JP6454123B2 - Slope spraying device and slope spraying method - Google Patents

Description

  The present invention relates to a slope spraying apparatus and a slope spraying method capable of spraying a spraying material such as concrete or mortar from a nozzle toward a slope.

  Conventionally, in order to reinforce the slope and stabilize its strength, a method of spraying spray material such as concrete or mortar from the nozzle onto the slope has been used. Moreover, the construction method which constructs a method frame by spraying is also used. As this type of construction method, a gondola is installed on the boom tip of the construction machine, and a worker who enters the gondola operates the spray nozzle to spray the spray material onto the slope. Proposals have been made (see, for example, Patent Document 1).

JP 2003-073076 A

  However, it is burdensome for the worker to work at the boom tip position, and it is dangerous for the worker when the spraying work is at a high place. In addition, the finishing quality of spraying varies depending on the skill level of the worker, and it is difficult to provide stable finishing quality regardless of the skill of the worker.

  The main problem to be solved by the present invention is to eliminate burdens and dangers to workers, provide stable finishing quality of spraying regardless of the skill thereof, and freedom of spraying direction. It is an object of the present invention to provide a slope spraying device and a slope spraying method that are high in the height and can realize a wide range of spraying.

  This invention which solved this subject is based on the following meanings.

[Purpose 1]
An intermediate arm is connected to the tip of a boom that extends from the construction machine installed on the ground, a tip arm is connected to the tip of the intermediate arm, a nozzle is placed at the tip of the tip arm, and spraying material from the nozzle is targeted. A slope spray device that sprays toward a surface,
First tilting means capable of tilting the intermediate arm with respect to the boom in a plane perpendicular to the ground;
First rotating means capable of rotating the tip arm around a first axis perpendicular to the extending direction of the intermediate arm;
A second rotating means that is an axis in the same plane as the first axis and is capable of rotating the tip arm around a second axis inclined at a predetermined angle with respect to the first axis;
First extensible means capable of extending and retracting the tip arm along its extending direction;
A second tilting means capable of tilting the tip arm in a plane perpendicular to the ground with respect to the intermediate arm;
Third tilting means capable of tilting the spraying direction of the nozzle around a third axis orthogonal to the extending direction of the tip arm;
Third rotating means capable of rotating the spraying direction of the nozzle around a fourth axis orthogonal to the third axis;
A slope spraying device comprising: a fourth tilting means capable of tilting the spraying direction of the nozzle around a fifth axis parallel to the third axis.

[Purpose 2]
The fourth tilting means;
Rocking means capable of repeatedly reciprocatingly swinging the nozzle blowing direction around the fifth axis;
You may have a vertical movement means which can tilt the spraying direction of the nozzle around the fifth axis by moving the rocking mechanism up and down in a plane perpendicular to the ground.

[Purpose 3]
A first operation control for repeatedly reciprocatingly swinging the nozzle blowing direction around the fifth axis by the fourth tilting means;
A first rotation means for rotating at least one of the rotation of the tip arm by the first rotation means, the rotation of the tip arm by the second rotation means, and the rotation of the nozzle in the blowing direction by the third rotation means. 2 motion control,
You may further have a control means which can perform both of these simultaneously.

[Purpose 4]
The control means is
The unit length in the horizontal direction of the target slope is adjusted by adjusting at least one of the period of the reciprocating oscillation by the first operation control and the rotational speed of the nozzle in the blowing direction by the second operation control. The number of hits per hit may be adjustable.

[Purpose 5]
By using the slope spray device described above, by adjusting at least one of the period of the reciprocating oscillation by the first operation control and the rotational speed of the nozzle in the spray direction by the second operation control, A slope spraying method that adjusts the number of sprays per unit length in the horizontal direction of the target slope.

[Purpose 6]
The spray material may be sprayed toward the target slope while maintaining the distance between the tip of the nozzle and the spray position on the target slope in the range of 2 m to 5 m.

  Further objects and other features of the present invention will become apparent from the preferred embodiments described below with reference to the accompanying drawings.

  According to the present invention, it is possible to eliminate burdens and dangers on workers and provide stable finish quality of spraying regardless of the skill. Moreover, the freedom degree of a spraying direction can be made high and a wide range spraying is realizable.

It is a schematic part which shows schematic structure of the slope spraying apparatus which concerns on embodiment. It is a block diagram which shows the connection state of a control part and each operation | movement part. It is an internal structure figure of tilting part R10. It is an illustration of the operation range and operation speed of each operation unit. It is a figure explaining the operation state of the slope spraying apparatus which concerns on embodiment.

<Structure of slope spray device>
Hereinafter, the slope spraying apparatus S which concerns on embodiment is demonstrated using drawing. FIG. 1 is a schematic diagram showing a schematic structure of the slope spray apparatus S. As shown in FIG. Fig.1 (a) is a top view of the slope spraying apparatus S, FIG.1 (b) is a side view. The slope spraying device S includes an intermediate arm 4, a tip arm 6, and a nozzle 8 and is generally configured. Note that the slope spray device S may be connected to the tip of the boom 2 of the construction machine 3 having the machine body 1 and the boom 2.

  Examples of the construction machine 3 include a traveling crane and a backhoe. The machine body 1 of the construction machine 3 has a traveling device such as a caterpillar and a driver's seat, and can freely travel and stop on the ground G at a construction site.

  The boom 2 is an extension member connected to the machine body 1. An intermediate arm 4 as an extension member is connected to the tip (near the end) of the boom 2. The tip arm 6 is connected to the tip of the intermediate arm 4 (near the end) via the relay arm 10. The relay arm 10 has a rotation axis (first axis, hereinafter abbreviated as an axis) X1 at the base portion thereof, and a rotation axis (second axis, hereinafter abbreviated as an axis) X2 at a tip portion thereof by a predetermined angle α. Inclined. As a result, the rotation surface of the relay arm 10 with respect to the intermediate arm 4 and the rotation surface of the tip arm 6 with respect to the relay arm 10 are inclined by a predetermined angle α. In the present embodiment, the extension direction of the intermediate arm 4 and the extension direction of the relay arm 10 are substantially parallel and orthogonal to the rotation axis X1. The extending direction of the tip arm 6 is orthogonal to the rotation axis X2. Therefore, the extension direction of the intermediate arm 4 and the extension direction of the tip arm 6 are inclined by a predetermined angle α.

  A nozzle 8 is disposed at the tip of the tip arm 6 (near the end). The nozzle 8 can spray (spray) a spray material such as concrete or mortar from its spray port toward the target slope. Spray material is supplied to the nozzle 8 through a hose 12 from a material tank (not shown) that stores the spray material by a pressure feed pump (not shown). On the distal end side of the distal arm 6, a tilting axis (third axis, hereinafter abbreviated as axis) X3 orthogonal to the extending direction of the distal arm 6, and a rotation axis (fourth axis, hereinafter referred to as axis) orthogonal to the axis X3 X4 and a tilt axis (fifth axis, hereinafter abbreviated as an axis) X5 parallel to the axis X3 are arranged. The nozzle 8 is connected to the tip arm 6 via axes X3, X4, and X5.

  In this embodiment, the axes X1, X2, and X4 are parallel to a surface (vertical surface) H whose extension direction is perpendicular to the ground G, and the axes X3 and X5 are parallel to the ground G. is there.

<Operation structure of slope spray device>
The slope spraying device S further includes a tilting part (first tilting means) R3, a rotating part (first rotating means) R4, a rotating part (second rotating means) R5, a telescopic part (first telescopic means) R6, and tilting. Part (second tilting means) R7, tilting part (third tilting means) R8, rotating part (third rotating means) R9, tilting part (fourth tilting means) R10, and control part (control means) C. Yes. The boom 2 of the construction machine 3 has a rotating part (fourth rotating means) R1 and a tilting part (fifth tilting means) R2, and rotates and tilts the entire slope spraying device S connected to the tip of the boom 2. Realize.

  In FIG. 1, the specific configurations of the rotating means, the tilting means, and the expansion / contraction means are not shown, but the operations of the rotating parts, the tilting part, and the expansion / contraction part are realized by the hydraulic cylinder 5. That is, one end of a hydraulic cylinder 5 is connected to a protruding portion 7 projecting sideways from the intermediate arm 4, the relay arm 10, the tip arm 6, etc., and the hydraulic cylinder 5 is a driving means for each rotating portion, tilting portion, and telescopic portion described later. By being driven by (a part of the hydraulic cylinder), rotation, tilting and expansion / contraction operations are realized. In FIG. 1, the operation directions (rotation direction, tilt direction, and expansion / contraction direction) of each rotation unit, tilting unit, and expansion / contraction unit are illustrated by arrows. FIG. 2 shows a connection state between the control means C and each means.

  The rotating part R1 allows the boom 2 to rotate in a plane parallel to the ground G with respect to the machine body 1. The rotating unit R1 includes a driving unit that rotates the boom 2 and a sensor that detects a rotation position of the boom with respect to the machine body 1.

  The tilting portion R2 enables the boom 2 to tilt within a plane (vertical plane) H perpendicular to the ground. In other words, the tilting portion R2 can adjust the tilt of the boom 2 with respect to the ground G. The tilting portion R2 includes a driving unit that tilts the boom 2 in the vertical plane H, and a sensor that detects the tilt angle of the boom 2 with respect to the ground G.

  The tilting portion R <b> 3 enables the intermediate arm 4 to tilt within the vertical plane H with respect to the boom 2. The tilting portion R3 includes a driving unit that tilts the intermediate arm 4 with respect to the boom 2 and a sensor that detects a rotation angle of the intermediate arm 4 with respect to the boom 2.

  The rotating portion R4 allows the tip arm 6 to rotate about an axis X1 orthogonal to the extending direction of the intermediate arm 4. In the present embodiment, the tip arm 6 is connected to the intermediate arm 4 via the relay arm 10. Therefore, the rotating part R4 substantially enables the relay arm 10 to rotate around the axis X1. The rotating unit R4 includes a driving unit that rotates the relay arm 10 about the axis X1 and a sensor that detects a rotation angle of the relay arm 10 with respect to the intermediate arm 4.

  The rotating part R5 is an axis in the same plane as the axis X1, and allows the tip arm 6 to rotate about an axis X2 inclined by a predetermined angle α with respect to the axis X1. The axis X2 being an axis in the same plane as the axis X1 means that the axis X1 and the axis X2 are not in a “twist” relationship. Further, the predetermined angle α is preferably in the range of 10 ° to 40 °, but in the present embodiment, the predetermined angle α = 30 °. The relay arm 10 is connected to the intermediate arm 4 with the axis X1 as the rotation axis at the root portion, and the tip arm 6 is connected with the axis X2 as the rotation axis at the tip portion. Therefore, the tip arm 6 can be rotated with the relay arm 10 being substantially inclined at a predetermined angle α with respect to the intermediate arm 4. The rotating part R5 includes a driving unit that rotates the tip arm 6 about the axis X2, and a sensor that detects a rotation angle of the tip arm 6 with respect to the relay arm 10 (in a state inclined by a predetermined angle α).

  The expansion / contraction part R6 enables the tip arm 6 to expand and contract along its extending direction. The tip arm 6 may have a double tube structure used for an antenna, a hydraulic cylinder, or the like, for example, in order to realize a telescopic operation. The expansion / contraction part R6 has a drive means for extending / contracting the tip arm 6 and a sensor for detecting the expansion / contraction length.

  The tilting portion R7 allows the tip arm 6 to tilt within the vertical plane H with respect to the intermediate arm 4. In the present embodiment, since the intermediate arm 4 and the tip arm 6 are connected via the relay arm 10, the tilting portion R 7 tilts the tip arm 6 substantially in the vertical plane H with respect to the relay arm 10. Make it possible. The tilting part R7 has a drive means for tilting the tip arm 6 with respect to the intermediate arm 4, and a sensor for detecting the tilt angle of the tip arm 6 with respect to the intermediate arm 4.

  The tilting portion R8 can tilt the spraying direction of the nozzle 8 around the axis X3 orthogonal to the extending direction of the tip arm 6. In the present embodiment, the axis X3 is parallel to the ground G. Therefore, the tilting portion R8 can tilt the nozzle 8 perpendicularly to the ground (within the vertical plane H). In the present embodiment, a connecting member is connected to the distal end side of the distal arm 6 via the axis X3. Therefore, the tilting part R8 tilts the nozzle 8 in the blowing direction substantially by tilting the connecting member around the axis X3. The tilting portion R8 has a driving means for tilting the spraying direction of the nozzle 8 around the axis X3 with respect to the tip arm 6, and a sensor for detecting the tilt angle of the nozzle 8 with respect to the tip arm 6.

  The rotating part R9 is configured to rotate the spraying direction of the nozzle 8 around an axis X4 orthogonal to the axis X3. In the present embodiment, the axis X4 is parallel to the vertical plane H. Therefore, the rotating part R9 can rotate the nozzle 8 along the ground G (in parallel with the ground G or with a certain degree of inclination with respect to the ground G). In the present embodiment, the nozzle holding portion 14 is connected to the above-described connecting member via the axis X <b> 4, and the nozzle 8 is held by the nozzle holding portion 14. Therefore, the rotation part R9 substantially rotates the spraying direction of the nozzle 8 by rotating the nozzle holding part 14 around the axis X4. The rotating part R9 includes a driving unit that rotates the nozzle 8 around the axis X4 with respect to the connecting member 6, and a sensor that detects a rotation angle of the nozzle 8 with respect to the connecting member.

  The tilting portion R10 can tilt the spraying direction of the nozzle 8 about an axis X5 parallel to the axis X3. In the present embodiment, the axis X5 is parallel to the ground G together with the axis X3. Therefore, the tilting portion R10 can tilt the nozzle 8 perpendicularly to the ground (within the vertical plane H). In the present embodiment, the nozzle 8 is held with respect to the nozzle holding portion 14 via the axis X5. Therefore, the tilting portion R10 can tilt the nozzle 8 with respect to the nozzle holding portion 14. The tilting portion R10 includes a driving unit that tilts the spraying direction of the nozzle 8 around the axis X5 with respect to the nozzle holding portion 14 and a sensor that detects the tilt angle of the nozzle 8 with respect to the nozzle holding portion 14.

  FIG. 3 is an internal structure diagram of the tilting portion R10. FIG. 3 is viewed in the same direction as FIG. The tilting portion R10 has two drive means, that is, a cam structure 20 that functions as a swing means and a slide structure 22 that functions as a vertical movement means. The cam structure 20 has a structure in which the cam member 20b and the nozzle 8 are connected by a link member 20a, and the nozzle 8 can repeatedly tilt in a reciprocating manner around the axis X5 by rotating the cam member 20b. It is said. The swing range is, for example, an angle of ± 15 ° (refer to the alternate long and short dash line in FIG. 3).

  The slide structure 22 has a structure in which the cam structure 20 itself can be moved up and down in the vertical plane H by a hydraulic cylinder or a motor. The nozzle 8 tilts around the axis X5 by moving the cam structure 20 up and down. It is possible. The tilting range by the slide structure 22 is, for example, ± 45 ° larger than the swinging range (see the broken line in FIG. 3). Therefore, after determining the spraying direction of the nozzle 8 by the operation of the slide structure 22, the nozzle 8 is reciprocally swung by the operation of the cam structure 20, so that it is possible to spray the entire target slope in a wide range. And In addition to the cam structure, a crank structure and other known reciprocally swingable structures can be applied as the swinging means.

  In addition to the above-described hydraulic cylinder, a motor, an actuator, or the like can be applied as a driving unit included in each rotating unit, tilting unit, and extendable units R1 to R10. As the sensors included in R1 to R10, known optical sensors, magnetic sensors, mechanical switches, and the like can be applied.

  FIG. 2 shows rotation parts R1, R4, R5, R9, tilting parts R2, R3, R7, R8, R10, expansion and contraction part R6 (hereinafter, these may be collectively referred to as an action part) and control part C. It is a block diagram which shows a connection state. The control unit C is connected to driving means and sensors of the operation units R1 to R10. A drive command can be output to the drive means of the operation units R1 to R10, and detection values from the sensors of the operation units R1 to R10 can be input.

  The control unit C is for controlling the operations of the operation units R1 to R10. The control unit C includes an arithmetic processing unit (CPU) C1 and a memory (storage unit) C2. Based on the program and operation mode stored in the memory C2, or based on the operation content operated by the operation unit, the arithmetic processing unit C1 mainly controls the operation of each of the operation units R1 to R10. In the present embodiment, a control unit C is provided inside the machine body 1, a display screen is arranged in the vicinity of the driver's seat, and a control state by the control unit C can be displayed on the display screen. For example, position information and rotation angle information based on sensor input values of the respective operation units R1 to R10 are displayed on the display screen, and information such as operation directions and operation speeds of the operation units R1 to R10 are displayed. ing. Of course, an operation unit for outputting a drive command to operate each of the operation units R1 to R10 is also disposed in the vicinity of the driver seat.

  FIG. 4 exemplifies the operation range by each driving means of each operation unit R1 to R10 and the operation time required for moving the operation range. However, the numerical values in FIG. 3 are merely examples, and the operation ranges and operation speeds of the operation units R1 to R10 are not necessarily limited thereto. There are cases where it is set larger than this, and cases where it is set smaller.

<Operation control of slope spray device>
The slope spraying device S operates, for example, according to the following operation procedure. FIG. 4 is a diagram for explaining the operating state of the slope spray device S. First. The machine body 1 is operated and placed near the target slope N. The target slope N is virtually divided into a plurality of sections (for example, N1 and N2), and the operation units R1 to R9 are operated so that the spraying direction of the nozzle 8 is the upper left corner P1 of the section N1. The operation of each of the operation units R1 to R9 is performed based on a drive command output from the control unit C when the operation unit is operated.

  At this time, the distance between the tip (jet port) of the nozzle 8 and the target slope N (at this time, the distance between the tip of the nozzle 8 and the upper left corner P1) is set to 2.0 m to 5.0 m. Is preferable, and is more preferably set to 2.5 m to 3.0 m. In addition, it is preferable that the distance of the front-end | tip of this nozzle 8 and the spray position in the target slope N is maintained at said distance during a spraying process.

  An “automatic spray mode switch” is arranged in the operation unit. When the automatic spray mode switch is pressed, the control unit C is set to the automatic spray mode. In the automatic spray mode, the control unit C executes both the first operation control and the second operation control at the same time.

  The first operation control is an operation control in which the tilting portion R10 tilts the spraying direction of the nozzle 8 repeatedly around the axis X5 in a reciprocating manner. Thereby, the spraying direction from the nozzle 8 will reciprocate up and down within the section N1. Let T be the period of this reciprocating oscillation. The second operation control is operation control in which the rotation direction of the nozzle 8 is rotated by the rotation unit R4 and / or the rotation unit R5 and / or the rotation unit R9. Thereby, the spraying direction from the nozzle 8 will move to the horizontal direction (direction parallel to the ground G) within the division N1. Let V be the moving speed in the blowing direction on the target slope in the horizontal direction.

  By performing both the first operation control and the second operation control simultaneously in this automatic spray mode, the spray trajectory 16 of the spray material from the nozzle 8 to the section N1 is substantially sinusoidal as shown in FIG. It becomes a wave-like waveform. By performing the spraying in the automatic spraying mode as described above, a stable spraying thickness can be automatically realized regardless of the manual work of the operator, and a clean finished surface can be obtained.

  When the lateral movement by the second operation control reaches the right end of the section N1, the automatic spray mode is canceled, and each operation section R1 is set so that the spray direction of the nozzle 8 becomes the upper left corner P2 of the section N2 by operation of the operation section. Operate ~ R9. When the automatic spraying mode is set again, spraying to the section N2 can be performed with the same stable quality as the section N1.

  The number of sprays per unit length in the horizontal direction (lateral direction) on the target slope is adjusted by adjusting the period T of the vertical reciprocating oscillation T and the lateral movement speed V of the nozzle 8. can do. That is, in the case where the period T is constant, if the speed V is increased, the number of spraying of unit length increases, the construction time is shortened, and the spray thickness on the target slope is reduced. On the other hand, when the speed V is decreased, the number of spraying increases in unit length increases, the construction time increases, and the spray thickness on the target slope increases.

  When the speed V is constant, if the period T is lengthened, the number of sprays per unit length increases and the spray thickness on the target slope becomes thin. On the other hand, if the period T is shortened, the number of sprays per unit length increases, and the spray thickness on the target slope increases.

  Thus, by adjusting the period T and the speed V, the spraying thickness on the target slope can be adjusted, and the finishing quality can also be adjusted. Table 1 shows the measurement results of the spray thickness when spraying the target slope under certain conditions using the slope spray device S. Spraying is performed at a lateral movement speed V (m / min) with respect to the target slope having a horizontal distance of 5 m when the period T of the vertical reciprocating swing of the nozzle 8 is 0.48 seconds (± 15 ° reciprocating swing). It shows the spraying thickness when Experiment No. In No. 1, the spray sagging occurred and the thickness of the spray could not be measured.

  As mentioned above, although embodiment was described, this invention is not limited to these, A various deformation | transformation and change are possible within the range of the summary. For example, the setting content of the automatic spraying mode is stored in the memory C2. By rewriting this stored content, it is possible to reset the operation content of the automatic spray mode to a different one.

C: Control unit (control means) C1: Arithmetic processing unit (CPU)
C2: Memory (storage means) G: Ground H: Vertical plane N: Target slope N1, N2: Section P1, P2: Upper left corner R1: Rotating part (fourth rotating means) R2: Tilt part (fifth tilting means)
R3: tilting part (first tilting means) R4: rotating part (first rotating means)
R5: rotating part (second rotating means) R6: extendable part (first extending means)
R7: Tilt part (second tilting means) R8: Tilt part (third tilting means)
R9: Rotating part (third rotating means) R10: Tilt part (fourth tilting means)
S: Slope spraying device X1: Rotation axis (first axis)
X2: Rotating axis (second axis) X3: Tilt axis (third axis)
X4: Rotation axis (4th axis) X5: Tilt axis (5th axis)
α: predetermined angle 1: machine body 2: boom 3: construction machine 4: intermediate arm 5: hydraulic cylinder 6: tip arm 7: protrusion 8: nozzle 10: relay arm 12: hose 14 nozzle holding part 16: spraying locus 20: Cam structure (swinging means)
20a: Link member 20b: Cam member 22: Slide structure (vertical movement structure)

Claims (4)

An intermediate arm is connected to the tip of a boom that extends from the construction machine installed on the ground, a tip arm is connected to the tip of the intermediate arm, a nozzle is placed at the tip of the tip arm, and spraying material from the nozzle is targeted. A slope spray device that sprays toward a surface,
First tilting means capable of tilting the intermediate arm with respect to the boom in a plane perpendicular to the ground;
First rotating means capable of rotating the tip arm around a first axis perpendicular to the extending direction of the intermediate arm;
A second rotating means that is an axis in the same plane as the first axis and is capable of rotating the tip arm around a second axis inclined at a predetermined angle with respect to the first axis;
First extensible means capable of extending and retracting the tip arm along its extending direction;
A second tilting means capable of tilting the tip arm in a plane perpendicular to the ground with respect to the intermediate arm;
Third tilting means capable of tilting the spraying direction of the nozzle around a third axis orthogonal to the extending direction of the tip arm;
Third rotating means capable of rotating the spraying direction of the nozzle around a fourth axis orthogonal to the third axis;
The blowing direction of the nozzles possess a fourth tilting means tiltable, to the third axis parallel to the fifth axis around
The fourth tilting means;
Rocking means capable of repeatedly reciprocatingly swinging the nozzle blowing direction around the fifth axis;
The slope spray device which have a, a vertical movement unit capable of tilting in the blowing direction of the fifth axis about said nozzle by a swinging mechanism that vertically moves in a plane perpendicular to the ground. A first operation control for repeatedly reciprocatingly swinging the nozzle blowing direction around the fifth axis by the fourth tilting means;
A first rotation means for rotating at least one of the rotation of the tip arm by the first rotation means, the rotation of the tip arm by the second rotation means, and the rotation of the nozzle in the blowing direction by the third rotation means. 2 motion control,
The slope spraying device according to claim 1, further comprising control means capable of simultaneously executing both of the above. The control means is
The unit length in the horizontal direction of the target slope is adjusted by adjusting at least one of the period of the reciprocating oscillation by the first operation control and the rotational speed of the nozzle in the blowing direction by the second operation control. The slope spraying device according to claim 2 , wherein the number of hits per shot is adjustable. Using the slope spray device according to claim 2 or 3 , at least one of a period of the reciprocating oscillation by the first operation control and a rotation speed of the nozzle in the spray direction by the second operation control. A slope spraying method in which the number of sprays per unit length in the horizontal direction of the target slope is adjusted by adjusting either of them.

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