnel support 4, each support target 9A attached to the pair of support pieces 4L and 4R is collimated by the total station 70, and is based on the position of each support target 9A acquired in real time. This can be done by operating a pair of hands 12L and 12R.

After the construction of the tunnel support 4 is completed, the spraying device 20 is operated again to spray the secondary sprayed concrete 5 on the ground 7. The measurement by the three-dimensional scanner 40 may be continued even when the tunnel support 4 is built. Alternatively, the measurement by the three-dimensional scanner 40 may be interrupted during the construction of the tunnel support 4, and may be started at the same time as the start of the spraying of the secondary sprayed concrete 5. Even during the spraying work of the secondary sprayed concrete 5 on the ground 7, the measurement result by the three-dimensional scanner 40 is displayed on the monitor 101 in real time. Then, the total spray thickness of the sprayed concrete with respect to the ground 7 (the total of the spray thickness of the primary spray concrete 3 and the spray thickness of the secondary spray concrete 5) has reached the specified thickness or more. When it is confirmed that this is completed, the spraying concrete spraying work by the spraying device 20 is completed and the measurement work by the three-dimensional scanner 40 is completed. After that, one cycle of tunnel excavation is completed by appropriately placing a lock bolt (not shown) on the ground 7.

After the placement of the lock bolt is completed as described above, the Electa-mounted sprayer 1 is retracted to the standby place in order to excavate the face 2 in the next cycle. When moving the Elekta-mounted sprayer 1 from the construction position near the face 2 to the standby location, the gantry in the anti-vibration pedestal 30 is the same as when moving the Elekta-mounted sprayer 1 from the standby location to the construction position. The measuring instrument holding portion 32 is shifted to a fixed state in which the measuring instrument holding portion 32 is fixed to the bottom plate 311 of the main body portion 31.

That is, the support rod 52 is contracted until the ground plate 53 provided on the support rod 52 of each support leg 50 is sufficiently separated from the ground G. As a result, the anti-vibration pedestal 30 shifts from the state shown in FIG. 15 to the state shown in FIG. The measuring instrument holding portion 32 is placed on the bottom plate 311 in a state of being in contact with the upper surface 311A of the above. From this state, the locking air cylinder 34 is pulled to contract the piston rod 342 in the locking air cylinder 34. As a result, the state shifts to the state shown in FIG. 12, and the mounting plate 353 of the piston rod 352 in each mounting leg 35 and the locking plate 343 of the piston rod 342 in the locking air cylinder 34 form the gantry main body. As a result of the bottom plate 311 of 31 being sandwiched, the measuring instrument holding portion 32 is fixed to the bottom plate 311 of the gantry main body portion 31. In this way, after shifting the measuring instrument holding unit 32 to the fixed state, the elector-mounted spraying machine 1 is moved from the construction position to the standby place. As a result, it is possible to alleviate the impact, vibration, and the like transmitted to the three-dimensional scanner 40 held by the measuring instrument holding unit 32 when the Elekta-mounted spraying machine 1 is running. In the present embodiment, the locking air cylinder 34 constitutes a fixing mechanism capable of switching between fixing the measuring instrument holding portion 32 to the gantry main body 31 and releasing the fixed state of the measuring instrument holding portion 32.

Further, according to the anti-vibration pedestal 30 in the present embodiment, since the first guide portion 38 is provided on the bottom plate 311 in the pedestal main body portion 31, the piston is formed when the piston rod 352 in each mounting leg portion 35 expands and contracts. The horizontal movement of the rod 352 can be regulated. Further, since the bottom plate 311 of the gantry main body 31 is further provided with the second guide portion 39, the movement of the piston rod 342 in the horizontal direction is restricted when the piston rod 342 of the locking air cylinder 34 expands and contracts. can. As a result, it is possible to regulate the relative movement in the horizontal direction while allowing the relative movement of the measuring instrument holding unit 32 with respect to the gantry main body 31 in the vertical direction. As a result, it is possible to prevent the measuring instrument holding portion 32 (three-dimensional scanner 40) from being displaced in the horizontal direction when the measuring instrument holding portion 32 is moved up and down with respect to the gantry main body portion 31. In the present embodiment, the first guide portion 38 and the second guide portion 39 correspond to the guide portion.

Although the embodiment of the present invention has been described above, the vibration isolation pedestal according to the present invention, the construction machine provided with the vibration isolation pedestal, and the vibration isolation method of the measuring instrument using the vibration isolation pedestal are not limited thereto. For example, in the vibration isolation frame 30 of the present embodiment, the positions and numbers of the locking air cylinder 34 and the mounting leg 35 provided in the measuring instrument holding portion 32 are not particularly limited. Further, the position and number of the support legs 50 fixed to the base plate 33 of the measuring instrument holding portion 32 are not particularly limited.

Further, in the present embodiment, the three-dimensional scanner 40 has been described as an example of the measuring instrument mounted on the vibration isolation frame 30, but the type of the measuring instrument is not particularly limited. For example, instead of the three-dimensional scanner 40, a total station (surveying instrument), a millimeter-wave radar device, or the like may be installed in the measuring instrument holding unit 32.

Further, in the present embodiment, the erector-mounted spraying machine has been described as an example of the construction machine on which the anti-vibration gantry 30 is mounted, but the anti-vibration gantry 30 may be mounted on another construction machine. For example, the anti-vibration stand 30 may be mounted on a construction machine such as a drill jumbo or a breaker for excavating the face 2 of a tunnel. In this case, for example, a three-dimensional scanner 40 may be used to measure the shape of the tunnel excavation surface, and it may be used to grasp the atari portion that hinders the subsequent lining. Further, the present invention is a measuring unit including the anti-vibration gantry 30 according to the above-described embodiment and a measuring instrument (for example, a three-dimensional scanner 40) held by the measuring instrument holding unit 32 in the anti-vibration gantry 30. It is also possible to identify.

1 ... Electa-mounted spraying machine 2 ... Face 3 ... Primary sprayed concrete 4 ... Tunnel support 5 ... Secondary sprayed concrete 7 ... Ground 10 ... Electa Device 20 ... Spraying device 30 ... Anti-vibration stand 31 ... Stand body 32 ... Measuring instrument holding 33 ... Base plate 34 ... Locking air cylinder 35 ... Placement leg 40 ・ ・ ・ Three-dimensional scanner 50 ・ ・ ・ Support leg

Claims (7)

It is a vibration-proof stand for installing measuring instruments on construction machines.
The gantry body fixed to the construction machine and
A measuring instrument holding unit that is mounted on the gantry main body and holds the measuring instrument,
A plurality of support legs that are vertically hung from the measuring instrument holding portion so as not to come into contact with the gantry main body and can be expanded and contracted in the vertical vertical direction.
With
When the measuring instrument is used, the plurality of support legs are extended, the plurality of support legs are grounded, and the measuring instrument holding portion is lifted upward from the gantry main body portion. Is held by the plurality of support legs.
Anti-vibration stand. The measuring instrument holding portion has a fixing mechanism capable of switching between fixing the measuring instrument holding portion to the gantry main body portion and releasing the fixed state of the measuring instrument holding portion.
The anti-vibration stand according to claim 1. A guide unit for restricting the relative movement in the horizontal direction while allowing the relative movement of the measuring instrument holding unit in the vertical direction with respect to the gantry main body portion is further provided.
The anti-vibration stand according to claim 1 or 2. A construction machine provided with the anti-vibration stand according to any one of claims 1 to 3. It is a vibration isolation method for measuring instruments installed on a construction machine via a vibration isolation stand.
The anti-vibration stand
The gantry body fixed to the construction machine and
A measuring instrument holding unit that is mounted on the gantry main body and holds the measuring instrument,
It is provided with a plurality of support legs that are vertically hung from the measuring instrument holding portion so as not to come into contact with the gantry main body and that can be expanded and contracted in the vertical vertical direction.
The vibration isolation method is
After moving the construction machine to a predetermined construction position, the plurality of support legs are extended, the plurality of support legs are grounded, and the measuring instrument holding portion is lifted upward from the gantry main body. The measuring instrument holding portion is held by the plurality of supporting legs.
Vibration isolation method for measuring instruments. The measuring instrument holding portion has a fixing mechanism capable of switching between fixing the measuring instrument holding portion to the gantry main body portion and releasing the fixed state of the measuring instrument holding portion.
The construction machine is moved from a predetermined preparation position different from the construction position to the construction position in a state where the measuring instrument holding portion is fixed to the gantry main body portion by the fixing mechanism, and the construction machine is moved to the construction position. After releasing the fixed state of the measuring instrument holding portion by the fixing mechanism, the plurality of support legs are extended.
The vibration isolation method for a measuring instrument according to claim 5. The anti-vibration pedestal further includes a guide portion that regulates the relative movement in the horizontal direction while allowing the relative movement of the measuring instrument holding portion in the vertical direction with respect to the pedestal main body portion.
When extending the plurality of support legs, the guide portion is used to regulate the horizontal relative movement of the measuring instrument holding portion with respect to the gantry main body portion.
The vibration isolation method for a measuring instrument according to claim 5 or 6.

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