JP4972196B2 - Automatic operation method of dredging bucket device for deep hole - Google Patents

Description

The present invention relates to a dredge device for dredging sludge, earth and sand, etc. at the bottom of a deep manhole (manhole), in particular, a deep manhole at the overpass of a main sewer. It relates to the driving method.

FIG. 34 shows the structure of a common sewer overhang.
Here, A is a river, B is an upstream sewer, C is an upstream pit, D is an underground pipe, E is a downstream pit, and F is a downstream sewer. In addition, H is a manhole cover for closing the opening of the hole, and I, and I is a work step in the hole and ho (which serves as a scaffold for the worker). In the sewer, the sludge / sediment accumulates on the bottom of manholes and pipes over the years (T, Chi, and R indicate the accumulated sludge sediment). The cross section is reduced and the roughness is increased, resulting in a situation where the flow of sewage is hindered.
In order to drown out the earth and sand at the bottom of this manhole, conventionally, 1) a bypass was provided in the sewer near the overhanging section, and the flow of the sewer in the overhanging section was interrupted (that is, dried up) Top), the method of roughening the earth and sand in the manhole, or 2) the method of dredging the earth and sand in the bottom of the manhole by a diver without stopping the flow of the sewer.
However, depending on the above method 1), the work for blocking the sewer flow near the overpass and providing a bypass is large and time-consuming, and the construction cost becomes enormous. Depending on the method of 2) above, there are various problems in both 1) and 2) such as being inefficient and dangerous because of the manual work of divers.

For this reason, a dredging method using a mechanical force using a grab bucket or the like is conceivable. However, according to the peculiarity of the underpass manhole, there are various problems depending on the general-purpose dredging method.
That is, 1) the overturning human hole has a large depth, 2) the opening is closed by a small-diameter manhole cover (which is opened and closed by human power, so that it can be made as small as possible), and the lower part is expanded in diameter. It has a special feature such as the bottom of a large cross-section, and 3) the bottom of a manhole has a large gravel and a solid sediment layer.
For this reason, depending on the normal scissor method, 1) it is difficult to insert and remove the grab bucket in the narrow opening, and 2) even if it can be inserted through the narrow opening, It is difficult to reach the grab bucket and dredge the soil all over the bottom of the expanded manhole (especially the work step in the manhole is an obstacle), and 3 ) There are technical problems such as it is difficult to excavate dredged sediment layer.

From this point of view, the present applicants previously proposed the following earth and sand machine for human holes in Japanese Patent Application Laid-Open No. 61-246433 (hereinafter referred to as “prior art”).
That is, a post support frame that is mounted on a chassis of a vehicle so as to be undulated and turnable; and is slidably disposed in a guide groove on the front surface of the post support frame. An elevating post which is composed of an upper post, an intermediate post, and a lower post which are slidably fitted to each other and extend in a three-stage manner by two hydraulic cylinders installed in the hollow area of the lower post; and the post support frame; And an elevating hydraulic cylinder disposed between the elevating post and an upper post of the elevating post and taking a reaction force against the post support frame, wherein the first-stage hydraulic cylinder in the elevating post The cylinder side mounting part is pinned to the upper end part of the intermediate part post and the piston rod is interposed between the post and the intermediate part post. The mounting part is pinned to the upper end of the upper post. The second-stage hydraulic cylinder is interposed between the intermediate post and the lower post, and the cylinder side mounting part is pinned to the upper end of the intermediate post. The side mounting portion is pin-fixed to the lower end of the lower post, and the lifting hydraulic cylinder is connected to the post support frame on the cylinder side, and the piston rod side is connected to the upper post of the lifting post. A sand-and-sand dredger for passerby holes.
Therefore, according to this prior art, the elevating post is thin and can realize a large vertical lift by adopting a three-stage system, and is coupled with the guide action of the post support frame and has a narrow and deep depth. It can be accurately lowered into the hole, and is suitable for soil dredging for an underpass manhole.
In addition, a large pressing force can be applied to the anchor attachment attached to the lower end of the lifting post as appropriate by driving the lifting hydraulic cylinder, so that the earth and sand anchor that is firmly consolidated to the bottom of the overturning manhole can be realized.
Furthermore, the lifting cylinder can be moved up and down by the lifting hydraulic cylinder, so that the attachment and removal work for the dredging attachment or the sediment discharge work to the dump truck can be easily performed, and the lifting post can be moved horizontally. This machine can be stably mounted on a vehicle and can be mounted on a small vehicle.

However, depending on this prior art,
1) The cross-section of the lifting post is forced to increase with the depth of the human hole, making it difficult to insert it into the opening of the human hole.
2) The length of the lifting post increases with the depth of the human hole, so the ground height is large and it is difficult to work in a narrow space.
3) It takes time to change the attachment attached to the lifting post.
There are problems such as.
Furthermore, although the prior art uses hydraulic cylinders, the hydraulic power source of these hydraulic cylinders, that is, the hydraulic power unit, is arranged on the vehicle unit on the ground. There is a problem that the distance to the hydraulic cylinder, that is, the hydraulic actuator increases, and the operability deteriorates.
This problem is an inevitable technical problem as the depth of the human hole increases.
From this point of view, the techniques described in JP-A-10-159171 and JP-A-2000-54424 separately proposed by the present applicant have similar problems, and improvement in hydraulic operability is a major development theme. It has become.

  Furthermore, in any of the above-mentioned known techniques, the dredging becomes a work in the sludge in the manhole in addition to the great depth, and it is difficult to grasp the position, posture and operating status of the bucket, It is a difficult task requiring skill.

JP-A 61-24643 Japanese Patent No. 10-159171 JP 2000-54424 A

The present invention has been made in view of the above-mentioned problems of the prior art, and has been further developed by taking advantage of the hydraulic drive of this prior art. Sufficient dredging ability can be achieved even by increasing the depth of the manhole for sewerage. The present invention provides a dredging device for sedimentary sediment in deep manholes that can be demonstrated and can cope with further deepening, and a dredging method for sedimentary sediment in deep manholes using the dredging device. In view of the dredging work whose visibility is unknown, in order to accurately grasp the dredging situation, there is provided a display device for the dredging situation in use of the dredging device.
  The display device obtains real-time information from a detector arranged in the operating device, and displays the heel state on a planar image based on separately input information.
  An operator operates an operating device based on the display on the display device, and an object of the present invention is to obtain an automatic dredge method using a control system incorporated in the display device.

Specifically, the automatic operation method of the deep bucket hole device for deep manholes of the present invention adopts the following configuration.
  That is, according to the first aspect of the present invention, a saddle bucket is attached to a distal end of a long insertion means to be inserted into a deep human hole via a link arm, and the human hole is held with the saddle bucket. An automatic operation method of a dredging bucket device dredging soil at the bottom of
  The elongated insertion means is moved in a uniaxial direction as an operating device,
  The link arm can be swung and flipped up with respect to the insertion means as an operating device,
  The basket bucket is opened and closed as an operating device,
  Detecting depth information from the insertion means, turning and flipping angle information from the link arm, and opening / closing information from the bucket bucket in real time,
  A command for specifying the dredge bucket by operating at least the operating device by a calculation process with the detection information based on the specification information of the human hole and depth information of sedimentary sediment in the human hole separately input. Automatically guides you to the heel position set by
It is characterized by that.

  The method of the present invention is performed based on a predetermined program, and the specific procedure operation is shown in the following embodiments of the invention. In the program processing, it is technical consideration that the bucket bucket takes the origin position at a position directly above the opening of the human hole.

In addition to this invention,
1) The dredge bucket enters the manhole from the position of the manhole opening on the ground and is guided to the dredging position set in the manhole and drowned, then pulled up to the ground and the original position of the manhole opening Through the process of returning to position,
2) In 1) above, entry into the human hole and lifting out of the human hole are made with a predetermined angle of entry, and guidance within the human hole is made with reference to the manhole direction,
3) In 2) above, the approach angle and manhole direction must be input by teaching.
Constitutes yet another invention.

The automatic operation method of the deep-hole pit bucket device according to the present invention further includes a heel through a link arm at the distal end of a long insertion means to be inserted into the deep-type human hole. An automatic operation method of a dredge bucket apparatus, in which a bucket is mounted and dredging soil at the bottom of the manhole with the dredge bucket,
  The elongated insertion means is moved in a uniaxial direction as an operating device,
  The link arm can be swung and flipped up with respect to the insertion means as an operating device,
  The basket bucket is opened and closed as an operating device,
  Detecting depth information from the insertion means, turning and flipping angle information from the link arm, and opening / closing information from the bucket bucket in real time,
  A command for specifying the dredge bucket by operating at least the operating device by a calculation process with the detection information based on the specification information of the human hole and depth information of sedimentary sediment in the human hole separately input. Automatically leads to the heel position set by
The kite bucket enters the manhole from the position of the opening of the manhole on the ground, is guided to the kite position set in the manhole, and then lifted to the ground, and then to the discharging position of the ground portion. After being guided and paid out, return to the original position of the human hole opening,
It is characterized by that.
In the above configuration, the payout position is input by teaching, which constitutes yet another invention.

According to the present apparatus, the link arm and the excavation bucket as the operating device are arranged in the insertion means, the link arm portion can be raised and swiveled from the insertion means, and the excavation range of the excavation bucket below it can be expanded, In addition, it can be used freely in soil removal, and can cope well with deep and large-diameter manholes.
  According to the automatic operation method of the deep bucket hole device for a deep hole of the present invention, automatic operation is realized over one cycle by instructing the scraping position, and great convenience is obtained.

The side view which shows the whole of the one aspect | mode of the dredge apparatus which implements the automatic driving | running method of the dredge bucket apparatus for deep hole holes of this invention (arrow view of 1 direction of FIG. 2). FIG. 1 is a front view of FIG. 1 (an arrow view in two directions in FIG. 1). The block diagram of an insertion post part, a link arm part, and a saddle bucket part of this saddle device. The partial cross section figure of the partial side surface of the insertion post part. The partial view of an insertion post part. The block diagram in the innermost cylindrical part. The block diagram of the link arm part of a main body apparatus. The other block diagram of a link arm part. The enlarged side view of a bucket part. The front view of a straw bucket part. Hydraulic system diagram of the main machine. Manhole measurement gauge layout. Arrangement of detectors in the main machine. The block diagram of a signal processing part. The top view which shows the one aspect | mode of an operation panel. The illustration figure of the setting screen of a display part. The illustration figure of the operation screen of a display part. Schematic diagram of teaching operation. [Manhole direction] Teaching operation flow diagram. Flow chart of “entrance angle” teaching operation. [Intermediate position] Teaching operation flow diagram. [Flowout position] Teaching operation flow diagram. Flow chart of manhole position setting. Flow chart of automatic operation program (1). Flow chart of automatic operation program (2). Flow chart of automatic operation program (3). Flow chart of automatic operation program (4). Flow chart of automatic operation program (5). Flow chart of automatic operation program (6). Flow chart of automatic operation program (7). Flow chart of automatic operation program (8). Flow chart of automatic operation program (9). Flow chart of automatic operation program (10). Sectional drawing of an overturning part.

Hereinafter, the embodiment of the automatic operation method of the deep bucket hole device for deep manholes of the present invention will be described.
1 to 17 show an embodiment of a large-depth dredge bucket apparatus (hereinafter, simply referred to as “dredge apparatus”) that implements the automatic driving method of the present invention.
That is, FIG.1 and FIG.2 shows the schematic structure of the whole main apparatus S, and FIGS. 3-17 shows the structure of each part of the main apparatus S. FIG.
In these drawings, P is a deep hole such as an overturn, O is an opening of the hole P, and Q is sedimentary sediment deposited at the bottom of the hole P. In general, the deep penetration manhole P has an upper portion Pa having a circular hole-shaped small diameter, a so-called manhole, and a lower portion Pb forming a widened rectangular space.
In addition, a dump truck attached to the main machine S for receiving and transporting the soil discharged by the main machine S is separately prepared.
In the following description, the jumping direction of the link arm unit 4 of the main bag device S described later is defined as the front.

Vehicle H (See Fig. 1 and Fig. 2)
As shown in FIGS. 1 and 2, the main body device S adopts a vehicle mounting type, and H is a vehicle or a truck having a wheel type loading platform I, and the main loading device S is mounted on the loading platform I. Can be moved to an appropriate position. J is a rear outrigger provided on both sides of the rear part of the loading platform I, and K is a front outrigger provided on both sides of the front part of the loading platform I. L is a support post for insertion post, and M is a hydraulic unit. The hydraulic unit M is for outriggers J and K, and a hydraulic cylinder 23 and a winch 25 described later.

Dredge device S (see FIGS. 1 to 11)
The main saddle device S includes a long insertion post portion 1 inserted into the human hole P, a undulation platform portion 2 that supports the insertion post portion 1 and undulates, and a hydraulic pressure provided in the insertion post portion 1. The power unit 3 includes a main part of a link arm unit 4 that is mounted in conjunction with the lower end of the insertion post unit 1 and a bucket unit 5 that is mounted on the lower end of the link arm unit 4, and includes a control processing unit. The display part 7 which displays the operating condition of the main bag apparatus S is provided.
The main machine S further includes an operation panel 8 that gives a drive instruction to an operating device (actuator) built in the main apparatus S.
In the main machine S, the link arm unit 4 and the bucket unit 5 employ hydraulic devices (actuators) that are driven with hydraulic pressure, and these hydraulic devices are driven by the hydraulic power unit 3.

Hereinafter, the detailed configuration of each part of the main machine S will be described.
Insertion post part 1 (see FIGS. 1 to 6)
The insertion post portion 1 has a telescopic (nesting) structure extending in multiple stages, and has a built-in hydraulic power portion 3, and a link arm portion 4 and a bucket portion 5 are attached to the lower end thereof.
In this embodiment, the insertion post portion 1 has a structure extending in five steps, and is formed of a cylindrical body of 1A, 1B, 1C, 1D, 1E, and 1F inside the outermost side. The outer cylindrical body 1A is a fixed cylinder. The inner cylindrical bodies 1B to 1F constitute a movable cylinder, and are hereinafter also referred to as a first inner cylinder 1B, a second inner cylinder 1C, a third inner cylinder 1D, a fourth inner cylinder 1E, and a fifth inner cylinder 1F. The cylindrical bodies 1A, 1B, 1C, 1D, 1E, and 1F have the same length or substantially the same length, and are arranged in a slidable manner in a multiple manner while maintaining concentricity. Therefore, the sliding spacers 10 (upper spacer 10a and lower spacer 10b) are arranged between the upper and lower ends between the cylindrical bodies 1A, 1B, 1C, 1D, 1E, and 1F.
Lock pins 11 that determine the positions of the cylindrical bodies 1A to 1F are inserted into positioning holes provided below the cylindrical bodies 1A to 1F. A stopper plate 12 is attached to the upper ends of the cylindrical bodies 1A to 1F at a predetermined interval. The upper and lower spacers 10a and 10b are engaged with each other in a sliding operation and function as a stopper.
The outermost cylindrical body 1A is used for storing and guiding an inner cylindrical body of 1B or less. The outermost cylindrical body 1A is gripped by the undulating clamp of the gantry 2 and has a sheave 14 pivotally attached to the upper end thereof. 15 is wound. The end of the suspension wire 15 is wound around a winch (25) of the gantry 2 described later.
The innermost cylindrical body 1 </ b> F has a suspension pin 16 fixed to the upper end thereof via a mounting plate 16 a, and the other end of the wire 15 is engaged with the suspension pin 16. A weight 17 is further added to the innermost cylindrical body 1F to increase the weight most in the inner cylindrical body of 1B or less.
As will be described later, the hydraulic power unit 3 is incorporated in the innermost cylindrical body 1F.
(Nesting mechanism and its operation)
The insertion post portion 1 according to the present embodiment adopts a so-called telescopic (nesting) structure with a multiple tube expansion / contraction structure, and is performed by raising / lowering the hanging wire 15 via the sheave 14.
That is, one end of the wire 15 is fixed to the hanging pin 16 at the upper end portion of the innermost cylindrical body 1F, and the other end is wound around a winch described later.
The insertion post portion 1 is first set up vertically, and the lock pin 11 is engaged at the lower end thereof.
In the extension operation of the insertion post portion 1, the lock pin 11 at the lower end of the insertion post 1 is removed, the wire 15 is loosened by rewinding the winch, and the inner cylindrical bodies 1B to 1F are lowered integrally. The inner cylindrical body (first inner cylinder) 1B engages with the lower spacer 10b of the outer cylindrical body (fixed cylinder) 1A and stops, and then the inner cylindrical bodies 1C to 1F are lowered integrally, and the inner cylindrical body ( The second inner cylinder 1C engages with the lower spacer 10b of the first inner cylinder 1B and stops. Thereafter, the third inner cylinder 1D, the fourth inner cylinder 1E and the spacer are sequentially engaged with each other to stop the lowering, and finally the innermost cylindrical body (fifth inner cylinder) 1F is lowered.
In the middle of this, it is free to stop stretching.
In winding the winch, the reverse is true, and with the wire 15 being pulled up, the innermost cylindrical body (fifth inner cylinder) 1F is first pulled up, and the fifth inner cylinder 1F is the stop plate 12 of the fourth inner cylinder 1E. Ascends and stops rising. Next, the fourth inner cylinder 1E is pulled up, stops rising by contact with the stop plate, is sequentially pulled up to the first inner cylinder 1B, and the whole is stored in the outer cylindrical body (fixed cylinder) 1A. In this state, the lock pin 11 is engaged.

It is possible to adopt a mode in which the engagement of the lock pin 11 is sequentially released from the fifth inner cylinder 1F and the insertion post portion 1 is lowered into the human hole P.
In this case, the fifth inner cylinder 1F of the insertion post 1 is first lowered by its own weight, then the engagement of the lock pin 11 of the inner cylinder 1E inside thereof is released, the inner cylinder 1E is lowered, The cylinders 1D, 1C, and 1B are lowered.

Elevating stand 2 (See Figs. 1 and 2)
The hoisting rack 2 is mounted on the loading platform I with the function of freely turning and raising and lowering, using the loading platform I of the vehicle H as a base.
More specifically, the hoisting rack 2 is mainly composed of a support frame 20, and the support frame 20 is attached to the loading platform I via a swivel 21, and a hoisting clamp 22 is attached to the tip of the support frame 20 via a pin. Fixed. The undulation clamp 22 grips and fixes the fixed post 1 </ b> A of the insertion post portion 1. Further, a hoisting hydraulic cylinder 23 is fixed between the support frame 20 and the post 1A via a pin. As a result, the post 1 </ b> A moves up and down by the expansion and contraction of the piston 23 a of the hydraulic cylinder 23.
A hydraulic winch 25 is fixedly installed on the undulation clamp 22, and the suspension wire 15 is wound around the winding drum 25a. The undulation clamp 22 is integrated with the fixed post 1A, and the distance from the winch 25 to the sheave 14 does not change no matter how the fixed post 1A is displaced.
The fixed post 1A is further provided with a power line (power line) guided into the insertion post portion 1, a power line take-up reel 26 for communication lines, and a communication line take-up reel 27, and is disposed at the upper end of the fixed post 1A. Are equipped with sheaves (not shown) for power lines and communication lines inserted into the posts 1A side by side with the sheaves 14 described above.
Reference numeral 28 denotes a hydraulic drive unit of the swivel base 21.

Hydraulic power unit 3 (see Fig. 6)
The hydraulic power unit 3 is mounted with watertightness (waterproof structure) in the innermost cylindrical body 1F of the insertion post unit 1, and the link arm unit 4 is connected to the lower end thereof.
Main components of the power unit 3 are housed in a waterproof case 30. The waterproof case 30 also serves as a machine frame and maintains rigidity.
The waterproof case 30 forms a cylindrical body, forms a waterproof space therein, and is inserted and installed in an innermost cylindrical body (fifth inner cylinder) 1F in an integrated and watertight state. That is, the waterproof case 30 itself is water-tight, and is installed in the innermost cylindrical body 1F while maintaining water-tightness via an O-ring means, and is further fixed integrally to the fifth inner cylinder 1F by appropriate fixing means. It is what is done. The waterproof case 30 has a body part 30a that can be added as appropriate. However, it is essential to maintain watertightness, the upper end part is sealed with an upper lid 30b, and the lower end part 30c is watertight for a rotation drive part to be described later. It is blocked by holding. The waterproof case 30 does not need to be particularly long, and may be relatively short as long as the main components can be accommodated sufficiently. If there is a space, a weight is added.

In the waterproof case 30, a hydraulic oil tank 31, an electric motor 32, a hydraulic pump 33 that is driven by the rotational drive of the electric motor 32, and an electromagnetic valve 34 are arranged from the top, and the hydraulic oil tank 31, The hydraulic pump 33 and the electromagnetic valve 34 are connected by a hydraulic pipe. The hydraulic piping is further connected to a hydraulic motor and a hydraulic cylinder as hydraulic actuators to be described later. A power line is drawn into the electric motor 32 from the outside while keeping water tightness.
In the illustrated example, these are arranged on the upper part of the waterproof case 30.
The hydraulic piping is also pulled out of the waterproof case 30 while maintaining watertightness.
A weight 36 is appropriately disposed at an intermediate portion in the waterproof case 30.
The lower part in the waterproof case 30 is connected to the link arm unit 4.

(Rotation drive part 38) (refer FIG. 6)
In the lower part of the waterproof case 30, a rotation drive unit 38 that rotates the link arm unit 4 to be described later is disposed in a watertight manner.
More specifically, the rotation drive unit 38 mainly includes a hydraulic motor 39 fixed in the waterproof case 3 and an arm rotation shaft 40, and a pinion and an arm fixed to the drive shaft of the hydraulic motor 39. The arm rotation shaft 40 is rotated by meshing with the rotation gear of the rotation shaft 40 for rotation. The arm rotation shaft 40 and the lower end portion 30c of the case 30 maintain watertightness with appropriate sealing means (O-ring). A potentiometer 41 detects the rotation of the arm rotation shaft 40.

Link arm part 4 (See Figs. 7 and 8)
The link arm portion 4 is attached to the lower end of the insertion post portion 1, specifically connected to the power portion 3 disposed in the innermost cylindrical body 1 F of the insertion post portion 1, and is also connected to the attachment portion of the bucket portion 5. Thus, the rotation / extension action of the hydraulic actuator causes the link arm part 4 to turn and jump out.

Hereinafter, the embodiment shown in FIG. 7 will be described in detail.
The link arm unit 4 is mainly composed of a link frame that performs the link function, and is rotated by receiving the rotational drive of the upper hydraulic motor 39, and is ejected by receiving the expansion / contraction drive of the hydraulic cylinder mounted therein. Make.
The link frame of the link arm portion 4 includes link plates 47 and 48 (upper link plates) disposed on both sides of the front and rear link rods 45 and 46 above and below the front and rear link rods 45 and 46. 47, a lower link plate 48), an intermediate link bar 49, and upper pins 50 and 51, lower pins 52 and 53, and intermediate pins 54 and 55 for connecting these pins. In the upper pins 50 and 51, the front pin 50 is located above the rear pin 51. Due to the parallel link relationship, the front pin 52 is positioned above the rear pin 53 in the lower pins 52 and 53 in the vertical state of the link arm 4.
The link frame is attached via the rotary shaft 40 of the drive unit 3, and a hydraulic cylinder 56 is pivotally attached to the upper link plate 47 and the rear link rod 46 at both ends by pins 57 and 58.
In FIG. 7, the piston rod 56a of the hydraulic cylinder 56 is extended, and the link arm portion 4 is in an upright state (that is, without jumping up). When the piston rod 56a is contracted, the link arm part 4 jumps upward about the pins 50 and 51 (see the right part in FIG. 7).

FIG. 8 shows a link arm portion 4A of still another aspect.
This embodiment is the same in principle as that in FIG. In the figure, the same reference numerals are given to members equivalent to the previous ones.
That is, the hydraulic cylinder 56A is in a state in which its piston rod is contracted, and the link arm portion 4A is in a vertical state, and jumps forward (rightward in the figure) by the extension of the piston rod.

  As shown in FIG. 7 and FIG. 8, the link arm portion 4 is free to adopt other modes as long as it has an equivalent configuration and an equivalent function in principle. That is, regarding the configuration, a hydraulic cylinder or a hydraulic motor is provided for rotation and lifting, and a link mechanism is adopted as the mechanism.

浚 渫 Bucket part 5 (See FIGS. 9 and 10)
The eaves bucket portion 5 is detachably attached to the lower end of the link arm portion 4, is opened and closed by hydraulic drive, and is regulated to a width that easily passes through the opening O of the human hole P in the closed state.
More specifically, the bucket body 60 is composed of two bucket elements 60 a and 60 b and can be opened and closed via a pin 61. The lower end of the center frame 62 is divided into two forks 62a, the pins 61 of the bucket body 60 are gripped by the two forks 62a and attached to the bucket support bracket 63 at the upper side. The bucket support bracket 63 is fixed to the link arm portion 3.
Two parallel brackets 65 are fixed to the bucket support bracket 63. Between the bracket 65 and each bucket element 60a, 60b, a bucket opening / closing hydraulic cylinder 66 is attached via each pin. That is, the cylinder side of the bucket opening / closing hydraulic cylinder 66 is pivotally attached to the bracket 65 via the pin 67, and the piston portion 66 a is pivotally attached to the bucket elements 60 a and 60 b via the pin 68. The bucket elements 60a and 60b are closed by the extension of the piston portion 66a of the bucket opening / closing hydraulic cylinder 66, and the bucket elements 60a and 60b are opened around the pin 61 by the contraction of the piston portion 66a.

FIG. 11 shows the relationship (hydraulic system) of each hydraulic device in the hydraulic power unit 3, the link arm unit 4, and the saddle bucket unit 5 described above.
As shown in the figure, the oil in the hydraulic oil tank 31 is pushed out by two electric hydraulic pumps 33 (1) 33 (2), one system is led to a hydraulic motor 38 via an electromagnetic valve 34, and the other The system is guided to hydraulic cylinders 56 and 66 via another electromagnetic valve 34. These pressure oil returns are returned to the hydraulic oil tank 31 again.
The figure shows a specific example, and each applied hydraulic device is not limited to this.
Further, in the drawing, the power line to the electric motor 32 is omitted, but the power line is drawn out to the outside. Other hydraulic systems (vehicle units) are also omitted.

Manhole measurement gauge 80 (See Fig. 12)
The manhole measurement gauge 80 is detachably attached to the rear portion of the vehicle H on which the main apparatus S is mounted, and gives the axis center of the insertion post portion 1 with the base point 80a at a fixed position.
The manhole measurement gauge 80 includes an arc-shaped setting member 81 and a holding member 82 that holds the setting member 81 horizontally. The setting member 81 is formed of an arc-shaped bar, and the center position of the outer surface provides a base point 80a. In the present embodiment, the setting member 81 has an arc shape, but is not limited to this shape, and may be a straight shape. Moreover, flat form may be sufficient. The holding members 82 form a pair, and one end is joined to the regulating member 81 and the other end is joined to the vehicle H. In the present embodiment, the holding members 82 are two rod-shaped bodies, but the number of the holding members 82 is not limited to the shape, and may be one, three, or a flat body. The holding member 82 holds the setting member 81 horizontally at a fixed position and holds a predetermined distance between the setting member 81 and the vehicle H, whereby the setting member 81 has an intermediate position on its outer surface to provide a base point 80a. . Since the manhole measurement gauge 80 is normally used with the insertion post portion 1 being turned down, the manhole measurement gauge 80 may be disposed behind the vehicle H. However, when the manhole measurement gauge 80 is disposed below the vehicle H as much as possible. It can also be used in a state where the insertion post portion 1 stands.
The manhole measurement gauge 80 is used in a state where the insertion post portion 1 is turned down, and approaches the manhole opening O of the manhole P as the vehicle H moves, and its base point 80a coincides with the center of the opening O. To position vehicle H. At that time, it is recommended to install an index indicating an intermediate position in the opening O of the human hole P.
The manhole measurement gauge 80 is not essential for carrying out the present invention, and may be omitted as appropriate. The manhole measurement gauge 80 can be attached to the vehicle H, can be folded by a pin, or can be stored.

Display unit 7 (see FIGS. 1 and 13 to 17)
The display unit 7 also displays the state of the saddle device S and the state of automatic operation on the display screen (see FIGS. 16 and 17). In addition, the soot state and the automatic operation state are displayed, and an instruction for the deposition state and the operation condition is given.
The display unit 7 is arranged in the driver's cab of the vehicle H, but may be outside the driver's cab, and may be portable rather than fixed.
FIG. 13 shows the arrangement of the detectors 100, 102, 104, and 106 arranged in the main bag device S for grasping the wrinkle state. In the figure, 100 is a depth sensor, 102 is a link arm portion turning angle detection sensor, 104 is a link arm portion flip-up angle detection sensor, and 106 is a bucket opening / closing detection sensor.
Specifically, the depth sensor 100 is mainly composed of a rotary encoder attached in conjunction with the shaft portion of the wire sheave 14, detects the rotation speed of the wire sheave 14, and sends the rotation speed signal to the calculation processing device. In the calculation processing device, the insertion depth of the insertion post portion 1 is calculated based on the rotational speed signal. Furthermore, the depth of the tip end portion of the bucket portion 5 is calculated by adding the flip-up angle information of the link arm portion 4.
The link arm part turning angle detection sensor 102 is a potentiometer installed in the rotation driving part 38, and sends the turning angle signal of the link arm part 4 detected by the potentiometer to the calculation processing device.
The link arm part flip-up angle detection sensor 104 mainly includes a stroke sensor installed in the hydraulic cylinder 56 of the link arm part 4. The stroke sensor 104 measures the cylinder length steplessly and sends the length signal value to the calculation processor. In the calculation processing device, the flip-up angle (swing angle) and the horizontal distance of the link arm unit 4 are calculated from the length signal value. The vertical distance is added to the depth of the insertion post portion 1 to be the depth of the tip of the bucket portion 5.
The bucket opening / closing detection sensor 106 is composed of two limit switches arranged in the basket bucket portion 5. Alternatively, the contraction time of the hydraulic cylinder 66 attached to the hydraulic cylinder 66 of the bucket unit 5 is measured, and the open / close state of the bucket unit 5 is calculated based on the measurement time.
It should be noted that other detection means are appropriately arranged for the automatic driving operation. That is, the operating state of each operating device (actuator) of the hoisting hydraulic cylinder 23, the winch 25, and the hydraulic driving unit 28 on the hoisting rack 2 is detected, and these detection signals are also sent to the processing unit 110.

FIG. 14 shows a circuit configuration of a signal processing unit including an instruction screen of the display unit 7.
As shown in FIG. 14, signals from the sensors 100, 102, 104, and 106 are appropriately input to a processing unit 110 incorporating a CPU and a storage device via ADI and D converters. A display signal is output to the display screen 120 based on a predetermined calculation processing procedure by a program stored in the ROM. The processing unit 110 also receives a command signal and a numerical signal from an input device 130 such as a keyboard or a touch board. In FIG. 14, the input device 130 can be changed to a setting screen 200 and an operation screen 300 described later. That is, a signal is sent from the touch screen function of the display screen 120 to the processing unit 110 to perform mutual communication.
Further, in FIG. 14, a signal is sent from the processing unit 110 to the actuator controller 140, and a drive signal is sent from the actuator controller 140 to the electromagnetic valve 34 to drive the actuators 39, 56, 66. Further, a drive signal is sent from the actuator controller 140 to the hydraulic winch 25, the power line / communication line take-up reels 26 and 27, and the gantry hydraulic drive unit 28.
The processing unit 110 and the actuator controller 140 exchange signals with each other, and the information is sent to the display screen 120. Specifically, a predetermined signal is sent from the predetermined calculation processing program stored in the ROM and / or RAM in the processing unit 110 and the automatic program to the actuator controller 140, and directly through the switching valve 34. Actuate the actuator. In the present embodiment, an operation signal is also exchanged to the drive unit of the hanging wire 15 of the hoisting stand unit 2 and further to the drive unit of the swivel base 21.
The actuators 39, 56, 66 and the operation part of the gantry 2 are operated by the operation of the switching valve 34. The operation state is captured by each sensor (100, 102, 104, 106), and the measured data is processed by the processing part. 110. The processing unit 110 takes in this information and operates the automatic operation program.

Operation panel 8 (See Fig. 15)
The operation panel 8 gives a drive instruction to each operating device (actuator) equipped in the main machine S by manual operation. The operation panel 8 is arranged in the driver's cab of the vehicle H similarly to the display unit 7, but may be outside the driver's cab, and may be a portable type as well as a fixed type.
The operation instruction signal of the operation panel 8 is transmitted to the operating device via a transmission path, and the transmission path is remotely operated regardless of wired or wireless.
FIG. 15 shows an example of the arrangement of operation buttons on the operation panel 8.
On the upper stage, switching buttons, that is, an ON / OFF button 150, a manual / automatic button 152, and an emergency stop button 154 are arranged. A power lamp 156 lights up when the ON / OFF button 150 is turned on. It should be noted that the ON / OFF button 150 does not preclude changing to a three-stage button of “OFF”, “wireless”, and “wired”. The functions of “wireless” and “wired” are substantially the same.
The operation panel 8 is provided with a post operation lever button 160, an arm operation lever button 170, and a bucket operation lever button 180 on a large portion of the panel surface, and these are operated when the lever is tilted forward, backward, left and right.
Specifically, the post operation lever button 160 causes the insertion post portion 1 to undulate and turn left and right by operating the lever. That is, the forward “rise” raises the insertion post portion 1, and the rearward “bush” causes the insertion post portion 1 to fall. To the right (b), the insertion post part 1 is turned to the right via the swivel 21, and to the left (b), the insertion post 1 is turned to the left via the swivel 21.
With the lever operation, the arm operation lever button 170 moves the link arm unit 4 up and down and turns left and right. In other words, forward insertion (C direction) raises the insertion post part 1 by winding the wire 15, and backward movement (D direction) lowers the insertion post part 1 by rewinding the wire 15. Inclining to the right (E direction) turns the link arm part 4 to the right, and inclining to the left (F direction) turns the link arm part 4 to the left.
The bucket operation lever button 180 raises / lowers the bucket unit 5 and opens / closes it by operating the lever. That is, the forward “swing” (G direction) swings up the link arm 4, and the backward “swing” (h direction) swings down the link arm 4. Right-handed “open” opens the bucket 5, and left-handed “closed” closes the bucket 5.
Although there are other operation buttons at the drive source, they are conventional and will not be described.

Display screen 120
16 and 17 show a setting screen 200 and an operation screen 300 displayed on the display screen 120 of the display unit 7. Although the setting screen 200 and the operation screen 300 are displayed with related operations, the setting screen 200 is displayed first when starting.

Setting screen 200
An example of the setting screen 200 is shown in FIG.
In the setting screen 200, an automatic operation screen instruction unit 210, a human hole shape display unit 220, a numerical value input unit 230, a teaching input unit 240, a scraping method instruction unit 250, and a numeric keypad unit 260 are defined.
Although not shown in the example of the figure, a mode in which an “apparatus check” button is additionally provided can also be adopted.
Specifically, the automatic operation screen instruction unit 210 is provided with an “automatic operation” button, and moves to the operation display screen 300 by sending an instruction through this button.
(Human hole shape display unit 220)
The human hole shape display unit 220 includes a human hole display unit 221 and a manhole (or manhole opening) position instruction unit 222. The human hole display unit 221 has a quadrilateral display screen, and the lower part of the human hole (shown by a broken line, which is a rectangle in this example) 223 and the manhole opening position 224 are displayed in the screen. The lower shape 223 of the human hole is displayed from an input value of a numerical value input unit 230 described later. The manhole position instructing unit 222 forms a circular display screen, and the position of the manhole opening is moved back and forth and back and forth via the four triangular button portions 225.
FIG. 23 shows a program flow for manhole opening position input operation (steps S21 and S22). That is, the triangular button part 225 is appropriately operated in step S21, and the manhole position mark is moved and displayed on the human hole display part 221 in step S22.
(Numerical value input unit 230)
The numerical value input unit 230 includes a vertical cross section display unit 231, a horizontal cross section display unit 232, a rectangular human hole button 233, and a circular human hole button 234. In the illustrated example, a rectangular human hole shape 223 is displayed on the human hole shape display unit 220 via the rectangular button 233. Dimension input values A, B, and C are displayed on the vertical cross section display portion 231 of the human hole, and dimension input values D and E are displayed on the horizontal cross section display portion 232, and these A, B are operated by operating the numeric keypad 260. , C, D, E are entered numerical values. Here, A indicates the depth of the upper portion of the human hole (so-called manhole) Pa, B, D, and E indicate the height, width, and depth of the lower portion of the human hole Pb, and C indicates the depth position of the deposit. In a circular human hole, one of D and E is shown, indicating the diameter. The input of these values A to E is immediately reflected in the picture display of the human hole display unit 221, the heel state display unit 320 and the bar graph display unit 330 described later, and further used for calculation processing of a predetermined calculation program.

(Teaching input unit 240)
The teaching input unit 240 includes a “manhole direction” button 241, an “entry angle” button 242, an “intermediate position” button 243, and a “payout position” button 244. The teaching input unit 240 is interlocked with the operation of the main machine S, and the numerical values are input by pressing these buttons.
The “manhole direction” button 241 manually operates the main apparatus S from the origin position, and when this button 241 is pressed, an angle (horizontal angle α) is displayed on the numerical value display portion 241a. Thereby, the phase angle between the initial position of the bucket portion 5 and the angle at which the bucket portion 5 faces the center line direction of the lower portion Pb of the human hole P is set. With this setting, the bucket portion 5 takes this manhole direction, that is, a leveled (normal) state when entering the manhole lower portion Pb immediately below the manhole, and is ready to work on the basis of the centerline of the manhole (lower Pb) P. The
FIG. 18 shows the point of this input operation. The figure shows the condition at the ground. The vehicle H is moved, and the main device S is installed in the opening O of the human hole P from a free direction (b-line direction), and its initial position faces the i-line direction.
The insertion post portion 1 faces the opening O of the human hole P at the ground portion and takes a vertical state, and the bucket portion 5 faces in the direction of the straight line. This is the origin position. Next, the link arm portion 4 is rotated toward the center line direction B (indicated by the ground portion) of the lower chamber Pb of the human hole P, and the bucket portion 5 is directed toward the center line direction B. Enter the angle α as the “manhole direction”.
FIG. 19 is a flowchart of this input operation program. That is, in step S1, “manual” is selected with the operation panel 8 for remote control operation. Next, in step S2, the link arm portion 4 is turned until the bucket portion 5 faces the manhole direction B. In step S3, it is determined whether or not the bucket unit 5 matches the manhole direction B. If it does not face the manhole direction, the process returns to step S2. If the bucket unit 5 is facing the manhole direction B, the process proceeds to step S4, the "manhole direction" button 241 is turned on, the "manhole direction" button 241 is lit in step S5, and the angle display unit 241a displays an angle. Is made.
The “entry angle” button 242 manually operates the main bag device S, and when this button 242 is pressed, the angle (horizontal angle β) is displayed on the numerical value display portion 242a. In other words, when the bucket 5 is lowered in the manhole P with the leveled state, if there is a problem that abuts against the protrusion provided on the manhole wall in the middle, the swivel turns by a predetermined angle β from the leveling position. To avoid this.
FIG. 20 shows the flow of this input operation. That is, “manual” is selected by remote control operation in step S6. Next, in step S7, the link arm unit 4 is turned, and in step S8, it is determined whether or not the bucket unit 5 is at the entry angle. If the bucket unit 5 is not at the entry angle, the process returns to step S7, and if it is the entry angle, the process proceeds to step S9, the "entry angle" button 242 is turned on, the "entry angle" button 242 is turned on at step S10, and An angle is displayed on the display unit 242a.
The “intermediate position” button 243 manually operates the main body device S, and rotates the link arm unit 4 to the position of the collection vehicle (dump truck) at the ground portion arranged at a predetermined position by the pulling position of the manhole. At the same time, the posture information is input by swinging up to the height of the collection vehicle and pressing the button 243.
FIG. 21 shows the flow of this input operation. That is, “manual” is selected by a remote control operation in step S11, and the link arm unit 4 is turned and swung up to the position of the collection vehicle in step S12. In step S13, it is determined whether or not it is an intermediate position. If the position is not the intermediate position, the process returns to step S12. If the position is the intermediate position, the process proceeds to step S14, the "intermediate position" button 243 is turned on, and the attitude of the intermediate position is input. Next, in step S15, the “intermediate position” button 243 is lit.
The “payout position” button 244 is operated by manually operating the main device S, guiding the link arm unit 4 over the edge of the collection vehicle (dump truck) on the ground, and pressing the button 244 to provide position information. Is entered.
FIG. 22 shows the means for this input operation. That is, “manual” is selected by remote control operation in step S16, the link arm unit 4 is turned in step S17, and it is determined whether or not the payout position is in step S18. If it is not the payout position, the process returns to step S17, and if it is the payout position, the process proceeds to step S19, the “payout position” button 244 is turned on, and the position information of the payout position is input. Next, in step S20, the “payout position” button 244 is lit.

(Scraping instruction unit 250)
The scraping method instruction unit 250 includes a “rope loosening” button 251 and a “distance scraping” button 252 which are selectively instructed. “Rope loosening” is performed when the wire 15 is loosened by the bucket portion 5 and scraped with the wire looseness switch activated. “Distance scraping” is performed by scooping by the bucket portion 5 in a tensioned state of the wire 15 and scraping the scraping depth set by dimension input from the deposit depth at the scraping position. The scraping method instructing unit 250 further includes a scraping distance instructing unit 253, and inputs a dimension value (depth) of a scraping distance for “distance scraping” by operating the numeric keypad 260 to the corresponding part.

(Tenkey part 260)
The numeric keypad 260 is used to input setting values on the setting screen 200. In other words, the numerical values A, B, C, D, E in the numerical value input unit 230 and the numerical values of the scraping distance instruction unit 253 are input by a numeric keypad operation. The entered numerical value is confirmed by the “confirm” key.

Operation screen 300
FIG. 17 shows an example of the operation screen 300.
The operation screen 300 includes an instruction button unit 310, a saddle state display unit 320, a bar graph display unit 330, an arm / bucket state picture display unit 340, and an arm / bucket state numerical value display unit 350.
The instruction button section 310 is arranged in the upper stage, the heel state display section 320, the bar graph display section 330, and the arm / bucket state picture display section 340 are arranged in the middle stage, and the arm / bucket state numerical value display section 350 is arranged in the lower stage. .
The heel state display unit 320, the bar graph display unit 330, and the arm / bucket state picture display unit 340 each feature a picture (graphic) display so that the 浚 渫 state or the operation state of the main device S can be grasped at a glance. Provided for flights. Therefore, these occupy a major part of the main operation screen 300.
Thus, these are associated with an automatic driving program.
This will be described in detail below.

(Instruction button section 310)
In the upper part of the display screen 300, the instruction button unit 310 includes an “initial setting” button 311, an “operation preparation” button 312, a “start” button 313, a “stop” button 314, a scraping position button 316, manual / automatic switching ( (Operation mode) button 317, and a button row.
The “initial setting” button 311 is clicked (or touched, the same applies hereinafter) to move to the setting screen 200 described above. This operation is preferably performed during automatic operation, but is usually performed after automatic operation is stopped.
The “preparation for operation” button 312 is in a state where the insertion post portion 1 holds the vertical position, and is clicked to take an operation preparation state (arm angle is 0 °, bucket closed, arm turning angle is 0 °). Is stored in the processing unit 110.
The “start” or “run” button 313 is clicked to start automatic driving, and during the automatic driving, the “start” button 313 is lit. The “start” button 313 operates only when the input of the manual / automatic switching button 317 to the automatic side is switched. Further, the main operation screen 300 is entered by interlocking with the manual / automatic button 152 of the operation panel 8 and switching the button 152 to automatic.
A “stop” button 314 gives an automatic operation stop command. By this command, after the dredged material is dispensed, the automatic operation is stopped at the origin position and one cycle is completed. If necessary, a “pause” button (not shown) is provided alongside the “stop” button 314 to give a pause command for automatic operation during one cycle.
The scraping position button 316 has a circular shape, and the triangle button portion 316a on each side is clicked to move a scraping position display (327) of “deposit distribution” (321) described later to change the position. .
The manual / automatic switching button 317 switches between manual and automatic. The manual / automatic switching button 317 is interlocked with the manual / automatic button 152 of the operation panel 8 as described above.

(Hail state display unit 320)
The heel state display unit 320 includes a deposit distribution display unit 321 and a depth display color display unit 322.
The deposit distribution display unit 321 displays the distribution of the deposit, is partitioned by a large number of meshes 323, and is displayed in color for each mesh 323. The mesh 323 is actually further subdivided. A lower shape 324 of the human hole P (shown by a broken line, which is a rectangle in this example) is displayed in the mesh screen, and the manhole position 325, the tip position 326 of the bucket portion 5 and the scraping position are displayed in the shape 324. 327 is displayed. The lower shape 324 and the manhole position 325 of the human hole P are determined by the setting values on the setting screen 200 described above, the tip position 326 of the bucket unit 5 is linked to the driving operation, and the scraping position 327 is the scraping position of the main screen 300. The position is changed by operating the triangular button portion 316a with the button 316.
The depth display color display unit 322 sets the depth distance from the initial setting value to the hole bottom to 0 to 100% with respect to the depth of the deposit, and displays the color classification every 10%. The display color is reflected on the mesh 323 of the deposit distribution display unit 321.
(Bar graph display unit 330)
The bar graph display unit 330 displays the depth of the initial deposit at the scraping position. The bar graph display unit 330 includes a bar graph unit 331, a bucket position mark 332, and a deposit initial value mark 333, and the bar graph unit 331 displays a change in excavation depth from the deposit initial value mark 333 with a color display portion 331a. Display every moment. The bucket position mark 332 displays the momentary movement of the bucket unit 5 based on a predetermined calculation process.
(Arm bucket status picture display 340)
The arm / bucket state picture display unit 340 graphically displays the state of the link arm unit 4 and the bucket unit 5 in real time. In the illustrated example, 341 is a schematic representation of the insertion post portion 1, 342 is a link arm portion 4, 343 is a bucket portion 5. As a result, the link arm unit 4 swings (swings up and down), that is, moves up and down, and the bucket unit 5 opens and closes by a predetermined calculation process. The turning of the link arm portion is not displayed.

(Arm / bucket state numerical value display 350)
The arm / bucket state numerical value display unit 350 includes a turning angle display unit 351, a link arm angle display unit 352, a bucket depth display unit 353, and a bucket opening degree display unit 354. These display the turning angle of the link arm unit 4, the swing angle of the link arm unit 4, the depth of the bucket unit 5 (in cm), and the opening degree of the bucket unit 5 (in%). Although not shown in the figure, the display unit 350 can also display numerical values of the number of scrapings and the amount of eccentricity.

(Automatic operation program)
24-33 show the flowcharts of the program which implements the automatic driving operation of this embodiment.
Referring to FIG. 24, the “automatic operation” screen is selected in step S23, and it is determined in step S24 whether the mode is “automatic” mode. When not in the “automatic” mode, an instruction for the “automatic” mode is requested in step S25, and the “automatic” mode is selected on the operation panel 8 or the operation screen 300. If it is in the “automatic” mode, the process proceeds to step S26, “operation” (“start”) is turned on on the “automatic operation” screen, and the process further proceeds to step S27. In step S27, it is determined whether or not the automatic driving condition is satisfied. The automatic operation conditions are the following three conditions: 1) the initial teaching has been set, 2) no emergency stop, and 3) the arm is on the ground. If the automatic operation condition is not satisfied, the process returns to step S26, and after performing an operation that satisfies the automatic operation condition, “operation” is turned ON. If the automatic driving condition is satisfied, the “RUN” button is turned on in step S28, and the process proceeds to step S29.
Referring to FIG. 25, it is determined whether or not the angle of link arm 4 is 0 ° (vertical) in step S29. If it is not 0 °, link arm 4 is swung down (lowered) in step S30 to 0 °. And If the angle of the link arm unit 4 is 0 °, the process proceeds to step S31, and it is determined whether or not the turning angle of the link arm unit 4 is the approach angle β. As described above, the approach angle β is a set angle that is inserted while avoiding an obstacle when inserted into the human hole P, and may be 0 ° or unlimited. If it is the approach angle β, the process proceeds to step S33, and it is determined whether the bucket unit 5 is closed. If the bucket part 5 is not closed, it moves to step S34 and the bucket part 5 is closed. If the bucket part 5 is closed, it will move to step S35.
Referring to FIG. 26, insertion post portion 1 is lowered in step S35, and it is determined in step S36 whether the depth of insertion post portion 1 is the arm movable position. The arm movable position is set such that the bucket portion 5 is 3 m deeper than the opening portion O of the human hole P. If it is not the arm movable position, the process returns to step S34, and the lowering of the insertion post portion 1 is continued. If the depth of the insertion post portion 1 is the arm movable position, the process proceeds to step S37, and it is determined whether or not the arm turning angle is at the scraping position. The calculation of the angle position of the arm turning angle is performed on the basis of the angle obtained by folding α from the origin position, that is, the manhole direction. If it is not a scraping position, it moves to step S38 and the link arm part 4 is turned to a scraping position. If the link arm unit 4 is in the scraping position, the process moves to step S39, and it is determined whether or not the angle of the link arm unit 4 is in the scraping position. If it is not a scraping position, it will move to step S40 and the link arm part 4 will be raised to a scraping position. If the link arm part 4 is a scraping position, it will move to step S41.
Referring to FIG. 27, bucket portion 5 is opened in step S41, then insertion post portion 1 is lowered in step S42, and the process proceeds to step S43. In step S43, it is determined whether or not the tension limit switch (LS) is ON. If it is not ON, the process proceeds to step S44, and it is further determined whether or not the scraping method is “distance measurement”. If the scraping method is not “distance measurement”, the process returns to step S43. If the scraping method is “distance measurement”, the process proceeds to step S45, where it is determined whether the depth is the scraping depth. If the depth is not the scraping depth, the process returns to step S43. The scraping depth is the current depth plus the scraping depth (scraping depth = current depth + scraping depth). If the depth is the scraping depth, the process proceeds to step S46 along with the determination that step S43 is ON. Thereby, scraping by the bucket part 5 is performed.
Referring to FIG. 28, the lowering of insertion post portion 1 is stopped in step S46, and then insertion post portion 1 is raised in step S47. Furthermore, it moves to step S48 and it is determined whether the depth is the arm movable position. If it is not the arm movable position, the process returns to step S47. If it is the arm movable position, the raising of the insertion post portion 1 is stopped in step S49.
Referring to FIG. 29, it is then determined in step S50 whether or not the angle of the link arm unit 4 is 0 °. If it is not 0 °, the process proceeds to step S51, and the link arm unit 4 is lowered. If it is 0 °, the process proceeds to step S52, where it is determined whether or not the turning angle of the link arm part 4 is the approach angle β. If not, the process proceeds to step S53 and the link arm part 4 is turned to the approach angle β. Return to S52. If the link arm portion 4 has the approach angle β, the insertion post portion 1 is raised in step S54, and then it is determined in step S55 whether the ascending end limit switch LS is ON. If the rising end limit switch LS is not ON, the process returns to step S54 and the insertion post portion 1 is further lifted. If the rising end limit switch LS is ON, the process proceeds to step S56. Thereby, the bucket part 5 goes out to the ground part.
Referring to FIG. 30, it is determined in step S56 whether or not the turning angle of the link arm unit 4 is “intermediate position”. If the turning angle of the link arm unit 4 is not “intermediate position”, the process proceeds to step S57. Part 4 is turned. If the turning angle of the link arm unit 4 is “intermediate position”, the process proceeds to step S58, where it is determined whether the angle of the link arm unit 4 is “intermediate position”, and the angle of the link arm unit 4 must be “intermediate position”. In step S59, the link arm unit 4 is raised. If the angle of the link arm unit 4 is “intermediate position”, the process proceeds to step S60, where it is determined whether or not the turning angle of the link arm unit 4 is “payout position”, and the turning angle of the link arm unit 4 is “payout position”. If not, the process proceeds to step S61, and the link arm unit 4 is turned. If the turning angle of the link arm unit 4 is the “dispensing position”, the process proceeds to step S62.
Referring to FIG. 31, it is determined in step S62 whether or not the angle of link arm 4 is “payout position”. If it is not “payout position”, the process proceeds to step S63, and link arm 4 is lowered to “payout position”. Is made. If the angle of the link arm part 4 is the “payout position”, the process proceeds to step S64 and the bucket part 5 is opened. As a result, dredged soil is discharged to the dump truck. In step S65, the bucket unit 5 is kept open for 3 seconds. In step S66, the bucket unit 5 is closed, and the process proceeds to step S67.
Referring to FIG. 32, in step S67, it is determined whether or not the angle of link arm unit 4 is “intermediate position”. If it is not “intermediate position”, the process proceeds to step S68, and link arm unit 4 moves up. If it is “intermediate position”, the process proceeds to step S69, and it is determined whether or not the turning angle of the link arm unit 4 is “intermediate position”. If it is not the “intermediate position”, the process proceeds to step S70, the link arm unit 4 is turned to the intermediate position, and the process proceeds to step S69. If it is “intermediate position”, the process proceeds to step S71, and it is determined whether or not the angle of the link arm portion 4 is 0 °. If it is not 0 °, the process moves to step S72, and the link arm unit 4 is lowered. If it is 0 °, the process proceeds to step S73.
Referring to FIG. 33, it is determined in step S73 whether the cycle is stopped. If not stopped, the process returns to step S31 (see FIG. 25), and the entry into the human hole P is made again. If it is stopped, the “run” button is turned off in step S74, and this cycle is ended. This cycle stop is made based on an instruction from the “stop” button 314 on the operation screen 300.

(Operation of the main machine S)
A dredging operation in a deep human hole performed using the dredger device S of the present embodiment will be described.
Hereinafter, it demonstrates based on a construction procedure.

(1) The vehicle H is moved to the human hole P to be dredged, and the outriggers J and K are operated at a predetermined position to fix the vehicle H.
A manhole measurement gauge 80 (see FIG. 12) is used for this position setting. That is, the manhole measurement gauge 80 is attached to the rear portion of the vehicle H, and the vehicle H is moved so that the base point 80a of the manhole measurement gauge 80 matches the center of the opening O of the human hole P. At this time, the approach direction of the vehicle H to the human hole P is free. As a result, the central axis of the insertion post portion 1 standing later and the central axis of the human hole P coincide with each other. When this operation is completed, the manhole measurement gauge 80 is removed or stored.
The chain line display of FIG. 1 shows a state where the main apparatus S is housed on the vehicle H, and the vehicle H is moved and fixed in this state. That is, the hoisting hydraulic cylinder 23 of the gantry 2 is contracted, the insertion post 1 is tilted horizontally, and the load is deposited on the frame support column L of the vehicle H. Although not shown, in addition to the vehicle H, a dump truck for transporting earth and sand is separately prepared.

(2) Standing the insertion post portion 1 The hydraulic cylinder 23 of the hoisting stand 2 is extended to raise the insertion post portion 1.
Operations other than this operation and the subsequent automatic driving operation are manual operations, but in the present embodiment, it is assumed that the operation panel 8 is used.
The insertion post 1 is engaged with the lock pin 11 and the winch 25 is also operated to pull the wire 15 connected to the insertion post 1 so that the insertion post 1 does not extend. In the insertion post portion 1, power lines and communication lines are arranged alongside the wires 15 so that they can be fed out.
(Display on display unit 7)
In the display section 7, first, this first state value (the upright state value of the insertion post section 1), that is, the origin position is inputted.
Next, the specification information (rectangular or circular, numerical input A, B, C, D, E) of the human hole P is input on the setting screen 200. These are immediately reflected in the setting screen 200 and the operation screen 300 of the display screen 120. That is, on the setting screen 200, the lower part shape 223 of the human hole display part 221 is displayed. In the operation screen 300, the sediment distribution display unit 321 displays the lower human hole shape 223, and the depth display color display unit 322 displays 100%. Further, on the bar graph display unit 330 screen, a bar graph unit 331 and a deposit initial value mark 333 are displayed.
Further, a manhole position instruction is input on the setting screen 200. That is, the manhole position 224 on the manhole display section 221 is moved by operating the triangular button section 225 of the manhole position instruction section 222 (steps S21 and S22). This is immediately reflected on the operation screen 300 and the manhole position 325 of the deposit distribution display unit 321 is displayed.

(2a) Preparation for automatic operation In this state, preparations for automatic operation are made by operating the operation panel 8 and inputting the setting screen 200. If it is not automatic operation, this step is omitted.
First, the manhole direction is set by turning the link arm part 4 by operating the arm operation button 170 of the operation panel 8, turning the bucket part 5 in the manhole direction, turning on the “manhole direction” button 241 on the setting screen 200, Teaches manhole direction setting (steps S1 to S5).
The approach angle is set by turning the link arm unit 4 by turning the arm operation button 170 on the operation panel 8, turning the bucket unit 5 to the approach angle, turning on the “entry angle” button 242 on the setting screen 200, and entering the approach angle. (Steps S6 to S10).
The intermediate position is set by turning and raising the link arm unit 4 by operating the arm operation button 170 and the bucket operation button 180 of the operation panel 8 and guiding the bucket unit 5 in the vicinity of the dump truck. ”Button 243 is turned ON to teach the intermediate position (steps S11 to S15).
The payout position is set by turning the link arm portion 4 by operating the arm operation button 170 on the operation panel 8, guiding the bucket portion 5 onto the dump truck, and turning on the “payout position” button 244 on the setting screen 200. The position is taught (steps S16 to S20).
To set the scraping method, select either the “loose slack” button 251 or the “distance scraping” button 252 on the setting screen 200. When “distance scraping” is selected, the scraping distance instruction unit 253 scrapes the scraping method. Enter the distance dimension (depth).

(3) The extension and lowering of the insertion post portion 1 After that, all or part of the engagement of the lock pin 11 is released, the winch 25 is actuated to wind down the hanging wire 15, and the insertion post portion 1 is moved to the human hole P. I ’m going to dive in.
The bucket body 60 of the bucket portion 5 is in a closed state and easily passes through the opening O of the human hole Q, and the inner portions 1B to 1F of the subsequent insertion post portion 1 also pass through the opening O, and the human hole P Descent inside.
Specifically, first, the inner cylindrical bodies 1B to 1F are lowered integrally, and the upper spacer 10a of the first inner cylinder 1B engages with the lower spacer 10b of the outer cylindrical body (fixed cylinder) 1A and stops. Next, the inner cylindrical bodies 1C to 1F are lowered integrally, and the upper spacer 10a of the second inner cylinder 1C engages with the lower spacer 10b of the first inner cylinder 1B and stops. Thereafter, the third inner cylinder 1D, the fourth inner cylinder 1E and the spacers are sequentially engaged with each other to stop the lowering, and finally the fifth inner cylinder 1F is lowered. Of course, when the lock pin 11 is partially released, the extension can be stopped in the middle.
Along with the wire 15, the power line and the communication line are also fed out through the sheave. This extension / contraction mode of the insertion post portion 1 is applied to automatic operation.
(Display on display unit 7)
The lowering of the insertion post portion 1 is displayed on the operation screen 300 on the deposit distribution display portion 321 so that the bucket portion position 326 coincides with the manhole opening position 325, and the arm / bucket picture display portion 340 displays the link arm portion 4 (342). Is linear and the bucket portion 5 (343) is displayed in a closed state.

It is possible to adopt a mode in which the engagement of the lock pin 11 is sequentially released from the fifth inner cylinder 1F and the insertion post portion 1 is lowered into the human hole P.
In this case, the fifth inner cylinder 1F of the insertion post 1 is first lowered by its own weight, then the engagement of the lock pin 11 of the inner cylinder 1E inside thereof is released, the inner cylinder 1E is lowered, The cylinders 1D, 1C, and 1B are lowered.
This extension / contraction mode of the insertion post 1 is applied only to manual operation, and is not applied to automatic operation.

(4) Start of dredging When the bucket portion 5 reaches the upper surface of the earth and sand Q accumulated at the bottom of the manhole P, the hydraulic cylinder 66 is operated to open and close the bucket body 60 and scoop up the earth and sand Q at the bottom of the manhole. . Thereafter, the insertion post portion 1 is contracted again by the operation of the winch 25 to raise the bucket portion 5 and carry it out to the ground. At this time, the innermost fifth cylindrical body 1F of the insertion post 1 is pulled up first, then the inner fourth cylindrical body 1E is lifted, and the cylindrical bodies 1D, 1C, 1B are pulled up sequentially.
On the ground, the link arm unit 4 is flipped up by the operation of the hydraulic cylinder 56 and the link arm unit 4 is swung to guide the bucket body 60 onto a dump truck disposed at a predetermined position. To the dump truck. The turning of the link arm unit 4 is the turning of the link arm unit 4 itself, in other words, the operation of the arm lever 170 on the operation panel 8, and further the rotation of the gantry unit 2 via the swivel base 21, in other words, the operation panel 8. By the operation of the post lever 160. Thereafter, the bucket portion is closed, the link arm portion 4 is turned to the original position, and the link arm portion 4 is returned to the vertical state.
Return to step (3) again.
Repeat the above to perform dredging.
(Display on display unit 7)
The bucket unit 5 is opened and closed on the operation screen 300 when the bucket unit 5 (343) of the arm / bucket picture display unit 340 is opened and closed when the bucket unit 5 is closed. The position and depth of the bucket unit 5 are displayed as pictures, and the moving state is displayed by the bucket position display mark 326 on the deposit distribution display unit 321 and the bucket position mark 332 on the bar graph display unit 330. The numerical values of the depth and opening of the bucket unit 5 are displayed on the numerical display units 353 and 354 in real time.
Although the operations of the link arm unit 4 and the bucket unit 5 in the ground portion are displayed on the picture display unit 340, the picture display is not particularly emphasized because the operator performs visual work.
As the dredging progresses, the color display of the mesh 323 of the sediment distribution display unit 321 changes corresponding to the color display of the depth display color display unit 322 of the dredging state display unit 320 on the automatic operation screen 300, and the excavation depth becomes Recognize. In the bar graph display unit 330, the color display portion 331a gradually falls downward.

(5) Expansion of dredging range When the dredging of earth and sand at a predetermined depth just below the insertion post part 1 is completed, the excavation position is shifted, and the displacement function (forward jump displacement, swivel displacement) of the link arm part 4 is used.浚 渫 Expand the range. That is, the operation of the arm lever 170 and the bucket lever 180 of the operation panel 8 allows the bucket unit 5 to freely change the plane position by the jumping displacement and the turning displacement of the link arm unit 4 from the vertical state (origin state).
(5a) Bounce displacement The hydraulic cylinder 56 of the link arm 4 is operated, the link arm 4 is bounced forward by an appropriate angle from the vertical state by the link mechanism, and then the bucket 5 is lowered with the extension of the insertion post 1. Let This jumping is made at the enlarged diameter portion of the lower portion Pb of the human hole P. In this way, the range of dredging forward is expanded, and excavation is performed by opening and closing the bucket body 60.
The right part of FIG. 7 shows this state. In the present embodiment, the flip-up angle can be up to 110 °, but usually up to 80 ° is frequently used.
Pulling up the bucket portion 5 raises the insertion post portion 1 slightly upward, extends the hydraulic cylinder 56 to return the link arm portion 4 to the original vertical state, and then shrinks the insertion post portion 1 to the ground portion. Pull up. Moreover, the discharge operation of the bucket unit 5 is in accordance with the step (4).
(5b) Turning Displacement The hydraulic motor 39 of the link arm unit 4 is actuated to turn left and right, and the link arm unit 4 is turned left and right by a horizontal angle. It is made together with the above step (5a), and is pulled up to the bucket portion 5 and the ground together with the expansion / contraction operation of the insertion post portion 1.
(5c) Combined displacement The excavation range is expanded by appropriately combining the above-mentioned (5a) jumping displacement and (5b) turning displacement. Although the operation of gradually moving away from the vertical position (the origin or the zero point) is assumed to be normal, the operation may be an operation from a distant position to a nearby position. Further, it may be random.
(Display on display unit 7)
Regarding the dredging operation, the arm / bucket picture display unit 340 displays the jumping posture of the link arm unit 4 (342) on the operation screen 300, and the bucket unit 5 (343) is opened / closed. The tip position mark 326 of the bucket unit 5 displays the plane position on the heel state display unit 320. The position of the bucket unit 5 is further confirmed by the vertical movement of the bucket position mark 332 on the bar graph display unit 330. The numerical values of the turning angle and the flip-up angle of the link arm unit 4 are displayed on the numerical display units 351 and 352 in real time, and the depth and opening numerical values of the bucket unit 5 are displayed on the numerical display units 353 and 354. Displayed in time.
As the dredging progresses with respect to the dredging state (sediment state), the automatic operation screen 300 displays the mesh 323 of the deposit distribution display unit 321 corresponding to the color display of the depth display color display unit 322 of the dredging state display unit 320. The color display changes to show the excavation depth. In the bar graph display unit 330, the color display portion 331a gradually falls downward.
The operator proceeds with the dredging work while looking at these displays.

(6)
The operator advances the operation of the main saddle device S through the operation panel 8, confirms that the reverse surface has reached a predetermined depth on the operation screen 300, and the main operation is completed.
The insertion post portion 1 is pulled up to the ground and is completely contracted, and the hydraulic cylinder 23 is contracted to place the insertion post portion 1 in the vehicle H.

(Operation of the display unit 7)
In the above-described saddle work, the saddle state of the main saddle device S is displayed on the display unit 7 in real time with picture display and numerical display. That is, after inputting initial values (specifications of the human hole P, accumulation state of the sediment earth and sand Q) on the setting screen 200 of the display screen 120, the operator works with the operation panel 8 while viewing the display of the operation screen 300. . The position information of the insertion post part 1, the link arm part 4 and the bucket part 5 and the state information of the sedimentary earth and sand surface are displayed on the display screen 120 in real time, and the operator grasps this dredging state via the operation panel 8.浚 渫 Operate the device S.
In the display screen 120 of the present embodiment, for the dredging operation, the jumping posture of the link arm unit 4 (342) is displayed on the arm / bucket picture display unit 340 on the operation screen 300, and the open / close display of the bucket unit 5 (343) is displayed. Is made. The tip position mark 326 of the bucket unit 5 displays the plane position on the heel state display unit 320. The position of the bucket unit 5 is further confirmed by the vertical movement of the bucket position mark 332 on the bar graph display unit 330. The numerical values of the turning angle and the flip-up angle of the link arm unit 4 are displayed on the numerical display units 351 and 352 in real time, and the depth and opening numerical values of the bucket unit 5 are displayed on the numerical display units 353 and 354. Displayed in time.
As the dredging progresses with respect to the dredging state (sediment state), the automatic operation screen 300 displays the mesh 323 of the deposit distribution display unit 321 corresponding to the color display of the depth display color display unit 322 of the dredging state display unit 320. The color display changes to show the excavation depth. In the bar graph display unit 330, the color display portion 331a gradually falls downward.
The operator proceeds with the dredging work while looking at these displays.

(Change of input information)
As described above, by changing the circular human hole and the specification information A, B, C, D, E, the display screen 120 takes in the information and adds new information (cross-sectional display and accumulation of the circular human hole). The operator performs an operation with reference to the information.

(Automatic operation)
The main machine S has an automatic operation function as described above, and the main apparatus S enters the automatic operation when the operator executes an automatic operation command on the display screen 120 of the display unit 7.
(A)
Prior to automatic operation, the origin is set, and predetermined numerical values (human hole specifications, sediment sediment) and manhole opening positions are input on the setting screen 200.
In the setting screen 200, teaching (manhole direction α, approach angle β, intermediate position, payout position) is also input. The teaching input procedure is as described in (2a) above.
In the setting screen 200, a scraping method is selected. The input procedure of the scraping method is as described in (2a) above. The designation of the scraping distance (depth) may be designated as the number of times of scraping (command cycle) instead of designation of the set depth.
(B)
In the operation screen 300, the “operation preparation” button 312 is turned on, the display of the operation screen 300 is confirmed, and “automatic” of the “manual / automatic” switching button 317 is selected.
(C)
On the operation screen 300, the triangular button part 316a of the scraping position button 316 is operated to set the mark of the scraping position 327 of the deposit distribution display part 321 to a desired position. This scraping position is the target value of the eyelid, and the subsequent route calculation is performed based on this target value.
Then, the “start” switch for automatic operation is turned on.
(D)
The insertion post portion 1 takes a predetermined preparation posture (arm angle 0 °, bucket closed, arm turning angle 0 °) as the origin position, and then the link arm portion 4 is turned to the approach angle β set by teaching, It descends vertically from the opening O of the human hole P into the human hole P (steps S23 to S35). When the link arm part 4 reaches a predetermined depth in the lower part Pb of the human hole immediately below the human hole opening O, that is, before the bucket part 5 reaches the surface of the sediments Q, the link arm part 4 swings up. When the possible depth is reached, the lowering of the insertion post portion 1 is stopped (step S36).
(E)
In this state, the link arm unit 4 is turned, the bucket unit 5 is directed to the manhole direction set by teaching, and the plane position of the bucket unit 5 is calculated to match the set position with reference to the manhole direction, and the link is processed. The arm portion 4 is turned toward the heel setting position and is swung up to a predetermined angle to open the bucket portion 5 (steps S37 to S40).
(F)
After that, the insertion post part 1 is lowered again, the bucket part 5 is lowered to the surface of the sediment earth and sand Q, and the sediment earth and sand Q is grasped by the closing operation of the bucket part 5. At this time, the soot depth, that is, the surface depth of the sediment is stored, and this depth value changes the color display of the mesh 323 of the sediment distribution display unit 321. Furthermore, the color display unit 322 and the bar graph unit 330 screen are changed (steps S41 to S46).
(G)
After the insertion post portion 1 is raised to a certain height, the link arm portion 4 is swung down until it reaches a vertical state, and the bucket portion 5 is directed in the manhole direction (steps S47 to S51).
Next, the link arm part 4 is turned to the approach angle β, the insertion post part 1 is raised, and the bucket part 5 is pulled up to the ground part (steps S52 to S55).
(H)
The link arm unit 4 and the bucket unit 5 take the origin position on the ground, and then the link arm unit 4 is swung up to take the intermediate position input by teaching, and turns to the dump truck at a predetermined position. It is burned. Similarly, when the link arm unit 4 comes to the payout position set by teaching, the bucket unit 5 is opened and the dredged soil is discharged (steps S56 to S64).
(I)
The bucket portion 5 is closed after a predetermined time (3 seconds), and returns to the opening portion O of the human hole with the reverse operation of (H), and takes the origin position here (steps S65 to S73).
(J)
When the cycle of the above steps (D) to (I) is repeated and dredging is performed up to the set depth, it is stopped at the step (I) and the operation of the dredging device S is stopped with this as one command cycle (step S73). , S74).
(K)
Again, a scraping position and a scraping depth or cycle different from the previous scraping position are set on the operation screen 300 (see step (C)), and a “start” button is pushed.
Thereafter, steps (C) to (J) are repeated.

  As described above, the automatic operation function of the main saddle device S automates the loading in the manhole P and the ground portion in each instruction cycle, and guarantees the certainty of construction.

(Effect of this embodiment)
According to the main machine S , the link arm part 4 and the bucket part 5 as hydraulically-operated devices are arranged on the insertion post part 1 extending in multiple stages, and the link arm part 4 can be lifted up and turned from the insertion post part 1. Therefore, the excavation range of the excavation bucket 5 at the lower part can be expanded, and the earth can be freely dealt with in the earth removal, and the dredging of the deep and large-diameter manhole can be dealt with satisfactorily.
Further, since the hydraulic power unit 3 for supplying hydraulic pressure to each hydraulic operating device arranged at the lower end is housed in the innermost cylindrical body 1F reaching the deepest depth with a waterproof mechanism, the hydraulic power unit 3 is always It will be in the immediate position of an operating device, and it can supply hydraulic pressure to an operating device, without causing oil pressure fluctuation. For this reason, reliable excavation work can be carried out even at a large depth. Further, the hydraulic power unit 3 is disposed in the waterproof space of the waterproof case 30 and can be operated without causing any trouble even in sewage.
Further, a lifting / lowering wire 15 is fixed to the central movable column, and the insertion post portion 1 is expanded and contracted by engaging the movable column with the up / down operation of the wire 15. The insertion post 1 can be expanded and contracted only by the wire operation, the operation is simple, and the structure is simple without requiring a complicated structure such as a hydraulic mechanism.
According to the main display unit 7 , the state of the main apparatus S is displayed on the display screen 120 in real time with picture display and numerical display. That is, after inputting initial values (specifications of the human hole P, accumulation state of the sediment earth and sand Q) on the setting screen 200 of the display screen 120, the operator works with the operation panel 8 while viewing the display of the operation screen 300. . The position information of the insertion post part 1, the link arm part 4 and the bucket part 5 and the state information of the sedimentary sediment surface are displayed on the display screen 120 in real time, and the operator can grasp this dredging condition at a glance. The operation can be performed while confirming the operation of the saddle device S via the panel 8.
Further, according to the automatic operation of the present embodiment, the eaves bucket portion 5 is vertically entered into the human hole P from a position directly above the opening O of the human hole P on the ground, and is set in the human hole P. After being guided to the dredging position and drowning, then pulled up to the ground, then guided to the discharging position on the ground part and discharged, a series of operations are automatically performed to return to the original position of the opening O of the human hole P. The

The present invention is not limited to the above-described embodiments, and various design changes can be made within the scope of the basic technical idea of the present invention.

DESCRIPTION OF SYMBOLS S ... Deep hole manhole dredging device, P ... Passover manhole, O ... Opening part, Q ... Sedimentation earth, 1 ... Insertion post part (insertion means), 2 ... Lifting stand part, 3 ... Hydraulic power part, 4 ... link arm part, 5 ... excavation bucket part, 7 ... display part, 8 ... operation panel, 100, 102, 104, 106 ... sensor, 120 ... display screen, 130 ... excavation depth / swivel display part, 140 ... arm angle display Part

Claims (6)

An automatic operation method for a dredge bucket apparatus in which a dredge bucket is attached to the tip of a long insertion means to be inserted into a deep human hole through a link arm, and the earth and sand at the bottom of the manhole is dripped with the dredge bucket Because
  The elongated insertion means is moved in a uniaxial direction as an operating device,
  The link arm can be swung and flipped up with respect to the insertion means as an operating device,
  The basket bucket is opened and closed as an operating device,
  Detecting depth information from the insertion means, turning and flipping angle information from the link arm, and opening / closing information from the bucket bucket in real time,
  A command for specifying the dredge bucket by operating at least the operating device by a calculation process with the detection information based on the specification information of the human hole and depth information of sedimentary sediment in the human hole separately input. Automatically guides you to the heel position set by
A method for automatically operating a dredging bucket device for deep human holes. The kite bucket enters the manhole from the position of the manhole opening on the ground and is guided to the kite position set in the manhole and drowned, and then pulled up to the ground to the original position of the manhole opening. The automatic operation method of a deep-hole pit bucket device according to claim 1, which undergoes a process of returning. 3. The deep bucket hole device according to claim 2, wherein the entrance into the human hole and the pulling out of the human hole are performed at a predetermined angle, and the guide in the human hole is made with reference to the manhole direction. Automatic driving method. The automatic operation method of the deep bucket hole device according to claim 3, wherein the approach angle and the manhole direction are input by teaching. An automatic operation method for a dredge bucket apparatus in which a dredge bucket is attached to the tip of a long insertion means to be inserted into a deep human hole through a link arm, and the earth and sand at the bottom of the manhole is dripped with the dredge bucket Because
  The elongated insertion means is moved in a uniaxial direction as an operating device,
  The link arm can be swung and flipped up with respect to the insertion means as an operating device,
  The basket bucket is opened and closed as an operating device,
  Detecting depth information from the insertion means, turning and flipping angle information from the link arm, and opening / closing information from the bucket bucket in real time,
  A command for specifying the dredge bucket by operating at least the operating device by a calculation process with the detection information based on the specification information of the human hole and depth information of sedimentary sediment in the human hole separately input. Automatically leads to the heel position set by
The kite bucket enters the manhole from the position of the opening of the manhole on the ground, is guided to the kite position set in the manhole, and then lifted to the ground, and then to the discharging position of the ground portion. After being guided and paid out, return to the original position of the human hole opening,
A method for automatically operating a dredging bucket device for deep human holes. The automatic operation method of a deep bucket hole device according to claim 5, wherein the payout position is input by teaching.

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