JP6762881B2 - Excavator - Google Patents

Description

The present invention relates to an excavator that is attached to the ceiling of a work room, moves along the ceiling, and excavates the ground of the work room.

The pneumatic caisson method is known as a method for constructing underground structures such as bridges, foundations of buildings, and starting shafts of shield tunnels. In the pneumatic caisson method, a reinforced concrete box (caisson) is constructed on the ground, an airtight work room is provided at the bottom of the caisson, and compressed air corresponding to the groundwater pressure is sent into this work room to send groundwater to the work room. It is designed to prevent the invasion of. Then, in that state, the ground of the floor of the work room is excavated, and the caisson is submerged in the ground while discharging the excavated earth and sand to the outside, thereby constructing underground structures such as bridges and building foundations. It is a construction method. In such a pneumatic caisson method, an excavator such as a power shovel is carried into the work room, and the excavator is used to excavate the floor of the work room. In such an excavator, since the floor of the work room is the ground containing a large amount of groundwater and it is difficult to run on the track, etc., a running rail is provided on the ceiling of the work room and suspended from the running rail. It is configured to travel in a state and excavate the ground of the floor of the work room (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2015-108244

In the above-mentioned excavators, conventionally, the excavation work is performed by estimating the strength of the ground while performing the excavation work by operating the operator, and changing the excavation method according to the estimated strength of the ground. .. As described above, in the conventional excavator, since the excavation work is performed depending on the sense of the operator, there is a problem that the efficiency of the excavation work varies depending on the difference in the experience value of the operator. Further, in the pneumatic caisson method, since the work room under the caisson is in a high pressure environment, it is required to remotely control the excavator to perform unmanned work. In such a case, it is difficult to predict the strength of the ground because it is not possible to rely on the sense of the operator, and it is difficult to improve the work efficiency.

The present invention has been made in view of such a problem, and provides an excavator capable of improving the efficiency of excavation work even when performing remote work regardless of the difference in the experience value of the operator. The purpose is.

In order to achieve the above object, the excavator according to the present invention is attached to the ceiling of the work room and moves along the ceiling with the main body (for example, the traveling body 110 in the embodiment) and the main body in the vertical direction. With an excavator (eg, boom 130 and bucket attachment 150 in the embodiment) that is swingably pivoted to and has an excavator (eg, bucket 152 in the embodiment) at its tip to excavate the ground in the work room. , Excavation part position sensor for detecting the position of the excavation part of the excavation device with respect to the main body part (for example, turning angle sensor 202, boom undulation angle sensor 203, boom extension amount sensor 204, bucket swing angle sensor 205 in the embodiment). And the bucket position measuring unit 212) and an excavation hydraulic cylinder (for example, the excavation hydraulic cylinder (for example,) that excavates the ground by the excavation unit by swinging the excavation device in the vertical direction with respect to the main body unit.
The undulating cylinder 134 and the bucket cylinder 153) in the embodiment, the acting force sensor that detects the force acting on the excavating device or the excavating hydraulic cylinder, the position of the excavating portion detected by the excavating portion position sensor, and the said The excavation reaction force acting on the excavation part is calculated based on the force acting on the excavation device or the excavation hydraulic cylinder detected by the acting force sensor, and the calculated excavation reaction force is used to determine the hardness of the ground. It is configured to include a ground strength measuring unit to be measured (for example, a ground strength measuring unit 215 in the embodiment).

In the excavator having the above configuration, the acting force sensor is composed of an excavation hydraulic pressure sensor (for example, first and second excavation hydraulic pressure sensors 208,209 in the embodiment) for detecting the hydraulic pressure supplied to the excavation hydraulic cylinder. The ground strength measuring unit is configured to calculate the excavation reaction force based on the position of the excavation unit detected by the excavation unit position sensor and the excavation hydraulic pressure sensor and the hydraulic pressure applied to the excavation hydraulic cylinder. Is preferable. The acting force sensor may be composed of a load cell or the like that detects an acting force based on the amount of deformation of the excavating device or the excavating hydraulic cylinder.

In the excavator having the above configuration, the main body position sensor (for example, the traveling body position sensor 201 and the traveling body position measuring unit 211 in the embodiment) for detecting the position of the main body portion on the ceiling is provided, and the ground strength measuring unit is provided. A ground strength measurement map showing the distribution of the hardness of the ground measured by using the excavation reaction force over the excavation surface of the ground based on the position of the main body detected by the main body position sensor. It is preferably configured to create.

In the excavator having the above configuration, the ground strength measuring unit estimates that the hardness of the excavated surface of the ground is the same as the hardness of the ground that has already been excavated around it, and based on the ground strength measurement map, It is preferable to be configured to create a ground strength estimation map showing the distribution of hardness of the excavated surface of the ground.

In the excavator having the above configuration, the excavator and the excavation hydraulic cylinder are driven to control excavation of the excavation surface of the ground according to the hardness of the excavation surface of the ground estimated in the ground strength estimation map. It is preferable to include an excavation control unit (for example, a main controller 165a and a boom / bucket controller 165c in the embodiment).

In the excavator having the above configuration, the excavation control unit is configured to control to change the allowable working posture range of the excavation device according to the hardness of the excavation surface of the ground estimated in the ground strength estimation map. You may. The permissible working posture range of the excavator is a range indicating the posture (position and direction of the excavation portion) of the excavator capable of outputting the required excavation force.

In the excavator having the above configuration, when the ground strength measuring unit excavates the excavated surface of the ground based on the ground strength estimation map, the ground strength is measured by using the excavation reaction force, and the ground strength is measured. The estimation map may be modified to create the ground strength measurement map.

The excavator according to the present invention includes a main body attached to the ceiling of a work room and an excavator pivotally connected to the main body so as to be swingable in the vertical direction. An excavator such as a general power shovel excavates while traveling on the ground, and since it is configured to receive the reaction force at the time of excavation by its own weight, the vehicle body tilts due to the excavation reaction force or is partially tilted. It floats up. Therefore, it is difficult to measure the excavation force because the excavation reaction force is dispersed and received from the excavator to each part on the vehicle body side. However, in the excavator according to the present invention, since the ceiling of the work room receives all the reaction force during excavation, the excavation force can be measured relatively accurately by measuring the force acting on the excavator. .. Therefore, the excavator according to the present invention includes an excavation part position sensor that detects the position of the excavation part provided at the tip of the excavation device and an action force sensor that detects the force acting on the excavation device or the excavation hydraulic cylinder. The excavation reaction force acting on the excavation part is calculated based on the position of the excavation part detected by these sensors and the force acting on the excavation device or the excavation hydraulic cylinder, and the calculated excavation reaction force is used. It is further provided with a ground strength measuring unit for measuring the hardness of the excavated ground.

As described above, the excavator according to the present invention is configured to be provided with an excavating device in a main body attached to the ceiling of the work room, and the ceiling of the work room receives all the reaction force during excavation. The force acting on the equipment or the excavation hydraulic cylinder corresponds exactly to the excavation reaction force when excavating the ground with the excavation part of the excavation equipment. Therefore, it is possible to accurately calculate the excavation reaction force based on the position of the excavation part and the force acting on the excavation device or the excavation hydraulic cylinder, and the ground strength measuring part can accurately calculate the excavation reaction force calculated in this way. The hardness of the excavated ground can be accurately measured from the force.

Therefore, in the conventional excavator, the hardness of the excavated ground is estimated by relying on the operator's feeling, whereas in the excavator according to the present invention, the hardness of the excavated ground is accurately measured by the ground strength measuring unit. be able to. Since the hardness of the excavated ground can be measured in this way, it is possible to automatically select an excavation method suitable for the hardness of the excavated ground, and the efficiency of the excavation work can be improved.

In the present invention, the main body position sensor for detecting the position of the main body on the ceiling of the work room is provided, and the ground strength measuring unit indicates the distribution of the excavated ground based on the position of the main body detected by this sensor. It is preferable to create a strength measurement map and, based on this ground strength measurement map, estimate the hardness of the excavated ground to be excavated next to create a ground strength estimation map. In this way, based on this ground strength estimation map, the excavation method suitable for the excavation ground to be excavated next can be selected and excavated before the actual excavation. Therefore, the excavation efficiency can be improved.

It is a vertical cross-sectional view which shows the main equipment of the pneumatic caisson method. It is a side view of the excavator which concerns on this invention. It is a hydraulic circuit diagram in the excavator which concerns on this invention. It is a block diagram which shows the control system in the excavator which concerns on this invention. It is a graph for demonstrating the method of classifying the hardness of the excavated ground by type. It is a figure which shows an example of the ground strength measurement map.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. First, the main equipment of the pneumatic caisson method in which the excavator according to the present invention is used will be described with reference to FIG. The pneumatic caisson method uses excavation equipment E1, outfitting equipment E2, soil removal equipment E3, air supply equipment E4, and reserve / safety equipment E5 to submerge the reinforced concrete caisson 1 underground. It is configured to build a structure.

The excavation equipment E1 includes an excavator 100 (hereinafter referred to as a caisson excavator 100) installed in a work room 2 provided at the bottom of the caisson 1 and a cylindrical earth bucket 31 made of earth and sand excavated by the caisson excavator 100. It is configured to include an automatic earth and sand loading device 11 for loading into the earth and sand, and a ground remote control room 13 including a remote control device 12 for remotely controlling the operation of the caisson excavator 100 from the ground. The excavation equipment E1 operates by receiving electric power from a power generation device (not shown). The electric power from this power generator is outfitting equipment E2 and soil removal equipment E.
It is also supplied to 3 and the air supply facility E4.

The equipment E2 has a cylindrical man shaft 21 that connects the ground and the work room 2 so that a worker can enter and exit the work room 2, and a pressure difference between the atmospheric pressure on the ground and the pressure inside the work room 2 provided on the man shaft 21. A man lock 22 (airlock) that adjusts the air pressure, a cylindrical material shaft 23 that connects the ground and the work room 2 to carry the earth bucket 31 loaded with earth and sand by the automatic earth and sand loading device 11 to the ground, and a material. It is provided on the shaft 23 and has a material lock 24 (airlock) that adjusts the atmospheric pressure on the ground and the pressure difference in the work room 2. A spiral staircase 25 is provided in the man shaft 21, and the operator can move back and forth between the ground and the work room 2 by using the spiral staircase 25. The man lock 22 and the material lock 24 each have a double door structure, and are configured so that the operator and the earth bucket 31 can enter and exit the work room 2 while suppressing the change in the air pressure in the work room 2. Has been done.

The earth removal facility E3 includes an earth bucket 31 on which the earth and sand excavated by the caisson excavator 100 is loaded, a carrier device 32 that pulls the earth bucket 31 up to the ground via a material shaft 23, and carries out the earth bucket 31 and the carrier device 32. It is configured to have an earth and sand hopper 33 for temporarily storing the earth and sand carried out to the ground by the earth and sand.

The air supply equipment E4 includes an air compressor 42 that sends compressed air into the work room 2 via an air supply passage 3 formed in the air supply pipe 41 and the caisson 1, and air that purifies the compressed air sent by the air compressor 42. A cleaning device 43, an air supply pressure adjusting device 44 that adjusts the amount (pressure) of compressed air sent from the air compressor 42 into the working room 2 so that the air pressure in the working room 2 is substantially equal to the ground water pressure, and a man. It is configured to have an automatic decompression device 45 for depressurizing the air pressure in the lock 22.

The spare / safety equipment E5 includes an emergency air compressor 51 capable of sending compressed air into the work room 2 instead of the air compressor 42 in the event of a failure or inspection of the air compressor 42, and the above-mentioned power generator. Instead, an emergency generator (not shown) capable of supplying electric power to the excavation equipment E1, the equipment equipment E2, the soil removal equipment E3, and the air supply equipment E4, and the worker who worked in the work room 2. It is configured to have a hospital lock 53 (compressor) for gradually acclimatizing the worker's body to atmospheric pressure.

Next, the caisson excavator 100 according to the present invention will be described with reference to FIGS. 2 to 6. As shown in FIG. 2, the caisson excavator 100 is attached to a pair of left and right traveling rails 4 provided on the ceiling of the work room 2, and is suspended along the left and right traveling rails 4 along the traveling rails 4. It includes a traveling body 110 that travels and moves, a boom 130 that is pivotally connected to a swivel frame 121 of the traveling body 110 so as to swing in the vertical direction, and a bucket attachment 150 that is attached to the tip of the boom 130. ..

The caisson excavator 100 is disassembled into a traveling body 110, a boom 130, a bucket attachment 150, and a counterweight 158 so as to be removable. The disassembled traveling body 110, boom 130, bucket attachment 150, and counterweight 158 each have a size that passes through the material shaft 23, and in the disassembled state, they can be carried into the work room 2 through the material shaft 23, or work. It is configured so that it can be carried out of the room 2. A pair of left and right traveling rails 4 are provided at a plurality of locations on the ceiling of the work room 2 so as to extend in parallel with a predetermined interval (rail width).

The traveling body 110 includes a traveling frame 111 and a rotating frame 121 rotatably provided on the lower surface side of the traveling frame 111. Four traveling rollers 113, front, rear, left and right, are provided on the front and rear on the upper surface side of the traveling frame 111. The front, rear, left, and right traveling rollers 113 are provided so as to be slidable in the left-right direction with respect to the traveling frame 111, respectively. The traveling frame 111 is provided with two traveling motors 114 on the left and right. The left and right traveling motors 114 are configured to rotationally drive two traveling rollers 113 on the left or right side via a gear box (not shown). The traveling body 110 is configured to rotate and drive the traveling rollers 113 in the front-rear and left-right directions by the left and right traveling motors 114 to travel along the left and right traveling rails 4.

The traveling frame 111 is provided with a total of six brake cylinders 115, three on each side, and two brake plates 116 on the left and right sides. The six brake cylinders 115 are provided at the front position of the front traveling roller 113, the position between the front and rear traveling rollers 113, and the rear position of the rear traveling roller 113, respectively, and the piston rod of the brake cylinder 1115 is downward. It is provided so that it can be extended. The left and right brake plates 116 are provided at positions facing each other with the traveling rail 4 interposed therebetween, with the tip of the piston rod of each brake cylinder 115. The traveling body 110 lifts the traveling body 110 upward with respect to the traveling rail 4 by extending the six brake cylinders 115 and pressing the tip of the piston rod against the traveling rail 4, and the traveling body 110 lifts the traveling body 110 upward with respect to the traveling rail 4. Is separated from the left and right traveling rails 4, and the traveling rails 4 are sandwiched between the piston rods and the brake plates 116 to perform traveling braking and fixed support during excavation.

The traveling frame 111 is provided with two front-rear expansion / contraction cylinders 117 (see FIG. 3) extending left and right so as to straddle between the left and right traveling rollers 113, respectively. The traveling frame 111 is configured so that the distance between the left and right traveling rollers 113 can be expanded and contracted by expanding and contracting the front and rear expansion / contraction cylinders 117. The traveling body 110 is configured to be attached to and detached from the left and right traveling rails 4 by expanding and contracting the distance between the left and right traveling rollers 113 in the traveling frame 111 by the front and rear expansion / contraction cylinders 117.

A swivel frame 121 is rotatably attached to a central portion on the lower surface side of the traveling frame 111 via a swivel bearing 122. The swivel frame 121 is provided with a swivel motor 123 (see FIG. 3). The drive shaft of the swivel motor 123 extends to the inside of the swivel bearing 122, and a pinion that meshes with the internal gear of the swivel bearing 122 is attached to this drive shaft. When the swivel motor 123 is rotationally driven, the reaction force generated from the engagement of the pinion and the internal gear is transmitted to the swivel frame 121 via the swivel motor 123, so that the swivel frame 121 swivels with respect to the traveling frame 111. It is configured to do.

In the substantially central portion on the lower surface side of the swivel frame 121, a boom mounting recess 124 having an inverted L shape (a shape that opens downward and extends in the vertical direction and the upper portion is bent in the front-rear direction) rotates the boom 130 in the swivel frame. It is formed for attachment to 121. The swivel frame 121 is provided with a boom clamp 125 and a clamp cylinder 126 for attaching the boom 130 to the swivel frame 121. The base end portion of the boom clamp 125 is rotatably attached to the swivel frame 121 in the vertical direction. The tip of the boom clamp 125 is formed with a boom engaging recess having an inverted U shape (opening downward and in the left-right direction) in a side view. In the boom clamp 125, the boom engaging recess at the tip is swung up and down by expanding and contracting the clamp cylinder 126. When the boom engaging recess is swung downward, the boom engaging recess is configured to overlap the tip (butting portion) of the boom mounting recess 124 of the swivel frame 121 in a side view.

Two undulating cylinders 134 are provided on the left and right sides of the boom 130. The swivel frame 121 is provided with two pin insertion / removal cylinders 127 for attaching the tip ends of the piston rods 134a (hereinafter, referred to as the wobbling rod 134a) of the left and right undulating cylinders 134 to the swivel frame 121, respectively. The tip of the piston rod of the pin insertion / removal cylinder 127 is provided with an engaging pin that can be inserted into a mounting hole formed at the tip of the undulating rod 134a. A guide plate 129 is provided on the swivel frame 121. When the undulating cylinder 134 is extended with the tip of the undulating rod 134a in contact with the guide plate 129, the position where the mounting hole of the undulating rod 134a and the engaging pin of the pin insertion / extraction cylinder 127 are aligned (in relation to the mounting hole). The tip of the undulating rod 134a is guided to the position where the matching pin can be inserted). Then, by extending the pin insertion / removal cylinder 127 and inserting the engaging pin into the mounting hole of the undulating rod 134a, the tip end portion of the undulating rod 134a is configured to be attached to the swivel frame 121.

The boom 130 includes a proximal boom 131 attached to the swivel frame 121 and a distal boom 132 nestedly combined with the proximal boom 131. A telescopic cylinder 133 is provided in the base end boom 131. When the telescopic cylinder 133 is expanded and contracted, the tip boom 132 moves in the longitudinal direction with respect to the proximal boom 131, whereby the boom 130 is configured to expand and contract. The base end boom 131 is provided with two left and right undulating cylinders 134. The base ends of the two undulating cylinders 134 are rotatably attached to the left and right sides of the base end boom 131 by pins 134c. Left and right support plates extending upward are formed on the upper portion of the base end boom 131 on the base end side, and a mounting rod 135 extending in the left-right direction is provided between the left and right support plates. The mounting rod 135 is inserted into the boom mounting recess 124 of the swivel frame 121 and is engaged with the boom engaging recess of the boom clamp 125 so that the boom 130 undulates on the swivel frame 121 around the mounting rod 135. It is configured to be freely mounted (swingable in the vertical direction).

A quick hitch mechanism 140 for attaching the bucket attachment 150 to the boom 130 is provided at the tip of the tip boom 132. The quick hitch mechanism 140 includes a quick hitch cylinder 141 (see FIG. 3), a locking pin 142 attached to the tip of the piston rod of the quick hitch cylinder 141, and a tip plate provided at the tip of the tip boom 132. It is configured to have 143. The locking pin 142 is moved in a direction (vertical direction) substantially orthogonal to the expansion / contraction direction of the boom 130 by the extension of the quick hitch cylinder 141. The tip plate 143 is provided at the tip of the tip boom 132 so as to be substantially orthogonal to the expansion / contraction direction of the boom 130, and the lower portion is bent obliquely toward the base boom 131. A through hole through which the locking pin 142 can pass is formed in the bent portion of the tip plate 143.

The bucket attachment 150 has a base member 151 attached to the tip boom 132, a bucket 152 attached to the tip of the base member 151 so as to swing up and down around a pin 152a, and a bucket 152 up and down with respect to the base member 151. It is configured to have a swinging bucket cylinder 153. A joint plate 154 is provided at the base end portion of the base member 151, which extends in the vertical and horizontal directions and whose lower portion is obliquely bent outward. A locking hole into which the locking pin 142 of the quick hitch mechanism 140 can be inserted is formed in the bent portion of the joining plate 154. An engaging piece that engages with the upper end of the tip plate 143 of the quick hitch mechanism 140 is provided on the upper portion of the joining plate 154. The base end of the bucket cylinder 153 is rotatably attached to the bucket 152 by a pin 153a, and the tip of the piston rod of the bucket cylinder 153 is rotatably attached to the base member 151 by a pin 153b.

A counterweight 158 for stabilizing the vehicle balance of the caisson excavator 100 during excavation work is provided at the rear portion of the swivel frame 121 (the side opposite to the direction in which the boom 130 extends). The swivel frame 121 includes the above-mentioned two traveling motors 114, six brake cylinders 115, two expansion / contraction cylinders 117, swivel motors 123, clamp cylinders 126, two pin insertion / removal cylinders 127, telescopic cylinders 133, and 2 A hydraulic drive unit 160 is provided to supply and drive hydraulic oil to the undulating cylinders 134, the quick hitch cylinder 141, and the bucket cylinder 153 (hereinafter collectively referred to as “actuator AC”).

As shown in FIGS. 2 and 3, the hydraulic drive unit 160 includes an electric motor 161 that operates by receiving power supply from the outside, a hydraulic pump 162 that is driven by the electric motor 161 and an operation that stores hydraulic oil. The oil tank 163, the control valve group 164 that controls the direction and flow rate of the hydraulic oil supplied to the actuator AC, and the control valve group 164 according to the operation signal from the remote control device 12 installed in the ground remote control room 13. It is configured to have a control unit 165 that controls the operation of the above. The electric motor 161 and the hydraulic pump 162 and the hydraulic oil tank 163 are arranged on the swivel frame 121 of the traveling body 110. The control valve group 164 is provided in the first pump oil passage L1 extending from the discharge port of the hydraulic pump 162 and the second pump oil passage L2 branched from the first pump oil passage.

The control valve group 164 is configured to have a plurality of control valves corresponding to each of the actuator ACs, and these control valves are provided side by side in the pump oil passages L1 and L2. Specifically, the control valve group 164 includes two swivel control valves 164a for controlling the hydraulic oil supply to the swivel motor 123 and a brake control valve 164b for controlling the hydraulic oil supply to the six brake cylinders 115. The traveling control valve 164c that controls the supply of hydraulic oil to the traveling motor 114, the expansion / contraction control valve 164d that controls the supply of hydraulic oil to the two expansion / contraction cylinders 117, and the hydraulic oil supply to the two pin insertion / extraction cylinders 127. The pin insertion / removal control valves 164e and 164f, respectively, and the clamp control valve 164 g, which controls the supply of hydraulic oil to the clamp cylinder 126, are provided. These control valves 164a to 164g are control valves for the traveling body that control the supply of hydraulic oil to the actuator provided on the traveling body 110, and are collectively arranged on the swivel frame 121 of the traveling body 110. ..

The control valve group 164 further includes an undulation control valve 164h that controls the supply of hydraulic oil to the two undulating cylinders 134, a telescopic control valve 164i that controls the supply of hydraulic oil to the telescopic cylinder 133, and a bucket cylinder 153. It includes a bucket control valve 164j that controls the hydraulic oil supply, an auxiliary control valve 164k, and a quick hitch control valve 164l that controls the hydraulic oil supply to the quick hitch cylinder 141. The auxiliary control valve 164k is a control valve that controls the supply of hydraulic oil to the attachment when another attachment such as a breaker attachment is attached instead of the bucket attachment 150. These control valves 164h to 164l are control valves for the boom bucket that control the supply of hydraulic oil to the actuators provided on the boom 130 and the bucket attachment 150, and are collectively arranged on the side portion of the base end boom 131. It is installed. A protective cover for covering and protecting these control valves 164h to 164l is provided on the side portion of the base end boom 131.

Each of the control valves 164a to 164l of the control valve group 164 is driven by a valve spool via the control unit 165 and discharged from the hydraulic pump 162 in response to an operation signal from the remote control device 12 in the ground remote control room 13. It is configured to supply the hydraulic oil to the corresponding actuator, control the supply direction and supply amount thereof, and operate the actuator. Further, each of the control valves 164a to 164l is provided with a drive operation lever, and the operator can manually operate the drive operation lever to drive the spool of the control valve to operate the actuator. It is configured so that it can be done.

A swivel joint 166 is provided at a connecting portion (inside the swivel bearing 122) of the traveling frame 111 and the swivel frame 121 in the traveling body 110 (see FIG. 2). The oil passage connecting the brake control valve 164b and the six brake cylinders 115, the oil passage connecting the traveling control valve 164c and the two traveling motors 114, and the oil passage connecting the scaling control valve 164d and the two scaling cylinders 117 are It is connected via a swivel joint 166.

The first multi-coupler 167 is provided in the second pump oil passage L2 connecting the discharge port of the hydraulic pump 162 and the control valves 164h to 164l, and the tank oil passage L3 connecting the control valves 164h to 164l and the hydraulic oil tank 163. .. The first multi-coupler 167 is arranged on the side of the base end boom 131. By attaching and detaching the first multi-coupler 167, the second pump oil passage L2 and the tank oil passage L3 can be communicated and cut together. A second multi-coupler 168 is provided in the bottom oil passage L4 connecting the bucket control valve 164j and the bottom oil chamber of the bucket cylinder 153, and the rod side oil passage L5 connecting the bucket control valve 164j and the rod side oil chamber of the bucket cylinder 153. It is provided. The second multi-coupler 168 is disposed on the side of the base member 151 of the bucket attachment 150 (see FIG. 2). By attaching and detaching the second multi-coupler 168, the bottom side oil passage L4 and the rod side oil passage L5 can be collectively communicated and cut.

An oil passage connecting the expansion / contraction control valve 164i and the expansion / contraction cylinder 133, an oil passage connecting the bucket control valve 164j and the bucket cylinder 153, an oil passage extending from the auxiliary control valve 164k, and an oil passage connecting the quick hitch control valve 164l and the quick hitch cylinder 141. Is arranged so as to pass through the inside of the base end boom 131 and the tip end boom 132.

As shown in FIG. 4, the control unit 165 receives an operation signal from the remote control device 12, outputs a drive control signal corresponding to the operation signal, a main controller 165a, a traveling body controller 165b, and a boom. It is configured to have a bucket controller 165c. The traveling body controller 165b is configured to drive the control valves 164a to 164g for the traveling body 110 in response to the drive control signal output from the main controller 165a. The main controller 165a and the traveling body controller 165b are arranged on the turning frame 121 of the traveling body 110.

The boom / bucket controller 165c is configured to drive the control valves 164h to 164l for the boom 130 and the bucket attachment 150 in response to the drive control signal output from the main controller 165a. The boom bucket controller 165c is disposed on the side of the base end boom 131 of the boom 130. The first multi-coupler 167 is configured so that the electric cable connecting the main controller 165a and the boom bucket controller 165c can also be communicated and disconnected together with the second pump oil passage L2 and the tank oil passage L3. ..

As shown in FIG. 4, the cason excavator 100 detects the position of the traveling body 110 on the traveling rail 4 and detects the turning angle of the turning frame 121 with respect to the traveling frame 111. The swivel angle sensor 202, the boom undulation angle sensor 203 that detects the undulation angle of the boom 130 with respect to the swivel frame 121, the boom extension amount sensor 204 that detects the extension amount of the boom 130, and the boom 130 (base member of the bucket attachment 150). A bucket swing angle sensor 205 that detects the swing angle of the bucket 152 with respect to 151), and an external sensor 206 that is provided on the traveling body 110 and acquires information such as the distance to the excavated ground in the work room 2 and the shape of the ground. It is composed of and.

The traveling body position sensor 201 is composed of, for example, a laser sensor arranged on the traveling frame 111 of the traveling body 110, and irradiates the laser beam toward the end portion of the traveling rail 4 (or the wall portion of the work room 2). The time required for reflection and return at the end of the traveling rail 4 (or the wall of the work room 2) is measured, and based on that time, the end of the traveling rail 4 (or the wall of the work room 2) It is configured to detect the distance from the vehicle to the traveling body 110. The turning angle sensor 202 is composed of, for example, an optical rotary encoder arranged on the turning frame 121 of the traveling body 110, converts the turning amount of the turning frame 121 with respect to the traveling frame 111 into an electric signal, and calculates the signal. It is configured to process and detect the turning angle (turning direction and position) of the turning frame 121. The traveling body position sensor 201 and the turning angle sensor 202 have been described by way of example, and the one that detects the two-dimensional position of the traveling body and the one that detects the turning angle of the turning frame 121 are also applicable. There are various things that are well known to those skilled in the art.

The boom undulation angle sensor 203 is composed of, for example, a laser sensor arranged on the side of the cylinder bottom of the undulation cylinder 134, irradiates the laser beam toward the swivel frame 121, reflects it on the swivel frame 121, and returns. The time until it comes is measured, the extension amount of the undulation cylinder 134 (undulation rod 134a) is detected based on the time, and the undulation angle (undulation position) of the boom 130 with respect to the swivel frame 121 based on the extension amount of the undulation cylinder 134. ) Is detected. The boom undulation angle sensor 203 is also exemplified, and there are various sensors well known to those skilled in the art, such as those that directly detect the undulation angle of the boom 130 with an optical rotary encoder, a potentiometer, or the like.

The boom extension amount sensor 204 is composed of, for example, a laser sensor disposed on the base end boom 131 of the boom 130, and directs the laser beam toward the base member 151 of the bucket attachment 150 attached to the tip end portion of the tip boom 132. The time required for irradiation to be reflected by the base member 151 and returned is measured, and the amount of extension of the boom 130 (the amount of extension of the tip boom 132 with respect to the substrate boom 131) is detected based on that time. .. The boom extension amount sensor 204 is also exemplified, and there are various types known to those skilled in the art, such as those that directly measure the extension amount of the cable that expands and contracts with the expansion and contraction of the boom.

The bucket swing angle sensor 205 is composed of, for example, a flow rate sensor arranged in an oil passage connecting the bucket control valve 164j and the bucket cylinder 153, and measures the flow rate of hydraulic oil supplied from the bucket control valve 164j to the bucket cylinder 153. Detect and calculate the integrated value of the flow rate. Then, the extension amount of the piston rod of the bucket cylinder 153 is obtained based on the flow rate integral value, and the swing angle of the bucket 152 with respect to the base member 151 (boom 130) of the bucket attachment 150 based on the extension amount of the bucket cylinder 153. It is configured to detect (swing position). The bucket swing angle sensor 205 is also shown as an example, such as one that directly detects the swing angle of the bucket 152 by an optical rotary encoder, a potentiometer, etc., and one that obtains the extension amount of the bucket cylinder 153 by a laser sensor. , There are various things that are well known to those skilled in the art.

The outside world sensor 206 is composed of, for example, an RGB-D sensor arranged on the turning frame 121 of the traveling body 110, acquires an RGB image (color image) and a distance image of the excavated ground, and excavates based on these images. It is configured to acquire distance information to the ground and shape information of the excavated ground. In addition to the RGB-D sensor, the external world sensor 206 includes various sensors such as a stereo camera, an ultrasonic range finder, and a laser sensor, which are well known to those skilled in the art.

The information detected by the traveling body position sensor 201, the turning angle sensor 202, the boom undulation angle sensor 203, the boom extension amount sensor 204, the bucket swing angle sensor 205, and the outside world sensor 206 is transmitted to the main controller 165a of the control unit 165. Will be sent. The main controller 165a includes a traveling body position measuring unit 211, a bucket position measuring unit 212, and a ground shape measuring unit 213.

The traveling body position measuring unit 211 includes distance information from the end of the traveling rail 4 (or the wall portion of the working room 2) detected by the traveling body position sensor 201 to the traveling body 110, and the traveling rail 4 is the working room 2. Information on where the traveling rail is provided (this information is information on the traveling rail 4 to which the traveling body 110 is attached, and when the traveling body 110 is attached, the traveling body position measuring unit Based on (set to 211), it is configured to determine where the traveling body 110 is located in the work room 2. The distance information detected by the traveling body position sensor 201 is detected at a plurality of surrounding locations to detect a two-dimensional position (a position including the direction of the traveling body 110) in the ceiling of the traveling body 110. You may.

The bucket position measuring unit 212 describes the turning angle (turning direction and position) of the turning frame 121 with respect to the traveling frame 111 detected by the turning angle sensor 202, and the undulation angle of the boom 130 with respect to the turning frame 121 detected by the boom undulation angle sensor 203. (Undulating position), the amount of extension of the boom 130 detected by the boom extension amount sensor 204, and the swing angle (swing position) of the bucket 152 with respect to the boom 130 detected by the bucket swing angle sensor 205. The position of the bucket 152 with respect to the traveling frame 111 of the body 110 is obtained.

The ground shape measuring unit 213 determines the position of the traveling body 110 in the work room 2 determined by the traveling body position measuring unit 211, and the turning angle (turning direction) of the turning frame 121 with respect to the traveling frame 111 detected by the turning angle sensor 202. And position), the position of the external world sensor 206 provided on the swivel frame 121, the direction in which the external world sensor 206 acquires the distance information, and the position of the excavated ground from which the external world sensor 206 acquires the distance information. Has been done. The ground shape measuring unit 213 further determines the three-dimensional shape of the excavated ground based on the position of the excavated ground for which the distance information is acquired by the obtained outside world sensor 206 and the distance information to the excavated ground acquired by the outside world sensor 206. Is configured to create a ground shape map of the excavated ground in the work room 2. The ground shape measuring unit 213 constantly acquires distance information from the external sensor 206 to the excavated ground, and each time the excavated ground is excavated and the ground shape changes, the three-dimensional shape of the excavated ground is obtained as described above, and the ground is obtained. It is configured to modify the three-dimensional shape of the excavated part in the shape map.

The caisson excavator 100 includes a first drilling hydraulic pressure sensor 208 provided in the oil passage connecting the undulating control valve 164h and the undulating cylinder 134, and a second drilling hydraulic pressure sensor provided in the oil passage connecting the bucket control valve 164j and the bucket cylinder 153. It is configured to have 209. The first excavation hydraulic pressure sensor 208 is a hydraulic pressure sensor that detects the hydraulic pressure supplied from the undulation control valve 164h to the undulation cylinder 134. The second excavation hydraulic pressure sensor 209 is a hydraulic pressure sensor that detects the hydraulic pressure supplied from the bucket control valve 164j to the bucket cylinder 153.

The hydraulic pressure information detected by the first and second drilling hydraulic pressure sensors 208 and 209, respectively, is transmitted to the main controller 165a of the control unit 165. The main controller 165a includes a ground strength measuring unit 215. Since the caisson excavator 100 is attached to the ceiling of the work room 2 and is configured to perform excavation work in a suspended state, the ceiling of the work room 2 receives all the reaction force during excavation by the bucket 152. It will be. Utilizing this feature, the ground strength measuring unit 215 acts on the position of the bucket 152 with respect to the traveling body 110 (traveling frame 111) determined by the bucket position measuring unit 212, and on the left and right undulating cylinders 134 and the bucket cylinder 153. It is configured to obtain the excavation reaction force acting on the bucket 152 based on the hydraulic pressure.

Here, the excavation work is performed by performing the undulating operation of the boom 130, the expansion / contraction operation of the boom 130, and the swing operation of the bucket 152. At this time, the ground strength measuring unit 215 acts on the bucket 152. It is configured to calculate the excavation reaction force and measure the hardness (ground strength) of the excavation ground using the calculated excavation reaction force. The ground strength measuring unit 215 calculates the excavation reaction force acting on the bucket 152, for example, the position of the bucket 152 with respect to the traveling body 110 (traveling frame 111) obtained by the bucket position measuring unit 212 (particularly, the ground in the bucket 152). The excavation reaction force acting on the bucket 152 is calculated based on the position of the part to be excavated) and the hydraulic pressure applied to the undulating cylinder 134 detected by the first excavation hydraulic pressure sensor 208, and the calculated excavation reaction force is used. It is configured to measure the hardness (ground strength) of the excavated ground.

Since the calculation of the excavation reaction force at this time is performed based on the hydraulic pressure of the undulating cylinder 134, the position of the bucket 152 with respect to the traveling body 110, that is, the undulating position of the boom 130, the expansion / contraction amount of the boom 130, and the swing of the bucket 152. It is necessary to calculate using the position (these are the "working postures of the excavator", which indicate the excavation position and the excavation direction). Therefore, the excavation reaction force by the ground strength measuring unit 215 may be calculated based on the hydraulic pressure of the bucket cylinder 153 detected by the second excavation hydraulic pressure sensor 209. In this case, the excavation reaction force can be detected only by the swing position of the bucket 152 with respect to the bucket cylinder 153 and the hydraulic pressure of the bucket cylinder 153.

In the above configuration, the ground strength measuring unit 215 obtains the excavation reaction force acting on the bucket 152 based on the hydraulic pressure acting on the left and right undulating cylinders 134 and the bucket cylinder 153. The excavation reaction force may be obtained based on the force acting on the boom 130, the bucket 152, the undulating cylinder 134, and the bucket cylinder 153. In this case, sensors such as load cells are provided on the boom 130 or the like, and the force (moment or the like) acting on the boom 130 or the like is detected by these sensors based on the amount of deformation of the boom 130 or the like, and the detected acting force is used. It may be configured to obtain the excavation reaction force based on the above.

The ground strength measuring unit 215 further changes the hardness of the excavated ground to a plurality of types according to the change characteristics of the calculated excavation reaction force (for example, the excavation reaction force calculated based on the hydraulic pressure applied to the cylinders 134 and 153). It is configured to classify. The operating displacement amount (extension amount) of the undulation cylinder 134 and the bucket cylinder 153 is detected by the boom undulation angle sensor 203 and the bucket swing angle sensor 205 as described above.

Specifically, as shown in FIG. 5A, when the excavation reaction force gradually increases with respect to the operating displacement of the cylinder, the excavation ground is soft and easy to excavate (soft ground). Classify as. The upper limit value shown by the broken line in the figure is the value when the excavation of the ground with the bucket is completed, and thereafter, the excavation force corresponding to the weight of the excavated earth and sand in the bucket only acts. In addition, the slope of the increase curve at this time becomes gentler as the ground is softer, and the upper limit value becomes lower.

On the other hand, as shown in FIG. 5 (c), when the excavation reaction force suddenly increases with respect to the amount of operating displacement of the cylinder and the excavation reaction force reaches the excavation upper limit value, the excavation ground is hard and excavation is performed. Classify as difficult ground (difficult ground). As can be seen from this, the magnitude of the change in excavation force indicates the hardness of the ground. The upper limit of excavation is set according to the undulating position of the boom 130, the expansion / contraction amount of the boom 130, and the swinging position of the bucket 152, assuming that the maximum operating hydraulic pressure of the undulating cylinder 134 and the maximum operating hydraulic pressure of the bucket cylinder 153 are constant. It is a value that changes. Further, as shown in FIG. 5B, when the excavation reaction force increases with respect to the operating displacement of the cylinder, and the excavation reaction force suddenly decreases and increases again at a certain point, the excavation ground is hard. It can be classified as ground that can be excavated (destructible ground).

Then, as shown in FIG. 6, the ground strength measuring unit 215 hardens the excavated ground classified as described above based on the position of the traveling body 110 in the work room 2 obtained by the traveling body position measuring unit 211. It is configured to create a ground strength measurement map that shows the distribution of the hardness type over the excavated ground. As can be seen from the above explanation of excavation reaction force measurement, this ground strength measurement map is a map showing the ground strength distribution of the excavated ground that has already been excavated.

The ground strength measurement unit 215 further estimates that the hardness of the ground to be excavated next is the same hardness as the ground already excavated around it (for example, directly above), and based on the above ground strength measurement map, It is configured to create a ground strength estimation map that represents the distribution of hardness types of the ground to be excavated next. This ground strength estimation map is a map that estimates the ground strength distribution of the excavated ground to be excavated next. After actually performing the excavation work, the ground strength measuring unit 215 measures the hardness of the excavated ground from the excavation reaction force as described above, and based on the hardness type, the hardness of the corresponding part in the ground strength estimation map. It is configured to modify the type to create a ground strength measurement map.

In the caisson excavator 100 configured in this way, the traveling control valve 164c and the brake are provided by the main controller 165a and the traveling body controller 165b in response to the traveling operation signal from the remote control device 12 installed in the ground remote control room 13. The control valve 164b is driven and controlled to drive the two traveling motors 114 and the six brake cylinders 115. In this way, it is possible to travel and move along the left and right traveling rails 4 to a desired excavation work position. When the vehicle arrives at the desired excavation work position and stops, the main controller 165a and the traveling body controller 165b control the drive of the brake control valve 164b in the stopped state (the state in which the traveling operation signal is not output from the remote control device 12). Is performed to extend and drive the six brake cylinders 115, and braking control of the caisson excavator 100 is performed in a stopped state. The caisson excavator 1 is provided with a camera for photographing the inside of the work room 2 (excavated ground), and the operator in the ground remote control room 13 can display the image taken by this camera in the ground remote control room 13. The remote control device 12 is operated while looking at the monitor.

When stopped at the desired excavation work position in this way, the position of the caisson excavator 1 in the work room 2 is measured by the traveling body position measuring unit 211. In addition, the ground shape measuring unit 213 measures the three-dimensional shape of the excavated ground to be excavated, and creates a ground shape map of the excavated ground. The main controller 165a is a traveling body controller 165b and a boom / bucket controller in response to the three-dimensional shape (ground shape map) of the excavated ground measured by the ground shape measuring unit 213 and the work operation signal from the remote control device 12. The swing control valve 164a, the undulation control valve 164h, the expansion / contraction control valve 164i, and the bucket control valve 164j are driven by the 165c to drive the rotation motor 123, the two undulation cylinders 134, the expansion / contraction cylinder 133, and the bucket cylinder 153. In this way, the boom 130 can be swiveled, raised and contracted, and the bucket 152 can be swung to perform excavation work.

When the excavation work is performed by the bucket 152 in this way, the hardness of the excavated ground is measured by the ground strength measuring unit 215, and the ground strength measurement map of the excavated ground and the ground strength estimation map of the ground to be excavated next are obtained. Will be created. When the ground strength estimation map is created by the ground strength measurement unit 215, the main controller 165a controls to change the allowable working posture range of the boom 130 and the bucket 152 according to the estimated hardness of the excavated ground. It has become. This is based on, for example, as described above, that the upper limit of excavation is a value that changes according to the undulating position of the boom 130, the amount of expansion and contraction of the boom 130, and the swinging position of the bucket 152. That is, even if the operating hydraulic pressure of the undulating cylinder 134 is the same, the excavation force acting on the ground from the bucket changes according to the undulating position and the amount of extension of the boom, and even if the operating hydraulic pressure of the bucket cylinder 153 is the same, the position of the bucket 152 is changed. This is in view of the fact that the excavation force acting on the ground from the bucket 152 changes accordingly. For example, when excavating the ground that is presumed to be hard and difficult to excavate (difficult ground) in the ground strength estimation map, the boom is limited to the operating posture range that can exert the excavation force that can excavate this ground. Control is performed such that the undulation of the 130, the expansion / contraction operation, and the swing of the bucket 152 are allowed, and the operation outside the undulation is restricted. That is, the operation is regulated according to the hardness of the ground, and when excavating the ground that is presumed to be soft and easy to excavate (soft ground), the operation is not regulated and the boom 130 and the boom 130 and Control is performed to allow excavation work even when the bucket 152 is operated to the maximum extent.

When the excavation work is performed by the bucket 152, the shape of the excavated ground changes, so the three-dimensional shape of the excavated ground is measured again by the ground shape measuring unit 213, and the three-dimensional shape of the excavated part in the ground shape map is corrected. Will be done. As described above, in the caisson excavator 100, the excavation work is performed while constantly measuring the shape of the excavated ground, measuring the ground strength of the excavated ground, and estimating the ground strength of the ground to be excavated next.

By the way, as described above, the ceiling of the work room 2 is provided with a pair of left and right traveling rails 4 at a plurality of locations, and caisson excavators 100 are installed on the traveling rails 4 or the same traveling is performed. A plurality of caisson excavators 100 or other working devices may be installed on the rail 4. In such a case, the ground shape map, the ground strength measurement map, and the ground strength estimation map created in each of the plurality of caisson excavators 100 are integrated to create a map of the entire excavated ground of the work room 2. You may. The caisson excavator 100 has a collision prevention configuration that prevents a plurality of caisson excavators 100 and work devices different from the caisson excavator 100 from colliding with each other during work, and this will be described below.

The caisson excavator 100 includes a collision determination unit 217 in the main controller 165a. The collision determination unit 217 operates the traveling body 110, the boom 130, and the bucket 152 in response to the work operation signal from the remote control device 12, and the traveling body in the work room 2 obtained by the traveling body position measuring unit 211. Position of 110, turning angle (turning direction and position) of turning frame 121 with respect to traveling frame 111 detected by turning angle sensor 202, undulating angle (undulating position) of boom 130 with respect to turning frame 121 detected by boom undulating angle sensor 203. ), The extension amount of the boom 130 detected by the boom extension amount sensor 204, the swing angle (swing position) of the bucket 152 with respect to the boom 130 detected by the bucket swing angle sensor 205, and the work from the remote control device 12. It is configured to calculate the predicted operation locus of the traveling body 110, the boom 130, and the bucket 152 based on the operation signal. This predicted operation locus predicts the route that the traveling body 110, etc. will follow before the traveling body 110, the boom 130, and the bucket 152 actually operate, and indicates the moving position for each time. Is.

The predicted operation loci of the traveling body 110, the boom 130, and the bucket 152 calculated by the collision detection unit 217 are constantly wirelessly communicated with other caisson excavators provided in the work room 2, and the own collision detection unit 217 is also included. The predicted operation trajectory of the caisson excavator is always transmitted. The collision determination unit 217 determines whether or not the calculated predicted operation loci of the traveling body 110, the boom 130, and the bucket 152 overlap with the predicted operation loci of other caisson excavators (a portion where the movement positions of the other caisson excavators overlap each other at the same time). It is configured to determine (whether or not there is no). At this time, the collision determination unit 217 also considers the operating speeds of the traveling body 110, the boom 130, and the bucket 152.

When it is determined that the predicted operation loci of the traveling body 110, the boom 130, and the bucket 152 calculated by the collision determination unit 217 do not overlap with the predicted operation loci of other caisson excavators, the main controller 165a is a remote control device. In response to the work operation signal from 12, the traveling body controller 165b and the boom / bucket controller 165c perform drive control of the corresponding control valves to operate the traveling body 110, the boom 130, and the bucket 152. On the other hand, when it is determined that the predicted operation loci of the traveling body 110, the boom 130, and the bucket 152 calculated by the collision determination unit 217 overlap with the predicted operation loci of another caisson excavator, it responds to the work operation signal. It is designed to control the operation of the traveling body 110, the boom 130, and the bucket 152.

At this time, the collision determination unit 217 also considers the operating speeds of the traveling body 110, the boom 130, and the bucket 152, and the operation regulation control of the traveling body 110, the boom 130, and the bucket 152 takes this operating speed into consideration. Is done. That is, when it is determined when the predicted operation locus overlaps with other predicted operation loci, and when the speed of moving in the operation path is high, the operation is regulated in advance so that the operation paths do not overlap in consideration of the time considering the speed. Is controlled.

In the main controller 165a, the priorities of the plurality of caisson excavators provided in the work room 2 are preset. When it is determined that the predicted operating loci of the traveling body 110, the boom 130, and the bucket 152 calculated by the collision determination unit 217 overlap with the predicted operating loci of another caisson excavator, the main controller 165a determines that the other If the priority of the other caisson excavator is lower than the priority of the other caisson excavator, the traveling body 110 reaches a position that does not overlap with the predicted operation locus of the other caisson excavator. , The boom 130 and the bucket 152 are controlled to be moved. On the other hand, when the priority of the self is higher than the priority of the other caisson excavator, the other caisson excavator is moved to a position where it overlaps with the predicted operation locus of the self, and the main controller 165a sends the work operation signal. The traveling body 110, the boom 130, and the bucket 152 are controlled to operate according to the above.

The collision determination unit 217 can be set with a prohibited space FA that prohibits the traveling body 110, the boom 130, and the bucket 152 from operating and entering. When the prohibited space FA is set, the collision determination unit 217 overlaps the calculated predicted operating loci of the traveling body 110, the boom 130, and the bucket 152 with the predicted operating loci of the other caisson excavators described above. It is configured to determine if there is a part.

When it is determined that the predicted operation loci of the traveling body 110, the boom 130, and the bucket 152 calculated by the collision determination unit 217 do not overlap with the prohibited space FA, the main controller 165a performs the work operation from the remote control device 12. Control is performed to operate the traveling body 110, the boom 130, and the bucket 152 in response to the signal. On the other hand, when it is determined that the predicted operation loci of the traveling body 110, the boom 130 and the bucket 152 calculated by the collision determination unit 217 overlap with the prohibited space FA, the traveling body 110 and the boom corresponding to the work operation signal are determined. The operation of the 130 and the bucket 152 is regulated to prevent the traveling body 110 and the like from entering the prohibited space FA.

Various spaces (areas) can be set as the prohibited space FA. For example, if other equipment in the work room 2 or a wall portion of the work room 2 is set, it is possible to prevent the caisson excavator 100 from coming into contact with these equipment or the wall portion of the work room 2. In addition, work room 2
If you set a part of the excavation ground that you do not want to excavate, you can freely set the excavation permission range.

As described above, since the caisson excavator 100 is configured to be attached to the ceiling of the work room 2 and perform excavation work in a suspended state, an excavator such as a general power excavator excavates. Compared to the configuration in which the reaction force at the time is received by its own weight, the caisson excavator 100 receives all the reaction force at the time of excavation in the ceiling portion of the work room 2. Therefore, the Kason Excavator 100 includes a turning angle sensor 202 for measuring the position of the bucket 152 with respect to the traveling body 110, a boom undulation angle sensor 203, a boom extension amount sensor 204, a bucket swing angle sensor 205, and a bucket position measuring unit 212. The position of the bucket 152 with respect to the traveling body 110, and the undulating cylinder 134 and the bucket cylinder 153 are provided with the first and second drilling hydraulic pressure sensors 208 and 209 for detecting the hydraulic pressure supplied to the undulating cylinder 134 and the bucket cylinder 153. It is configured to include a ground strength measuring unit 215 that calculates the excavation reaction force acting on the bucket 152 based on the hydraulic pressure supplied to the bucket 152 and measures the hardness of the excavated ground using the calculated excavation reaction force. There is. Therefore, in the conventional excavator, the hardness of the excavated ground is estimated by relying on the operator's feeling, but in the caisson excavator 100, the hardness of the excavated ground can be measured by the ground strength measuring unit 215. Since the hardness of the excavated ground can be measured in this way, it is possible to automatically select an excavation method suitable for the hardness of the excavated ground, and the efficiency of the excavation work can be improved.

Further, the caisson excavator 100 includes a traveling body position sensor 201 for measuring the position of the traveling body 110 in the working room 2 and a traveling body position measuring unit 211, and is based on the position of the traveling body 110 in the working room 2. , The ground strength measurement unit 215 creates a ground strength measurement map showing the distribution of the excavated ground, and based on this ground strength measurement map, creates a ground strength estimation map that estimates the hardness of the excavated ground to be excavated next. It is configured as follows. Therefore, based on this ground strength estimation map, an excavation method suitable for the excavation ground to be excavated next (working posture capable of outputting the required excavation force (for example, undulation position and extension amount of the boom 130)) is actually performed. You can select and perform excavation work before excavating.

Although the embodiments of the present invention have been described so far, the scope of the present invention is not limited to the above-described embodiments. For example, in the above-described embodiment, the caisson excavator 100 is configured to travel and move attached to the left and right traveling rails 4 provided on the ceiling of the work room 2. However, for example, an excavator may be provided with a plurality of legs that can be adsorbed on the ceiling and are configured to move along the ceiling while moving these legs. Further, although the caisson excavator 100 is configured to perform excavation work by the bucket 152, it may be configured to perform excavation work by an excavation attachment other than the bucket. Further, in the caisson excavator 100, the external world sensor 206 is provided on the traveling body 110, but the external world sensor 206 may be provided on the boom 130 or the bucket attachment 150.

Further, in the above-described embodiment, the boom 130 and the bucket attachment 150 are swung by an operation signal from the remote control device 12 in the ground remote control room 13 to perform excavation work. However, the caisson excavator 100 may be provided with a driver's seat on which an operator can board, and the excavation work may be operated from the driver's seat. Further, in the above-described embodiment, the caisson excavator 100 used in the pneumatic caisson method has been described, but the present invention is any case of an excavator that is attached to the ceiling and performs excavation work in a suspended state. It can also be applied to other excavators.

100 excavator (caisson excavator)
110 Traveling body (main body)
130 boom (excavator)
134 Undulating cylinder (excavation hydraulic cylinder)
150 bucket attachment (excavator)
152 bucket (excavation part)
153 Bucket cylinder (excavation hydraulic cylinder)
165 Control unit 165a Main controller (excavation control unit)
165c Boom bucket controller (excavation control unit)
201 Traveling body position sensor (main body position sensor)
202 Turning angle sensor (excavation part position sensor)
203 Boom undulation angle sensor (excavation part position sensor)
204 Boom extension amount sensor (excavation part position sensor)
205 Bucket swing angle sensor (excavation part position sensor)
208 1st excavation hydraulic pressure sensor 209 2nd excavation hydraulic pressure sensor 211 Traveling body position measuring unit (main body position sensor)
212 Bucket position measurement unit (excavation unit position sensor)
215 Ground strength measurement unit

Claims (7)

The main body, which is attached to the ceiling of the work room and moves along the ceiling,
An excavator that is pivotally connected to the main body so as to be swingable in the vertical direction, has an excavation portion at the tip, and excavates the ground of the work room.
An excavation part position sensor that detects the position of the excavation part of the excavation device with respect to the main body part, and
An excavation hydraulic cylinder that swings the excavation device in the vertical direction with respect to the main body portion to excavate the ground by the excavation portion.
An action sensor that detects the force acting on the excavator or the excavation hydraulic cylinder,
The excavation reaction force acting on the excavation part is calculated based on the position of the excavation part detected by the excavation part position sensor and the force acting on the excavation device or the excavation hydraulic cylinder detected by the acting force sensor. An excavator characterized by being provided with a ground strength measuring unit that measures the hardness of the ground using the calculated excavation reaction force. The acting force sensor is composed of an excavation hydraulic pressure sensor that detects the hydraulic pressure supplied to the excavation hydraulic cylinder.
The ground strength measuring unit is characterized in that the excavation reaction force is calculated based on the position of the excavation portion detected by the excavation portion position sensor and the excavation hydraulic pressure sensor and the hydraulic pressure applied to the excavation hydraulic cylinder. The excavator according to claim 1. A main body position sensor for detecting the position of the main body on the ceiling is provided.
The ground strength measuring unit distributes the hardness distribution of the ground measured by using the excavation reaction force over the excavated surface of the ground based on the position of the main body detected by the main body position sensor. The excavator according to claim 1 or 2, wherein the ground strength measurement map to be represented is created. The ground strength measuring unit estimates that the hardness of the excavated surface of the ground is the same hardness as the ground already excavated around it, and based on the ground strength measurement map, the hardness of the excavated surface of the ground. The excavator according to claim 3, wherein a ground strength estimation map representing the distribution of hardness is created. It is provided with an excavation control unit that controls excavation of the excavation surface of the ground by driving the excavation device and the excavation hydraulic cylinder according to the hardness of the excavation surface of the ground estimated in the ground strength estimation map. The excavator according to claim 4, which is characterized. The fifth aspect of claim 5 is characterized in that the excavation control unit controls to change the allowable working posture range of the excavation device according to the hardness of the excavation surface of the ground estimated in the ground strength estimation map. Excavator. When the ground strength measuring unit excavates the excavated surface of the ground based on the ground strength estimation map, the ground strength is measured by using the excavation reaction force, and the ground strength estimation map is modified to obtain the above. The excavator according to any one of claims 4 to 6, wherein a ground strength measurement map is created.

Images