JP4175727B2 - Method for detecting elevation angle and turning angle of excavation boom in free section excavator - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a method for detecting an elevation angle and a turning angle of an excavating boom in a free section excavator, and in particular, an optical automatic tracking measurement device and an NC control device, and the position and posture of the excavator body and the cutting drum. The present invention relates to a method for detecting an elevation angle and a turning angle of an excavating boom in a free section excavator that detects a position and controls a cutting range.
[0002]
[Prior art]
A conventional free-section excavator of this type is provided with a revolving part that can be rotated in the horizontal direction at the front part of the excavator body, and an extendable excavating boom is mounted on the revolving part so as to be able to be raised and lowered. The cutting drum is attached to the part.
[0003]
A plurality of optical automatic tracking measurement devices are installed in the tunnel, and the same number of tracking targets are mounted on the excavator body, and the position of the tracking target is detected by the automatic tracking measurement device. The position and orientation are measured, and the turning center point of the excavating boom is calculated based on the measured value.
[0004]
Further, the turning angle of the turning portion, the elevation angle of the excavating boom and the amount of expansion / contraction are detected by detectors, and the position of the cutting drum is calculated by the NC control device based on the detected values and the position information of the turning center point. . And the position of the cutting drum with respect to the preset planned cross section is displayed on the screen automatically and in real time. Further, when the cutting drum exceeds the planned cross section, the excavation boom is automatically stopped to prevent overdigging.
[0005]
Here, the free section excavator is generally used by lease, and after assembling the airframe near the excavation site, a drilling boom, a cutting drum, and the like are mounted. Therefore, it is necessary to perform initial setting of the automatic tracking measurement device and the NC control device after the assembly of the airframe. For example, regarding an excavation boom, the excavation boom must be moved to detect the actual elevation angle and turning angle, and an error from the detected angle of the NC control device must be corrected.
[0006]
Conventionally, a distance measuring target is fixed to the tip of the cutting drum, the distance measuring target is collimated from the front of the machine by a total station, and the coordinates of the cutting drum are read to calculate the elevation angle and the turning angle. .
[0007]
[Problems to be solved by the invention]
Conventionally, since the coordinates of the tip of the cutting drum are read from the outside of the machine body, the calculation processing of the coordinate conversion becomes complicated, and it takes time to calculate the elevation angle and the turning angle of the excavating boom. For this reason, initial setting at the time of assembling the airframe was difficult.
[0008]
Therefore, when a free-section excavator is assembled, a technical problem to be solved arises in order to easily detect the elevation angle and turning angle of the excavating boom and to perform the initial setting of the NC control device easily and quickly. Therefore, an object of the present invention is to solve this problem.
[0009]
[Means for Solving the Problems]
The present invention has been proposed to achieve the above object, and a revolving part that can be rotated horizontally is provided at the front part of the excavator body, and a telescopic excavation boom is mounted on the revolving part so as to be lifted and lowered. In a free section excavator having a cutting drum attached to the tip of the excavating boom,
Attach a holding tool that holds the vertical posture to the tip of the cutting drum, provide a target for distance measurement on the upper part of the holding tool, and make the rotating part of the total station coincide with the turning center of the excavating boom at the upper part of the turning part To make it possible to collimate the distance measuring target,
Raising the excavating boom to an arbitrary angle and collimating the distance measuring target,
The coordinates of the ranging target are read to detect the elevation angle of the excavating boom, while the turning unit is turned to an arbitrary angle and the ranging target is collimated,
Read the coordinates of the ranging target to detect the turning angle of the excavating boom ,
The actual elevation angle and turning angle of the excavating boom detected using the total station are compared with the detection values of the angle detector of the NC control device, and the excavation boom elevation in the free-section excavator that performs the initial setting of the NC control device An angle and turning angle detection method is provided.
[0010]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. 1 and 2 show a free-section excavator 10, and left and right crawlers 12 a and 12 b are attached to the lower part of the excavator body 11, and the free-section excavator 10 can be self-propelled by driving the crawlers 12 a and 12 b. . A swivel portion 13 that can be rotated in the horizontal direction is provided at the front portion of the excavator body 11, and a telescopic excavation boom 14 is attached to the front portion of the swivel portion 13. A cutting drum 15 is attached.
[0011]
The excavating boom 14 can be lifted up and down by a boom cylinder 16 and can be expanded and contracted back and forth by an expansion / contraction cylinder 17. The cutting drum 15 can be moved to arbitrary coordinates within a predetermined range.
[0012]
On the other hand, a soil collecting device 20 is provided at the front lower part of the excavator main body 11 so as to be movable up and down, and the soil excavated by the cutting drum 15 is scraped by the soil collecting device 20. The scraped-up scrape is sent to the rear of the excavator main body 11 by the feeder 21 and loaded on a dump truck or other transport means by the belt conveyor 22. Further, left and right outriggers 23a and 23b are attached to the rear portion of the excavator body 11, and the respective outriggers 23a and 23b are formed so as to be movable up and down independently.
[0013]
Further, a pair of left and right tracking targets 30a and 30b are mounted on the gantry 28 of the excavator main body 11 facing rearward (leftward in FIG. 1), and each of the tracking targets 30a and 30b has a reflecting prism. And a light emitting element.
[0014]
Here, the optical automatic tracking measurement device will be described. Two tracking measurement devices (not shown) are installed in the rear position in the tunnel in advance, and the tracking measurement device and the light wave distance are installed in the tracking measurement device. A meter is provided. The light emitted from the light emitting elements of the tracking targets 30a and 30b is received by the tracking device of the tracking measurement device, and the servo motor is driven by detecting the deviation between the received light image and the optical axis, and the tracking targets 30a and 30b are automatically operated. To track. Further, the light emitted from the lightwave distance meter is reflected by the reflecting prisms of the tracking targets 30a and 30b, and the reflected light is received by the lightwave distance meter, whereby the distance between the tracking measurement device and the tracking targets 30a and 30b. Measure.
[0015]
In this way, the two tracking measuring devices detect the three-dimensional positions of the tracking targets 30a and 30b and continuously automatically track, detect the yawing angle of the excavator body 11, and are mounted on the excavator body 11. If the pitching angle and the rolling angle are detected by the two-axis inclinometer (not shown), the position and posture of the excavator body 11 can be continuously detected. Further, the position of the cutting drum 15 is determined by detecting the turning angle of the turning portion 13 and the elevation angle and the amount of expansion / contraction of the excavating boom 14 with a detector such as a potentiometer or a rotation sensor, respectively. Based on this, it is calculated by the NC controller.
[0016]
Here, the free section excavator 10 has a swivel portion 13 attached to an excavator main body 11 in the vicinity of an excavation site, and an excavation boom 14 and a cutting drum 15 are mounted. In order to accurately calculate the position of the cutting drum by the automatic tracking measurement device and the NC control device, it is necessary to perform initial setting of each device after assembling the machine body. For example, regarding the excavating boom 14, the excavating boom 14 is moved to detect the actual elevation angle and turning angle.
[0017]
A method for detecting the elevation angle and the turning angle of the excavation boom 14 in the free section excavator 10 will be described with reference to FIGS. 3 to 6. As shown in FIGS. 3 to 5, a bracket pin 33 protrudes from the center of the tip end of the cutting drum 15 and on the central axis G of the excavating boom 14 passing through the center C of the cutting drum 15, A bracket 34 is pivotally attached to the tip of the bracket pin 33 so that the bracket 34 can be rotated in the left-right direction around the axis of the bracket pin 33. A holder 35 is loosely inserted between the left and right side plates 34a and 34b of the bracket 34. The shaft 36 is loosely fitted in the holder 35 in the left and right direction, and both ends of the shaft 36 are connected to the left and right side plates of the bracket. It is attached to 34a, 34b so that the holder 35 can swing in the front-rear direction around the shaft 36.
[0018]
A weight 37 is attached to the lower end portion of the holder 35. When the holder 35 and the bracket 34 are tilted to the left and right with the bracket pin 33 as a rotation axis, the weight 37 causes the holder 35 to be vertical. Back in the direction. On the other hand, when the holder 35 is tilted back and forth with the shaft 36 as the rotation axis, the weight 35 returns the holder 35 to the vertical direction. That is, even if the holder 35 is inclined in any of the front, rear, left and right directions, the holder 35 is immediately returned to the vertical direction to hold the vertical posture.
[0019]
Further, a distance measuring target 38 and an auxiliary target 39 are fixed on the holder 35, and the distance measuring target 38 is formed by a prism mirror. The auxiliary target 39 is a flat plate, and a marking line 39a is written on the surface of the plate parallel to the axial direction of the holder 35. Since the holder 35 holds the vertical direction, the distance measuring target 38 is positioned above the vertical surface of the bracket pin 33, and the marking line 39a of the auxiliary target 39 indicates the vertical direction.
[0020]
The distance L1 from the center C of the cutting drum 15 to the shaft 36, which is the swing fulcrum of the holder 35, and the height H1 from the shaft 36 to the reference point 38a of the distance measuring target 38 are measured in advance. deep. Since the holder 35 maintains a vertical posture regardless of the inclination of the excavating boom 14, the vertical line passing through the center portion C of the cutting drum 15 and the holder 35 are always parallel, and the shaft extends from the center portion C of the cutting drum 15. A parallelogram having one side (L1) up to 36 and the other side (H1) from the shaft 36 to the reference point 38a of the distance measuring target 38 is formed. Therefore, if the coordinates of the reference point 38a of the distance measuring target 38 are known, the coordinates of the central portion C of the cutting drum 15 can be calculated.
[0021]
Thus, as shown in FIG. 6, the total station 40 is installed on the upper part of the revolving part 13, and the rotating part of the total station 40 is made to coincide with the revolving center line O of the excavating boom 14. The distance measuring target 38 can be collimated. Regardless of the elevation angle and swivel angle of the excavating boom 14, the holder 35 maintains a vertical posture, so that the distance measuring target 38 is always positioned above the vertical plane of the central axis G of the excavating boom 14.
[0022]
When detecting the elevation angle of the excavating boom 14, the boom cylinder 16 is expanded and contracted to elevate the excavating boom 14 to an arbitrary angle, and the distance measuring target 38 is collimated by the total station 40. Depending on the distance and angle from the total station 40 to the ranging target 38, the coordinates of the ranging target 38 (that is, the coordinates of the reference point 38a obtained by correcting the distance from the position of the prism mirror of the ranging target 38) are obtained. read. As described above, if the coordinates of the reference point 38a are known, the coordinates of the center portion C of the cutting drum 15 can be calculated. Further, the elevation center point (not shown) of the excavating boom 14 and the center portion C of the cutting drum 15 can be calculated. From the relative angle, the actual elevation angle of the excavating boom 14 can be detected.
[0023]
On the other hand, when detecting the turning angle of the excavating boom 14, the turning unit 13 is turned to an arbitrary angle, and the distance measuring target 38 is collimated by the total station 40. Similar to the detection of the elevation angle, the coordinates of the reference point 38a of the distance measuring target are read, the coordinates of the center portion C of the cutting drum 15 are calculated, and the turning center line O of the excavating boom 14 and the cutting are calculated. The actual turning angle of the excavating boom 14 can be detected from the relative angle with the center portion C of the drum 15. Since the total station 40 is installed on the turning center line O of the excavating boom 14, the turning angle of the excavating boom 14 can be directly measured by forming a body coordinate system at the total station 40. In addition, the above-described elevation angle can be easily calculated.
[0024]
Thus, after detecting the actual elevation angle and turning angle of the excavating boom 14, the actual detection angle is compared with the detection value of the angle detector of the NC control device. If there is an error in the detection value of the angle detector, the actual elevation angle or turning angle value based on the collimation of the total station can be used as it is as the correction value of the angle detector.
[0025]
It should be noted that the present invention can be variously modified without departing from the spirit of the present invention, and the present invention naturally extends to the modified ones.
[0026]
【The invention's effect】
As described above, according to the present invention, the distance measuring target is attached to the tip of the cutting drum via a holder, and the distance measuring target is measured at the total station while raising the excavating boom or turning the turning part. The coordinates of the target are read to detect the elevation angle and turning angle of the excavating boom. Since the total station is installed at the upper part of the turning part, the turning angle of the excavating boom can be directly measured, the calculation of the elevation angle is easy, and the angle of the excavating boom can be detected simply and accurately.
[0027]
In addition, the actual elevation angle or turning angle value based on the total station collimation can be used as the correction value of the angle detector as it is, and the initial setting of the NC control device can be performed easily and quickly, and the NC control Accuracy can be improved.
[Brief description of the drawings]
The figure shows an embodiment of the present invention.
FIG. 1 is a side view of a free section excavator.
FIG. 2 is a front view of a free section excavator.
FIG. 3 is a side view of a holder and a distance measuring target attached to the tip of a cutting drum.
4 is an AA arrow view of FIG. 3;
FIG. 5A is a side view of a bracket pin and a bracket portion;
(B) is a front view of a bracket pin and a bracket part.
FIG. 6 is an explanatory diagram showing a state in which the target for distance measurement is collimated at the total station.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 10 Free section excavator 11 Excavator main body 13 Turning part 14 Excavation boom 15 Cutting drum 35 Holder 38 Distance measuring target 40 Total station

Claims (1)

A free-form cross section excavator is provided with a revolving part that can be rotated in the horizontal direction at the front part of the excavator body, a telescopic excavation boom mounted on the revolving part, and a cutting drum attached to the tip of the excavation boom. In the machine
Attach a holding tool that holds the vertical posture to the tip of the cutting drum, provide a target for distance measurement on the upper part of the holding tool, and make the rotating part of the total station coincide with the turning center of the excavating boom at the upper part of the turning part To make it possible to collimate the distance measuring target,
Raising the excavating boom to an arbitrary angle and collimating the distance measuring target,
The coordinates of the ranging target are read to detect the elevation angle of the excavating boom, while the turning unit is turned to an arbitrary angle and the ranging target is collimated,
Read the coordinates of the ranging target to detect the turning angle of the excavating boom ,
The free section excavator characterized in that the initial setting of the NC control device is performed by comparing the actual elevation angle and turning angle of the excavating boom detected using the total station with the detected value of the angle detector of the NC control device. Method for detecting the elevation angle and turning angle of an excavating boom.

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