JP6696824B2 - Harvesting device - Google Patents

Description

  BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a chipping device for chipping a lower surface portion of a body such as a box culvert.

  In order to mount a skeleton such as a box culvert, work is performed by using a mounting device having a large number of bits.

As an example of such a chipping device, for example, in Patent Document 1 (Japanese Utility Model Laid-Open No. 3-47783), a handle has a substantially columnar shape, and a handle protrudes outward in the radial direction of the rock drill main body. In a rock drilling machine, a fixed arm having one end removably fastened and fixed to an intermediate portion of the main body so as to extend outward in the radial direction, and a swing link having an upper end pivotally attached to a tip of the fixed arm. And an upper end pivotally connected to the intermediate portion of the fixed arm and a lower end pivotally connected to the lower end of the link, and a telescopic cylinder urged in the extension direction to form a link mechanism. A rock drill is disclosed in which a pair of wheels are provided at the lower end so that the lower surface of the wheel is substantially aligned with the tip of the chisel of the rock drill.
Japanese Utility Model Publication No. 3-47783

  In railway and road repair work, for example, in order to ensure the integrity of the existing structure and the new structure, fishing is often performed on the existing structure side. When the picking work is, for example, the lower surface of an existing structure such as a box culvert, the work is an upward work, which is difficult for the worker, and it is difficult to secure the work accuracy. Furthermore, there were safety issues such as the occurrence of work accidents due to the fall of the hanging objects.

The present invention is to solve the above problems, and a chipping machine according to the present invention includes a chipping machine having a plurality of bits at its tip, and compressed air for driving the plurality of bits in a vertical direction by the chipping machine. Compressor, a base on which the chipping machine is mounted, a rail member that movably holds the base, rail support members that support both ends of the rail member, and a base member that is disposed on the base. Yes and the distance sensors, with the distance data from the distance sensor is input, and a control unit for controlling the compressor based on said distance data, Tona is, a vibration sensor that is disposed chipping object and, wherein the control unit, together with vibration data from said vibration sensor is inputted, performing control of the compressor on the basis of the vibration data And it features.

  Further, the lifting device according to the present invention is characterized in that the rail supporting member is provided with wheels that allow the rail supporting member to move in a direction perpendicular to a longitudinal direction of the rail supporting member.

  In the lifting device 1 according to the present invention, the base provided with the bit that is driven in the vertical direction is movably held by the rail member. It is not necessary for a worker to perform difficult work, and the work accuracy can be improved. Further, according to the lifting device 1 according to the present invention, a worker's work-related accident due to the falling of the hangings does not occur.

It is a figure which shows the outline | summary of the harvesting apparatus 1 which concerns on embodiment of this invention. FIG. 3 is a block diagram of the lifting device 1 according to the embodiment of the present invention. It is the figure which looked at the base 10 of the hanging device 1 which concerns on embodiment of this invention from the perpendicular upper direction. It is a figure which shows the utilization form of the lifting device 1 which concerns on embodiment of this invention. It is a figure which shows the flowchart of the control processing of the harvesting apparatus 1 which concerns on embodiment of this invention. It is a figure which shows the flowchart of the abnormal vibration determination process subroutine in the lifting device 1 which concerns on embodiment of this invention. It is a figure which shows the flowchart of the y-axis direction completion determination processing subroutine in the lifting device 1 which concerns on embodiment of this invention. It is a figure which shows the scanning by the base 10 of the lift apparatus 1 which concerns on embodiment of this invention. It is a figure explaining the movement pitch of the base 10 in the harvesting apparatus 1.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing an outline of a lifting device 1 according to the embodiment of the present invention, and FIG. 2 is a block diagram of the lifting device 1 according to the embodiment of the present invention.

  In the chipping machine 1 according to the present invention, the chipping machine 20 has a plurality of bits 22 at its tip, receives compressed air supply from the compressor 27, and vibrates the plurality of bits 22 in the AA ′ direction. Chipping is performed by hitting concrete or the like. 28 is a hose that supplies compressed air from the compressor 27 to the chipping machine 20.

  The chipping machine 20 as described above is provided on the base 10 so that the bit 22 of the chipping machine 20 is driven in the vertical direction. As a result, when the chipping machine 20 is driven, concrete or the like above the chipping machine 20 can be struck.

  The base 10 is movably held by a rail member 30. That is, the base 10 can move along the rail member 30, and the base 10 scans a section between the rail support members 33. Between the two rail support members 33, the rail member 30 is held from both sides. Although not shown, the rail support member 33 is preferably provided with a mechanism for adjusting the height of the rail member 30.

  Here, the coordinates are defined as shown, with the longitudinal direction of the rail member 30 as the y-axis direction and the vertical direction as the z-axis direction. Wheels 35 are provided on the two rail support members 33, and the rail member 30 and the base 10 held by the rail member 30 can be moved in the x-axis direction. Here, the rail support member 33 is preferably configured to move in the x-axis direction based on a control command from the personal computer 50 by power (not shown), but such a configuration is not essential.

  Compressed air from the compressor 27 can be used as a drive source for moving the base 10 in the longitudinal direction of the rail member 30. As a method of using such a lifting device 1, the base 10 is scanned a plurality of times in the longitudinal direction of the rail member 30, and when the sufficient lifting work is completed, the rail support member 33 is moved in the x-axis direction, The above-described chipping work in the adjacent section where the chipping work is completed is similarly performed by scanning the base 10.

  Next, each component for the control processing of the harvesting apparatus 1 according to the embodiment of the present invention will be described. FIG. 3 is a view of the base 10 of the lifting device 1 according to the embodiment of the present invention as viewed from above vertically. As shown in FIG. 3, a first distance sensor 41 and a second distance sensor 42 are attached to both sides of the chipping machine 20 attached to the base 10.

  The first distance sensor 41 and the second distance sensor 42 measure the distance to the object of the chipping work and transmit the measured distance data to the personal computer 50 (control unit) via the communication line 29. The data of these distance sensors is used by the lifting device 1 to confirm the lifting depth of the lifting target.

  By providing two distance sensors on both sides of the chipping machine 20, it is possible to verify the depth of chipping by the chipping machine 20. However, the number of distance sensors provided can be arbitrary.

  The vibration sensor 45 is attached to a skeleton (a chipping object) such as a box culvert C and acquires vibration data of the chipping object. The vibration data acquired by the vibration sensor 45 is transmitted to the personal computer 50 as a control unit via the communication line 29.

  As the personal computer 50, a general computer that is widely used at present can be used. In the present embodiment, the personal computer 50 is used as the control unit, but other information processing devices such as other tablet terminals and smartphones can also be used. Also, dedicated hardware may be used without necessarily using the information processing device.

  Such a personal computer 50 can send a control command to the compressor 27 via the communication line 29. Compressed air from the compressor 27 is supplied to the chipping machine 20, so that in the chipping machine 1 according to the present invention, the operating state of the chipping machine 20 mounted on the base 10 can be controlled by the personal computer 50. it can.

  Further, the personal computer 50 can issue a control command to an air motor (not shown) or the like, and thereby the movement operation of the base 10 can be controlled.

  Also, the circle shown by the dotted line in FIG. 3 indicates the effective fishing range that can be lifted by the chipping machine 20. This effective defines the radius of the circle corresponding to the hanging range as r.

  Next, a usage pattern of the lifting device 1 according to the present invention and a control process will be described. FIG. 4 is a diagram showing a usage pattern of the lifting device 1 according to the embodiment of the present invention. As shown in FIG. 4, the lifting device 1 according to the present invention can be installed in the lower portion of the box culvert C or the like and used for the work of hanging the lower surface of the box culvert C or the like. Further, the vibration sensor 45 is attached in the vicinity of the hanging portion by the picking device 1, and acquires the vibration data during the picking work.

  It should be noted that FIG. 4 shows only the main components of the harvesting apparatus 1. In addition, in the present embodiment, the box culvert C is illustrated as the body that is the target of the lifting work, but the lifting target by the lifting device 1 according to the present invention is not limited to this.

  FIG. 5 is a diagram showing a flowchart of control processing of the harvesting apparatus 1 according to the embodiment of the present invention. Such a flowchart is executed by the personal computer 50. Further, FIG. 8 is a diagram showing scanning by the base 10 of the harvesting apparatus 1 according to the embodiment of the present invention. FIG. 8 shows only the main components of the lifting device 1. Further, FIG. 8 is a view of the appearance of the lifting device 1 according to the present invention as viewed from the horizontal direction.

  Further, FIG. 9 is a diagram for explaining the movement pitch of the base 10 in the lifting device 1. FIG. 9 (A) shows the fishing range when the base 10 is moved at a pitch of √2r (route 2r) in both the x direction and the y direction, and FIG. 9 (B) shows the base 10 in the x direction. , Y direction shows the suspension range in the case of moving at a pitch of r. 9A and 9B, the solid circle indicates the effective fishing range.

  As shown in FIG. 9B, the completeness of the finish can be ensured by moving the base 10 at a pitch of r in both the x direction and the y direction, but it is shown in FIG. 9A. As described above, even if the base 10 is moved at a pitch of √2r in both the x direction and the y direction, it is possible to expect a finish without leakage.

  In addition, although the moving pitch of the base 10 is illustrated numerically in FIG. 9, the usage of the lifting device 1 according to the present invention is not limited to this.

  Hereinafter, an example of the control process will be described with reference to the flowchart. In FIG. 5, when the control processing of the harvesting apparatus 1 is started in step S100, the process proceeds to step S101, in which the compressor 27 is operated to start supplying compressed air to the chipping machine 20 to drive the plurality of bits 22. To do.

  In step S102, the base 10 is moved to start scanning the skeleton in the y-axis direction. The scanning section of the base 10 is as shown in FIG. In step S102, the base 10 is controlled to reciprocate in the section shown in FIG. Here, it is assumed that either (A) or (B) of FIG. 9 is selected as the moving pitch of the base 10 in the y-axis direction, but the moving pitch is not limited to these.

  In step S103, an abnormal vibration determination processing subroutine is executed. FIG. 6 is a view showing a flowchart of an abnormal vibration determination processing subroutine in the harvesting device 1 according to the embodiment of the present invention.

  In FIG. 6, when the abnormal vibration determination processing subroutine is started in step S200, the process proceeds to step S201, and it is determined whether the vibration data acquired from the vibration sensor 45 is a vibration equal to or greater than a predetermined threshold value. Is determined.

  If the decision result in the step S201 is NO, the process advances to a step S205 and returns to the original routine.

  On the other hand, if the determination result in step S201 is YES, it is considered that some abnormality has occurred, the process proceeds to step S202, and an emergency stop is notified by a display panel or a speaker (neither of which is shown) of the personal computer 50. In S203, the base 10 is moved to the home position (see FIG. 8), and in step S204 the compressor 27 is stopped, the process returns to the main routine and the control process ends.

  Now, in step S104 following step S103, a y-axis direction completion determination processing subroutine is executed. FIG. 7 is a view showing a flowchart of a y-axis direction completion determination processing subroutine in the harvesting device 1 according to the embodiment of the present invention.

  In FIG. 7, when the y-axis direction completion determination processing subroutine is started in step S300, the process proceeds to step S301, and it is determined whether the scanning of the base 10 is scanning in the + direction of the y-axis. To be judged.

If the determination result in step S301 is YES (scanning in the y-axis + direction), the process proceeds to step S303, and the distance data (D ₂ ) is obtained from the second distance sensor 42 that is the rear sensor in the traveling direction. Obtain and log the obtained distance data.

On the other hand, if the determination result in step S301 is NO (scanning in the y-axis-direction), the process proceeds to step S302, in which the distance data (D ₁ from the first distance sensor 41, which is the rear sensor in the traveling direction). ) Is acquired and the acquired distance data is logged.

In step S304, it is determined whether D ₁ −D ₀ > Δ and D ₂ −D ₀ > Δ are satisfied over the entire scanning section. Here, by taking the difference between the distance data acquired by the distance sensor and the distance data (D ₀ ), the hanging depth can be calculated. In addition, Δ is the planned depth of fishing.

  If the determination in step S304 is no, the picking work is not considered to be complete, and the process proceeds to step S306 and returns to the main routine.

  On the other hand, when the determination in step S304 is YES, it is considered that the picking work has been completed, the process proceeds to step S305, and as the determination of y-axis direction completion, the log of the distance data regarding the scanning in the y-axis direction is reset. , Returns to the main routine in step S306.

  Now, returning to the main routine, in step S105, it is determined by the y-axis direction completion determination processing subroutine whether the y-axis direction is completed. If the determination in step S105 is NO, the process loops back to step S102, and if the determination in step S105 is YES, the process proceeds to step S106.

  In step S106, it is determined whether or not the work in the x-axis direction has been completed. The plumbing work length in the x-axis direction (the traveling direction of the rail support member 33) is set in advance. In this step, it is determined whether or not the length has been reached.

  If the decision result in the step S106 is NO, the process advances to a step S110, and moves a predetermined pitch in the x-axis direction. Note that any of the pitches shown in FIG. 9 can be used as the “predetermined pitch”.

On the other hand, if the result of the determination in step S106 is YES,
Proceeding to step S107, the completion of chipping is informed by the display panel of the personal computer 50 and the speaker (neither is shown), and in the next step S108, the base 10 is moved to the home position (see FIG. 6) and In step S109, the compressor 27 is stopped, and in the next step S111, the control process ends.

  By executing the above-described flow chart by the lifting device 1, the lifting device 1 according to the present invention can perform highly accurate lifting work based on the data from the distance sensor, and at the same time, stop the lifting device 1 in an emergency. It is possible to ensure safety.

  As described above, in the lifting device 1 according to the present invention, the base 10 provided with the bit 22 driven in the vertical direction is movably held by the rail member 30, and thus the lifting device 1 according to the present invention. According to this, it is possible for the worker to improve the work accuracy without the need for performing the difficult work. Further, according to the lifting device 1 according to the present invention, a worker's work-related accident due to the falling of the hangings does not occur.

DESCRIPTION OF SYMBOLS 1 ... Chipping device 10 ... Base 20 ... Chipping machine 22 ... Bit 27 ... Compressor 28 ... Hose 29 ... Communication line 30 ... Rail member 33 ... Rail Support member 35 ... Wheel 41 ... First distance sensor 42 ... Second distance sensor 45 ... Vibration sensor 50 ... Personal computer C ... Box culvert

Claims (2)

A chipping machine having a plurality of bits at the tip,
A compressor that supplies compressed air that drives the plurality of bits in the vertical direction to the chipping machine,
A base on which the chipping machine is mounted,
A rail member for movably holding the base,
A rail support member that supports both ends of the rail member,
A distance sensor arranged on the base,
With distance data from the distance sensor is input, and a control unit for controlling the compressor based on said distance data, Ri Tona,
It has a vibration sensor arranged on the object to be suspended,
The control unit receives vibration data from the vibration sensor and controls the compressor based on the vibration data . The lifting device according to claim 1 , wherein the rail support member is provided with a wheel that allows the rail support member to move in a direction perpendicular to a longitudinal direction of the rail support member.

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