JP3259162B2 - Underground excavator position measuring device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for measuring a position in a horizontal plane of an excavator body which is suspended from a boom of a base machine such as a crawler crane via a wire and excavates a deep trench underground.

[0002]

2. Description of the Related Art Conventionally, as a position measuring device of this kind of underground excavator, a gantry mounted on the ground and an X, Y direction which is mounted on a post erected on the gantry and are orthogonal to each other in a horizontal plane. An X / Y table movably provided to
An X, Y motor for moving the XY table in the X, Y directions by a screw feed mechanism, and an X, Y attached to the X, Y motor for measuring the amount of movement of the XY table in the X, Y directions.
A rotary encoder, an auto-tension winch mounted on the gantry, a detection wire fed from the winch and swingably connected to an XY table via a pulley at the top end of the excavator body, and a detection wire. An X, Y displacement meter, which is provided below the ground portion between the XY table and the excavator body and measures the displacement in the X and Y directions, and receives signals from the X and Y displacement meters, and receives a detection wire. And a controller for controlling the driving of the X and Y motors so that the displacement in the X and Y directions between the X / Y table and the excavator main body becomes zero (Japanese Patent Laid-Open No. 7-1995). 19
No. 863). In this underground excavator position measuring device, the ground end of the detection wire, which is held so as to be always vertical between the excavator body, reproduces the position of the excavator body in the horizontal plane on the ground. In addition, the position of the excavator body in the horizontal plane can be measured with high accuracy regardless of the depth and the behavior of the excavator body.

[0003]

However, in the conventional position measuring apparatus for an underground excavator, an XY table, which is moved so that a detection wire is always vertical, is mounted on an upper portion of a post erected on a gantry. The post must be rigid and large,
There is a problem that the center of gravity becomes high and becomes unstable. Therefore,
SUMMARY OF THE INVENTION It is an object of the present invention to provide an underground excavator position measuring device capable of downsizing and stabilizing the device.

[0004]

In order to solve the above-mentioned problems, a position measuring device for an underground excavator according to the present invention is provided on a horizontal plane of an excavator body which is suspended from a base machine via a wire and excavates a deep trench underground. A device for measuring the position in the
A gantry mounted on the ground, an XY table provided on the gantry so as to be movable in orthogonal X and Y directions in a horizontal plane, and an X and Y table for moving the XY table in the X and Y directions by a screw feed mechanism. , Y motor and X, Y attached to the X, Y motor for measuring the amount of movement of the XY table in the X, Y directions
A rotary encoder, a support erected on an XY table, an auto tension winch mounted on the gantry, and a ground end portion swinging from the winch through the pulley at the top end of the excavator body to the support. Detectably connected detection wire and XY in detection wire
X to measure the displacement in the X and Y directions at the location corresponding to the table
The X and Y displacement meters mounted on the Y table and the signals from the X and Y displacement meters are received, and the X and Y displacements between the detection wire and the X and Y tables are reduced to zero. , And a control device for controlling the driving of the Y motor. The X, Y displacement meter is interposed between the support and the ground end of the detection wire, and a detection rod suspended from the support via an XY universal joint;
X, Y laser distance meter attached to the table, X, Y
X ・ attached to the detection rod facing the laser rangefinder
Preferably, it is a Y target. The X, Y displacement meter is interposed between the support and the ground end of the detection wire, and is attached to a detection rod suspended from the support via an XY universal joint, and below the rod. X and Y tilt sensors. It is preferable that the personal computer of the control device is mounted on a gantry.

[0005]

Embodiments of the present invention will be described below with reference to the drawings. 1, 2 and 3 are a side view, a plan view and a sectional view taken along the line III-III in FIG. 2 showing an example of an embodiment of the position measuring device for an underground excavator according to the present invention. In FIG. 1, a gantry 1 is mounted on the ground 3 in a digging direction (left-right direction in FIG. 1) so as to sandwich a deep groove 2 digged along a digging plan line in order to construct an underground continuous wall or the like. In the figure, only one mount is shown). The mount 1 is formed of a rectangular steel pipe into a rectangular shape in a plan view, and includes a base frame 4 having a longitudinal direction in which a deep groove 2 is excavated (X direction), and a base frame 4. Leveling jacks 5 attached to both ends of both sides to be placed horizontally on the ground 3
And rails 6 laid on both long sides of the base frame 4
And a slide frame 8 formed of a square steel tube into a rectangular shape in a plan view having substantially the same dimensions as the base frame 4 and slidable on the rail 6 via wheels 7 attached to both ends of both long sides thereof. Have been. The slide frame 8 of the gantry 1 includes a drive gear (not shown) of a gear motor 9 mounted on the slide frame 8 and a base frame 4.
The gear 10 is engaged with a rack 10 provided on the inner side of the long side, and is provided so as to be able to travel along the rail 6 by driving of a gear motor 9. Also, the base frame 4 of one of the frames 1 is
In order to avoid interference with the slide frame 8 and the like when the excavator body (both not shown) is turned on the ground by the base machine, the slide frame 8 and the like can be moved backward as shown by a two-dot chain line in FIG. Are connected to each other.

A substantially rectangular base plate 12 having a rectangular notch 11 at the center of the opposite end is provided on the end (left end in FIG. 1) of the slide frame 8 of the mount 1 facing the other mount 1. Are mounted horizontally, and on the base plate 12, 2 extending in the X direction are provided.
The guide rails 13 are laid appropriately in the Y direction (the vertical direction in FIG. 2). Each of the guide rails 13 has a total of four sliders 14 with two rails each.
Are slidably provided, and these sliders 14
On the top, X with guide rail 13, slider 14 etc.
The movable table 15 constituting the Y table has two slide rails 16 attached to the lower surface thereof and extending in the Y direction.
Is slidably engaged with a slider 14 facing in the Y direction, so that the slider 14 is provided movably in the Y direction.

The slider 14 includes an X motor 17 such as a servo motor attached to the base plate 12 near one (lower in FIG. 2) guide rail 13 and a ball screw connected to the output shaft of the X motor 17. And a screw feed mechanism comprising a nut 19 suitably mounted on the slider 14 for screwing the screw rod 18 into the X-direction. The X rotary encoder 20 is provided so that the movement amount in the X direction can be measured. The movable table 15 is provided with a Y motor 2 such as a servomotor appropriately mounted on the slider 14 in the vicinity of one of the slide rails 16 (right side in FIG. 2).
1 and a screw feed mechanism including a screw rod 22 such as a ball screw connected to the output shaft of the Y motor 21 and a nut 23 appropriately attached to the movable table 15 for screwing the screw rod 22 into the Y direction. , And is provided so that the amount of movement in the Y direction can be measured by a Y rotary encoder 24 attached to the Y motor 21. Therefore, the movable table 15 can move in the X and Y directions orthogonal to each other in the horizontal plane, and can measure the amount of movement.

An inverted V-shaped support 25 is erected on the movable table 15 at the opposite end, and a detection rod 26 is swung on the support 25 via an XY universal joint 27. It is movably suspended. The detection rod 26 is inserted through a through-hole (not shown) formed in the movable table 15, and has a length whose lower end is appropriately positioned below the movable table 15.
XY tilt sensor 28 for measuring tilt in the direction and Y direction
Is attached. On the other hand, on the movable table 15, X
A laser range finder 29 and a Y laser range finder 30 are mounted at appropriate distances from the lower end of the detection rod 26 in the X and Y directions.
At the lower end of the detection rod 26 facing the first and second X-ray detectors 9 and 30,
A Y target 31 is provided. Further, on the movable table 15, a guide pulley 33 for guiding a detection wire 32 fed from an auto tension winch described later to the underground excavator through the through hole is attached near the through hole.

On the traveling frame 8 of the gantry 1, a detection wire 32 is applied at a constant tension (100 to 400 kg).
An auto-tension winch 34 such as a hydraulic winch that can be extended while extending is mounted on the end opposite to the XY table.
Reference numeral 4 denotes a direction change roller 35 for changing the direction of the detection wire 32, and the detection wire 3, which is operatively connected to the direction change roller 35 via a gear train 36 and passes through the direction change roller 35.
And a motor 39 such as a hydraulic motor that is interlocked with the winding drum 37 via a winding transmission means 38 such as a sprocket or a chain. The pulley bracket 40 has an XY table and an auto tension winch 3 on the traveling frame 8.
4 and the pulley bracket 40
On the upper part of the vehicle, three pulleys 41a, 41b, 41c around which the detection wire 32 is wound are attached in a triangular shape, and the extension amount of the detection wire 32, that is, the excavator body is mounted on the middle pulley 41b. A depth gauge 42 such as a rotary encoder for measuring the depth of the object is provided.
The detection wire 32 fed from the auto tension winch 34 includes pulleys 41a, 41b, 41c,
The guide pulley 33 and pulleys (not shown) provided on both sides of the top end of the excavator body are connected to the lower end of the detection rod 26.

In the figure, reference numeral 43 denotes a control panel, which receives signals from the X and Y laser distance meters 29 and 30 and detects the detection rod 26.
The X, Y motor 1 so that the displacement in the X, Y directions of the excavator is always zero, that is, the distance between the ground end of the detection wire 32 and the top end of the excavator body is always vertical.
A control device (not shown) mounted on a personal computer (PC) for controlling the drive of the motors 7, 21 and controlling the auto tension winch 34, the gear motor 9, and the like is built in. Reference numeral 44 denotes a display for displaying measurement results and the like, and reference numeral 45 denotes a casing.

In order to measure the position of the top of the excavator body at each depth in the horizontal plane by the position measuring device having the above-described configuration, first, two position measuring devices are mounted on the base frame 4 of each of the gantry 1. Deep trench 2 excavated along the planning line
Are placed horizontally on the ground 3 so as to sandwich them in the excavation direction, and each slide frame 8 is appropriately slid so that each detection rod 26 is positioned on the deep groove 2. Next, a weight is suspended at the lower end of the detection rod 26,
After correcting the XY tilt sensor 28, the ground end of the detection wire 32 passing through the pulley at the top end of the underground excavator body located on the excavation plan line is connected to the lower end of the detection rod 26,
Then, while moving the XY table appropriately, XY
The detection wire 32 is made vertical using the inclination sensor 28,
This position is used as the measurement origin. At this time, each X
When the Y table is largely displaced in the X direction, the slide frame 8 of the gantry 1 is appropriately moved, and in the Y direction, the detection rod 26 measures substantially when the gantry 1 is placed on the ground 3. Is located vertically above the position which is the origin of the Y direction. Next, as the excavator body excavates the deep groove 2, the detection wire 32 is fed out while following the movement of the top end of the excavator body while applying a constant tension by the auto tension winch 34, and X, Y.
The displacement of the detection rod 26 is detected by the laser rangefinders 29 and 30, and when the displacement occurs, the X and Y motors 17 and 21 are driven by the control device so that the displacement is always zero, that is, the detection is performed. The XY table is moved such that the ground end of the wire 32 and the top end of the excavator body are always vertical. The amount of movement of the XY table is measured by the X and Y rotary encoders 20 and 24, and the amount of displacement from the origin is calculated by the personal computer of the control device as the position of the top end of the excavator body in the horizontal plane. 44 or in real time on a display provided in the driver's seat of the base machine. The depth of the excavator body is measured by the depth gauge 42, and the displacement of the tip of the excavator body is determined by using the displacement of the top of the excavator body and the inclinometer mounted on the excavator body. It is obtained by taking into account the displacement of the excavator body obtained by the above.

Therefore, in the position measuring device having the above configuration, the position in the X and Y directions of the ground end of the detection wire 32 held so that the space between the top of the excavator body and the top is always vertical is determined. Since the position of the excavator body in the horizontal plane is reproduced on the ground, the position of the excavator body in the horizontal plane can be measured with high accuracy. In addition, since the XY table that follows the displacement of the excavator body is provided immediately above the gantry 1, the height can be reduced and the apparatus can be made compact, and the center of gravity can be lowered and the apparatus can be stabilized. . Furthermore, since the personal computer of the control device is mounted on the gantry 1, the cable to the driver's seat of the base machine is two, the communication cable and the emergency stop cable, and the control cable can be easily routed. Further, since one measuring unit such as an X / Y table is mounted on one stand 1, the mounting position of the apparatus can be set arbitrarily in conjunction with the miniaturization, and the installation space can be easily reduced. It can respond and can be easily transported.

In the above-described embodiment, the X, Y displacement meter for measuring the displacement of the detection rod 26 is an X, Y displacement meter.
Although the case has been described in which the laser rangefinders 29 and 30 and the XY target 31 are used, the present invention is not limited to this. For example, the support 25 and the detection wire 32
A detection rod 26 interposed between the ground end and a support 25 via an XY universal joint 27, and an X, Y tilt sensor attached to the lower end of the detection rod 26 (Not shown). In this case, a protective tube (not shown) that surrounds the detection rod 26 concentrically is supported in order to eliminate the influence of the wind of the detection rod 26 or to easily lead out the lead wire from the X, Y inclination sensor. 25, and XY provided near the center of the detection rod 26.
The inclination sensor 28 may be used instead. If the X and Y displacement meters can be attached to the detection wire 32 accurately, the ground end of the detection wire 32 is directly connected to the support 25 using the XY universal joint 27 without using the detection rod 26. You may make it connect. In these cases, substantially the same functions and effects as those of the above-described embodiment can be obtained.

[0014]

As described above, according to the position measuring device for an underground excavator of the present invention, X.
Since the Y table is provided immediately above the gantry, the height is lower than before, the device can be made more compact, the center of gravity is lowered, and the device can be stabilized. In addition, since the personal computer of the control device is mounted on the base, the cable to the driver's seat of the base machine can be two, a communication cable and an emergency stop cable. Can be done.

[Brief description of the drawings]

FIG. 1 is a side view showing an example of an embodiment of a position measuring device for an underground excavator according to the present invention.

FIG. 2 is a plan view of the position measuring device of FIG.

FIG. 3 is a sectional view taken along line III-III in FIG. 2;

[Explanation of symbols]

 Reference Signs List 1 base 4 base frame 8 slide frame 13 guide rail 14 slider 15 movable table 16 slide rail 17 X motor 18 screw rod 19 nut 20 X rotary encoder 21 Y motor 22 screw rod 23 nut 24 Y rotary encoder 25 support 26 detection rod 27 X・ Y universal joint 29 X laser distance meter 30 Y laser distance meter 31 XY target 32 detection wire 34 auto tension winch 43 control panel

────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Roji Ogawa 2- 10-26 Fujimi, Chiyoda-ku, Tokyo Inside Maeda Construction Industries Co., Ltd. (72) Inventor Yuichiro Miyazaki 2- 10-26 Fujimi 2-chome, Chiyoda-ku, Tokyo (56) References JP-A-7-34771 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G01C 15/00-15/14 E02F 5/02

Claims (4)

(57) [Claims] 1. An apparatus for measuring a position in a horizontal plane of a body of an excavator suspended from a boom of a base machine via a wire and excavating a deep trench underground, comprising: a gantry mounted on the ground; An XY table provided on the top so as to be movable in X and Y directions orthogonal to each other in a horizontal plane; an X and Y motor for moving the XY table in the X and Y directions by a screw feed mechanism; An X, Y rotary encoder attached to an X, Y motor for measuring the movement amount in the X, Y directions, a support erected on an XY table, an auto tension winch mounted on the gantry, and a A detection wire which is fed out and has its ground end swingably connected to the support via a pulley at the top end of the excavator body, and a displacement of the detection wire in the X and Y directions corresponding to the XY table. Upon receiving signals from the X and Y displacement meters mounted on the XY table and the X and Y displacement meters for measurement, the displacement in the X and Y directions between the detection wire and the XY table becomes zero. And a control device for controlling the driving of the X and Y motors as described above. 2. An X / Y displacement meter interposed between a support and a ground end of a detection wire, and a detection rod suspended from the support via an XY universal joint. 2. The underground excavator according to claim 1, comprising: an X, Y laser distance meter attached to the table; and an XY target attached to the detection rod facing the X, Y laser distance meter. Position measurement device. 3. A detection rod interposed between the support and the ground end of the detection wire, and a detection rod suspended from the support via an XY universal joint. 2. The position measuring device for an underground excavator according to claim 1, further comprising an X, Y tilt sensor attached to a lower side. 4. The underground excavator position measuring device according to claim 1, wherein the personal computer of the control device is mounted on a gantry.