JP7386104B2 - Anti-vibration mount for installing a measuring instrument on a construction machine, construction machine equipped with the anti-vibration mount, and method for preventing vibration of a measuring instrument - Google Patents

Description

The present invention relates to a vibration-isolating frame for installing a measuring instrument on a construction machine, a construction machine equipped with the vibration-isolating frame, and a method for vibration-isolating a measuring instrument.

The NATM method (New Austrian Tunneling Method) is known as a method for constructing tunnels. The NATM method uses arch-shaped steel supports made of shotcrete, rock bolts, H-shaped steel, etc., based on the idea of effectively utilizing the supporting capacity and strength of the ground to maintain tunnel stability. This is a construction method that, when used appropriately, constructs tunnel structures that are integrated with the ground.

In tunnel construction management, various types of management are performed based on measurement results obtained by measuring instruments. For example, after excavating the excavation of the excavation face, a measuring device such as a three-dimensional scanner or total station is used to excavate a tunnel after the excavation of the excavation face, in order to identify any bulges that may impede the subsequent lining. There are cases where the shape of an unexcavated surface is measured (see, for example, Patent Document 1).

In addition, in order to control the thickness of shotcrete (shotting thickness) in the construction management of shotcrete work, the shape of the tunnel inner wall surface is measured using measuring instruments such as 3D scanners and total stations. (For example, see Patent Document 2, etc.).

Here, when installing a measuring device for measuring a tunnel face surface or a tunnel peripheral wall surface on a tripod, it is necessary to install and remove it manually, which poses a problem that requires a lot of labor and time. On the other hand, when a measuring instrument is installed on a pedestal built on the shaft wall behind the face, construction machinery and the like may get in the way of the measurement.

On the other hand, in recent years, a technique has been proposed in which a measuring device is installed in a construction machine such as an excavator or an erector-mounted spraying machine (see, for example, Patent Documents 1 and 2).

JP 2019-158637 Publication JP 2019-167678 Publication Japanese Patent Application Publication No. 2016-200521

However, when a measuring device is directly mounted on a construction machine, vibrations of the construction machine are transmitted to the measuring device, making measurement difficult and reducing measurement accuracy. In connection with this, Patent Document 1 discloses a technique in which a vibration-isolating pedestal is used as a pedestal for installing a measuring instrument on a construction machine. Although such a vibration isolation pedestal can reduce the transmission of vibrations from the construction machine, there is a risk that construction vibrations that cannot be completely removed by the vibration isolation pedestal may be transmitted to the measuring instrument.

The present invention has been made in view of the above-mentioned problems, and its purpose is to provide a vibration-proof mount for mounting a measuring instrument on a construction machine, and to reduce the vibration of the construction machine transmitted to the measuring instrument by conventional methods. The purpose of the present invention is to provide a technology related to a vibration isolating frame that can suppress vibration compared to the above.

The present invention for solving the above problems is a vibration-proof mount for installing a measuring instrument on a construction machine, which includes a mount main body fixed to the construction machine, a mount mounted on the mount main body, A measuring instrument holding part that holds the measuring instrument; and a plurality of support legs that are vertically disposed downward from the measuring instrument holding part so as not to come into contact with the gantry main body and are extendable and retractable along the vertical up and down direction. When the measuring instrument is used, the plurality of supporting legs are extended, the plurality of supporting legs are grounded, and the measuring instrument holding part is lifted upward from the gantry main body. The holding portion is held by the plurality of support legs.

Further, in the vibration-isolating pedestal according to the present invention, the measuring instrument holding section has a fixing mechanism that can switch between fixing the measuring instrument holding section to the gantry main body and releasing the fixed state of the measuring instrument holding section. You may do so.

Further, the vibration-proof pedestal according to the present invention may further include a guide part that restricts relative movement in the horizontal direction while allowing relative movement in the vertical direction of the measuring instrument holding part with respect to the pedestal main body. .

Further, the present invention can be specified as a construction machine equipped with any of the above-mentioned vibration isolation frames. Further, the present invention can be specified as a measurement unit including any of the above-described vibration-isolating pedestals and a measuring instrument held in the measuring instrument holding portion of the vibration-isolating pedestal.

Further, the present invention can also be specified as a vibration isolation method for a measuring instrument. That is, the present invention is a vibration isolating method for a measuring instrument installed on a construction machine via a vibration isolating frame, wherein the vibration isolating frame includes a frame body fixed to the construction machine, and a frame body that is fixed to the construction machine. a measuring instrument holding part that is placed on the stand and holds the measuring instrument; and a plurality of measuring instrument holding parts that are vertically extended downward from the measuring instrument holding part so as not to come into contact with the gantry main body, and that are expandable and retractable along the vertical up and down direction. Support legs, the vibration isolation method includes extending the plurality of support legs after moving the construction machine to a predetermined construction position, grounding the plurality of support legs and holding the measuring instrument. The measuring instrument holding section is held by the plurality of support legs while the measuring instrument holding section is lifted upward from the gantry main body.

Further, in the vibration isolation method according to the present invention, the measuring instrument holding section has a fixing mechanism that can switch between fixing the measuring instrument holding section to the gantry main body and releasing the fixed state of the measuring instrument holding section. The construction machine is moved from a predetermined preparation position different from the construction position to the construction position with the measuring instrument holding part fixed to the gantry main body part by the fixing mechanism, and the construction machine is moved to the construction position. After moving to the construction position, the plurality of support legs may be extended after releasing the fixing state of the measuring instrument holding part by the fixing mechanism.

Further, the vibration-proof pedestal further includes a guide portion that restricts relative movement in the horizontal direction while allowing relative movement in the vertical direction of the measuring instrument holding portion with respect to the pedestal main body, and the guide portion restricts relative movement in the horizontal direction. When extending, the guide portion may be used to restrict horizontal relative movement of the measuring instrument holding portion with respect to the gantry main body.

According to the present invention, it is possible to provide a technology related to a vibration-isolating pedestal for mounting a measuring instrument on a construction machine, which is capable of suppressing construction machine vibrations transmitted to the measuring instrument compared to the past.

FIG. 1 is a diagram showing a construction situation using an erector-mounted spraying machine according to a first embodiment. FIG. 2 is a diagram showing a longitudinal section of a tunnel constructed by the erector-mounted spraying machine according to the first embodiment. FIG. 3 is a side view of the erector-mounted spray machine according to the first embodiment. FIG. 4 is a top view of the erector-mounted spraying machine according to the first embodiment. FIG. 5 is a schematic configuration diagram of the construction management system according to the first embodiment. FIG. 6 is a front view of the vibration-proof pedestal on which the three-dimensional scanner is mounted. FIG. 7 is a side view of the vibration-proof pedestal on which the three-dimensional scanner is mounted. FIG. 8 is a top view of the vibration-proof pedestal on which the three-dimensional scanner is mounted. FIG. 9 is a bottom view of the vibration-proof pedestal on which the three-dimensional scanner is mounted. FIG. 10 is a diagram illustrating the internal structure of the vibration isolating frame. FIG. 11 is a diagram illustrating the internal structure of the vibration isolating frame. FIG. 12 is a diagram illustrating the operation of the vibration isolation frame. FIG. 13 is a diagram illustrating the operation of the vibration isolation frame. FIG. 14 is a diagram illustrating the operation of the vibration isolation frame. FIG. 15 is a diagram illustrating the operation of the vibration isolation frame.

Embodiments of the present invention will be described below with reference to the drawings. The configurations and combinations thereof in the embodiments are merely examples, and additions, omissions, substitutions, and other changes to the configurations may be made as appropriate without departing from the spirit of the present invention.

<Embodiment 1>
FIG. 1 is a diagram showing a construction situation using an erector-mounted spraying machine 1, which is an example of a construction machine according to the first embodiment. The erector-mounted spraying machine 1 is a tunnel construction machine using the NATM construction method. FIG. 1 shows a cross section perpendicular to the tunnel excavation direction. FIG. 2 is a diagram showing a longitudinal section along the excavation direction of a tunnel constructed by the erector-mounted spraying machine 1 according to the first embodiment.

Reference numeral 2 denotes the forefront excavation surface in the direction of tunnel excavation, and is called a "face." For example, a tunnel is constructed by: (1) excavating the face 2 by blasting or using a machine → (2) carrying out the excavated earth and sand (excavation waste) → (3) spraying the primary shotcrete 3 and erecting the tunnel support 4 , spraying of secondary shotcrete 5 → (4) placing rock bolts (not shown) are repeated as one cycle to extend the tunnel in the tunnel excavation direction (tunnel axial direction). The construction situation shown in Fig. 1 is as follows: After excavating the face 2 and carrying out the excavated waste, the erector-mounted spraying machine 1 is driven by itself to the vicinity of the face 2, and then the primary This shows the situation in which concrete 3 is being sprayed.

FIG. 3 is a side view of the erector-mounted spraying machine 1 according to the first embodiment. FIG. 4 is a top view of the erector-mounted spray machine 1 according to the first embodiment. The erector-mounted spraying machine 1 is a self-propelled heavy machine, and includes an erector device 10, a spraying device 20, a vibration-proof pedestal 30, a three-dimensional (3D) scanner 40 as an example of a measuring device, and the like. The measuring instrument of the erector-mounted spraying machine 1 is a device for acquiring various data used for tunnel construction management using the erector-mounted spraying machine 1. 3 and 4 show the front and rear positional relationships of the erector-mounted spray machine 1.

Furthermore, the erector device 10 includes a pair of erector booms 11L and 11R having the same configuration. A pair of erector booms 11L and 11R in the erector device 10 extend toward the front of the erector-mounted spray machine 1. The pair of erector booms 11L and 11R can freely extend and contract, tilt, swing, and rotate by operating drive mechanisms attached to them. Further, a pair of hands (gripping mechanisms) 12L, 12R having the same configuration are connected to the tip of each erector boom 11L, 11R. The pair of hands 12L, 12R can rotate and swing freely by operating the drive mechanism attached to them, and can freely attach and detach a pair of shoring pieces in which the arch-shaped tunnel shoring 4 is divided into two parts. It is configured as a gripping mechanism that clamps (holds) the object. For example, the pair of shoring pieces are erected at predetermined erecting positions by the respective hands 12L and 12R in the erector device 10, and their top ends (upper ends) are connected together to form an arch-shaped tunnel. Form shoring 4.

The spraying device 20 is a device for spraying the above-mentioned primary shotcrete 3 and secondary shotcrete 5. The spraying device 20 includes an arm 21 extending toward the front of the erector-mounted spraying machine 1 from a central and front position in the width direction of the erector-mounted spraying machine 1, and a spraying robot 22 supported by the arm 21. , a spray nozzle 23 and the like provided on the tip side of the spray robot 22. The arm 21 is capable of, for example, extending and contracting operations, tilting operations, and the like. Further, the spraying robot 22 is capable of tilting and rotating the spraying nozzle 23, for example. In addition, the spraying device 20 includes a concrete pump, an quick-setting agent supply device, a compressor, a high-pressure water pump, and the like. The spraying robot 22 can spray the shotcrete onto the face 2 by discharging the shotcrete supplied from the concrete pump from the spraying nozzle 23.

As shown in FIGS. 3 and 4, the erector-mounted spraying machine 1 further includes a vibration-proof pedestal 30 on which a three-dimensional scanner 40 is mounted. The three-dimensional scanner 40 measures the time from when the laser beam is irradiated until the laser beam is reflected from the object and returns again, and converts the time to the distance to the object. Furthermore, the three-dimensional scanner 40 can also measure the irradiation angle of the laser beam, for example, and calculate the coordinates of the relative position of the measurement target with respect to the three-dimensional scanner 40 based on the converted distance and the measured irradiation angle. The relative position coordinates here are the three-dimensional coordinates of the measurement target when the coordinates of the three-dimensional scanner 40 are the origin. In this embodiment, for example, by measuring the excavated surface of the face 2 after excavation, and monitoring the thickness of shotcrete on the face 2 with the three-dimensional scanner 40, the thickness of the shotcrete on the face 2 can be measured. Manage spray thickness in real time. Also, for example, by measuring the ground mass 7 (pit wall surface) near the face 2 and monitoring the thickness of shotcrete on the ground mass 7 (pit wall surface), it is possible to Manage spray thickness in real time. The vibration-proof pedestal 30 is interposed between the three-dimensional scanner 40 as an example of a measuring instrument and the erector-mounted spraying machine 1, and when performing measurement work using the three-dimensional scanner 40, the erector-mounted spraying machine 1 This is a pedestal for suppressing vibrations of the machine 1 from being transmitted to the three-dimensional scanner 40. Details of the vibration isolating frame 30 will be described later.

FIG. 5 is a schematic configuration diagram of the construction management system S according to the first embodiment. The erector-mounted spraying machine 1 includes a monitor 101 which is a display device mounted on a cockpit, a control computer 102, an antenna 103, an operation panel 104, a keyboard 105, a pointing device 106, and the like.

Further, in FIG. 5, reference numeral 70 is an automatic tracking type total station that is a rangefinder and angle measuring instrument (surveying instrument) using a laser beam, reference numeral 71 is a total station controller that controls the total station 70, and reference numeral 72 is a wireless transmission/reception with the total station controller 71. This is the antenna on the total station side that makes it possible. The total station controller 71 has, for example, a portable computer, automatically controls various mechanisms of the total station 70 using software built into the computer, and processes survey data of the total station 70. Further, the total station controller 71 is capable of transmitting and receiving data through wireless communication with the antenna 103 of the erector-mounted spraying machine 1, and remotely controls various mechanisms of the total station 70 based on commands from the control computer 102. Is possible. Of course, the control computer 1
02 and the total station controller 71 may be wired communication.

The total station 70 is a surveying instrument that measures (surveys) the position of the target 9 by automatically tracking the target 9 such as a prism by irradiating a laser beam and measuring the distance and angle. is installed at a known point (coordinate known point). In this embodiment, for example, a shoring target 9A is attached to a suitable position on a pair of shoring pieces 4L and 4R in a tunnel shoring 4 that is newly built along the ground 7 near the face 2. When erecting the tunnel shoring 4, connect the shoring pieces 4L and 4R held by the pair of hands 12L and 12R, respectively, or when installing the shoring pieces 4L and 4R at a predetermined erecting position. By automatically tracking the shoring target 9A attached to the shoring target 9A, the position of each shoring piece 4L, 4R can be acquired in real time. Note that the position, number, etc. of the shoring targets 9A attached to the shoring pieces 4L, 4R can be changed as appropriate.

Further, body targets 9B are installed at the left side, right side, and center of the rear of the erector-mounted spray machine 1, respectively. By measuring the position of each aircraft target 9B attached to the erector-mounted spraying machine 1 using the total station 70, the position where the erector-mounted spraying machine 1 is placed, its orientation, etc. are acquired in real time. be able to. In addition, since the total station 70 automatically tracks the body target 9B attached to the rear of the erector-mounted spraying machine 1 and the shoring targets 9A attached to each of the shoring pieces 4L and 4R, such targets 9A, It may be installed at a suitable location where there is no obstruction to the collimation of the beam 9B, for example, on a mount provided on the ceiling or wall of a tunnel at an appropriate distance from the face 2.

Next, details of the vibration-proof pedestal 30 included in the erector-mounted spraying machine 1 will be explained with reference to FIGS. 6 to 15. FIG. 6 is a front view of the vibration-proof pedestal 30 on which the three-dimensional scanner 40 is mounted. The front of the vibration-isolating frame 30 is the side that is visible when the erector-mounted spray machine 1 is viewed from the front, and the vibration-isolating frame 30 viewed from the direction of arrow A in FIG. 4 is shown in FIG. has been done. FIG. 7 is a side view of the vibration-proof pedestal 30 on which the three-dimensional scanner 40 is mounted. The side surface of the anti-vibration pedestal 30 is the side that is visible when the erector-mounted spraying machine 1 is viewed from the side, and the anti-vibration pedestal 30 viewed from the direction of arrow B in FIG. 4 is shown in FIG. It is shown. FIG. 8 is a top view of the vibration-proof pedestal 30 on which the three-dimensional scanner 40 is mounted. FIG. 9 is a bottom view of the vibration-proof pedestal 30 on which the three-dimensional scanner 40 is mounted. FIG. 10 is a diagram illustrating the internal structure of the vibration isolation pedestal 30 when viewed from the front side. FIG. 11 is a diagram illustrating the internal structure of the vibration isolation pedestal 30 when viewed from the side.

The vibration-proof pedestal 30 is a pedestal body 31 fixed to the pedestal fixing frame 13 (see FIGS. 3 and 4) of the erector-mounted spraying machine 1, and is mounted on the pedestal body 31, and is equipped with a three-dimensional scanner. 40, a plurality of support legs 50 extending downward from the measuring device holder 32, and the like. The gantry main body 31 is a box-shaped frame formed by welding a steel plate, for example, and is open at the top. Further, the gantry main body 31 is fixed to the gantry fixing frame 13 of the erector-mounted spray machine 1 via the mounting bracket 14.

The gantry main body part 31 of the vibration-proof gantry 30 is formed by a rectangular bottom plate 311 and a side plate 312 that stands vertically upward from the bottom plate 311. In this embodiment, the side plate 312 has a square shape in plan view. Further, the upper end of the side plate 312 in the gantry main body 31 is an open end, and a rectangular opening 313 is formed.

The measuring instrument holding section 32 includes a base plate 33 which is a flat plate member having a rectangular shape in plan view, a locking air cylinder 34 vertically disposed downward from the bottom surface of the base plate 33, mounting legs 35, and the like. The outer shape of the base plate 33 is formed to be one size smaller than the opening 313 of the gantry main body 31 , and the base plate 33 extends through the opening 313 into the inner space surrounded by the side plates 312 in the gantry main body 31 . It is now possible to enter (accommodate). Note that the shape, size, etc. of the gantry main body 31 and the base plate 33 are not particularly limited.

Here, 33A is the upper surface of the base plate 33, and 33B is the lower surface of the base plate 33. In a state where the measuring instrument holding part 32 is placed on the bottom plate 311 of the gantry main body part 31, the base plate 33 is arranged opposite to the bottom plate 311 such that the lower surface 33B of the base plate 33 faces the upper surface of the bottom plate 311. There is.

Further, a three-dimensional scanner 40 is installed on the upper surface 33A of the base plate 33 via a vibration-proof rubber 36, a mounting plate 37, and the like. For example, vibration isolating rubber 36 is sandwiched between the base plate 33 and the mounting plate 37 at a plurality of locations, and is fixed by screws or the like so that the mounting plate 37 is parallel to the base plate 33 in a compressed state. Further, the bottom of the three-dimensional scanner 40 is fixed to the upper surface 37A of the mounting plate 37 by screws or the like. As described above, the three-dimensional scanner 40 is fixed to the base plate 33 of the measuring instrument holding section 32 via the vibration isolating rubber 36, the mounting plate 37, etc., so that the measuring instrument holding section 32 can be attached to the three-dimensional scanner 40. is held together. Note that in this embodiment, the three-dimensional scanner 40 is arranged at the center of the plane of the base plate 33. Further, as shown in FIGS. 7, 8, etc., a two-axis inclinometer 60 is provided on the upper surface 33A of the base plate 33, making it possible to horizontally measure the base plate 33. Note that the position, number, etc. of the two-axis tilting system 60 are not particularly limited.

Next, the locking air cylinder 34 and the mounting leg portion 35, which are vertically installed downward from the lower surface 33B of the base plate 33, will be explained. In this embodiment, a single locking air cylinder 34 is provided at the center of the base plate 33 in plan view (see FIG. 8 for the plan view position). Furthermore, four mounting legs 35 are vertically provided on the lower surface 33B of the base plate 33. In this embodiment, the four mounting legs 35 hanging downward from the base plate 33 all have the same structure. Each mounting leg 35 is arranged on the lower surface 33B of the base plate 33 at a position near the four corners of the mounting plate 37 (see FIG. 8 for the planar position).

Here, the mounting leg portion 35 is formed by an air cylinder that is a pneumatic linear actuator, and is expandable and retractable along an axial direction extending perpendicularly to the base plate 33. The mounting leg 35 is connected to a cylinder tube 351 fixed to the lower surface 33B of the base plate 33, a piston (not shown) slidably disposed along the inner peripheral surface of the cylinder tube 351, and a piston connected to the cylinder tube 351 fixed to the lower surface 33B of the base plate 33. The piston rod 352 includes a mounting plate 353 attached to the distal end side of the piston rod 352, and the like. As shown in FIG. 10, a mounting plate 351A is provided at the upper end of the cylinder tube 351, and the cylinder tube 351 is fixed to the base plate 33 via the mounting plate 351A. Further, the shape, size, etc. of the mounting plate 353 attached to the tip end side of the piston rod 352 are not particularly limited, but in this embodiment, it has a disk shape. Compressed air supplied to each mounting leg 35 into the cylinder tube 351 is controlled based on a control signal from the control computer 102. As a result, the piston connected to the piston rod 352 moves along the axial direction of the cylinder tube 351, so that the piston rod 352 expands and contracts.

As shown in FIG. 10, on the upper surface 311A of the bottom plate 311 of the gantry main body 31, a first guide portion 38 that guides the mounting plate 353 of each mounting leg 35 is vertically provided. The first guide portion 38 is a cylindrical member having an inner diameter equal to the diameter of the mounting plate 353 provided at the tip of the piston rod 352, and the inner peripheral surface thereof is a guide surface 38A that guides the mounting plate 353. It is configured as. The first guide portions 38 are provided at positions corresponding to the respective mounting legs 35, and in this embodiment, the first guide portions 38 are provided at four locations. For example, each of the first guide parts 38 is arranged coaxially with the piston rod 352 and the mounting plate 353 in each mounting leg 35. When the piston rod 352 of each mounting leg 35 expands and contracts, the side peripheral surface of the mounting plate 353 attached to the tip of the piston rod 352 moves up and down along the guide surface 38A of the first guide section 38. slide in the direction. Thereby, the horizontal movement of the piston rod 352 is regulated by the first guide portion 38 when the piston rod 352 in each mounting leg portion 35 expands and contracts.

Next, the locking air cylinder 34 will be explained. The locking air cylinder 34 is an air cylinder having basically the same structure as the mounting leg 35, and is attached along the cylinder tube 341 fixed to the lower surface 33B of the base plate 33 and the inner peripheral surface of the cylinder tube 341. It is configured to include a slidably disposed piston (not shown), a piston rod 342 connected to the piston, a locking plate 343 attached to the distal end side of the piston rod 342, and the like. The cylinder tube 341 of the locking air cylinder 34 is provided with a mounting plate 341A at its upper end, and the cylinder tube 341 is fixed to the base plate 33 via the mounting plate 341A. The locking air cylinder 34 also operates based on a control signal from the control computer 102. By controlling the compressed air supplied into the cylinder tube 341 of the locking air cylinder 34, the piston connected to the piston rod 342 moves along the axial direction of the cylinder tube 341, so that the piston rod 342 moves. Expand and contract.

Further, as shown in FIGS. 10 and 11, the bottom plate 311 of the gantry main body 31 has an insertion opening 311C through which the piston rod 342 of the locking air cylinder 34 can be inserted. The insertion hole 311C of the bottom plate 311 in the gantry body 31 is formed at the center of the bottom plate 311, and the locking plate 343 is positioned on the lower surface 311B side of the bottom plate 311 with the piston rod 342 inserted through the insertion hole 311C. ing. Although the shape, size, etc. of the locking plate 343 in the locking air cylinder 34 are not particularly limited, it has a disk shape in this embodiment. Note that the cross-sectional area of the insertion opening 311C that opens in the bottom plate 311 of the gantry main body 31 is smaller than the cross-sectional area of the locking plate 343. Therefore, the locking plate 343 of the locking air cylinder 34 cannot enter into the insertion opening 311C of the bottom plate 311. In other words, when the piston rod 342 of the locking air cylinder 34 is pulled, that is, when the piston rod 342 is contracted, the locking plate 343 of the piston rod 342 is inserted into the bottom surface 311B (the insertion hole 311C When the piston rod 342 comes into contact with the edge surface formed around the piston rod 342, further pulling movement of the piston rod 342 is restricted.

Furthermore, in this embodiment, as shown in FIGS. 10 and 11, a locking plate provided at the tip of the piston rod 342 of the locking air cylinder 34 is provided on the lower surface 311B of the bottom plate 311 of the gantry main body 31. A second guide portion 39 that guides 343 is vertically provided. The second guide portion 39 is a cylindrical member having an inner diameter equal to the diameter of the locking plate 343 provided at the tip of the piston rod 352 in the locking air cylinder 34, and the inner peripheral surface thereof is 343 is configured as a guide surface 39A that guides the guide surface 343. The second guide portion 39 is provided at a position corresponding to the locking air cylinder 34, and is arranged coaxially with the piston rod 342 and the locking plate 343 in the locking air cylinder 34. When the piston rod 342 of the locking air cylinder 34 expands and contracts, the side peripheral surface of the locking plate 343 attached to the tip of the piston rod 342 moves vertically along the guide surface 39A of the second guide portion 39. to slide. As a result, when the piston rod 342 in the locking air cylinder 34 expands and contracts, the movement of the piston rod 342 in the horizontal direction is restricted by the second guide portion 39 .

Next, the support leg portions 50 of the vibration-proof pedestal 30 will be explained. The vibration isolating pedestal 30 according to the present embodiment includes four support legs 50, and each support leg 50 is provided vertically downward from the base plate 33 of the measuring instrument holding section 32. Each support leg 50 is constituted by a power cylinder that is an electric linear actuator. Since the configuration of the power cylinder itself is well known, a detailed explanation will be omitted, but the support leg portion 50 consists of a case 51 fixed to the lower surface 33B of the base plate 33, a support rod 52 held by the case 51, and a support rod 52. It has a ground plate 53 attached to the tip side, a motor 54 for rotationally driving a ball screw (not shown) housed in the case 51 and provided integrally with the support rod 52, and the like. The motor 54 is, for example, a servo motor provided at the upper end of the case 51, and can extend and contract the support rod 52 with respect to the case 51 by rotating a ball screw in forward and reverse directions. Note that although the case 51 has a cylindrical shape in this embodiment, the shape is not particularly limited. Further, a motor 54 in each support leg 50 is controlled by a control computer 102 of the erector-mounted spraying machine 1, and the expansion and contraction operation of the support rod 52 is controlled based on a control signal from the control computer 102. be done. Note that the motor 54 in each support leg 50 can be controlled not only by the control computer 102 but also by using, for example, a manual pulse generator. Further, the motor torque when the motor 54 of each support leg section 50 operates based on the control signal of the control computer 102 is configured to be detected in real time. For example, detection data regarding the torque of the motor 54 is sequentially detected. It may also be input to the control computer 102.

Here, as shown in FIG. 8, FIG. 9, etc., each support leg part 50 is arranged at a position near the four corners of the base plate 33, respectively. Further, as shown in FIGS. 10 and 11, a mounting plate 51A is provided at the upper end of the case 51 on the support leg 50, and the case 51 is fixed to the lower surface 33B of the base plate 33 via the mounting plate 51A. ing. Furthermore, openings 33 are formed at the four corners of the base plate 33 to prevent the motor 54 in the support leg 50 from interfering with the base plate 33. A motor 54 at 50 projects toward the upper surface 33A of the base plate 33.

Further, the bottom plate 311 of the gantry body 31 is provided with an opening 311D through which the case 51 of the support leg 50 can be inserted. The opening 311D formed in the bottom plate 311 of the gantry main body part 31 is larger than the cross section of the case 51 of the support leg part 50, and a predetermined clearance is formed between the case 51 and the opening 311D. Further, the openings 311D in the bottom plate 311 are opened at positions corresponding to the respective support legs 50. The case 51 of each support leg 50 vertically installed on the base plate 33 extends below the bottom plate 311 of the gantry main body 31 through the corresponding opening 311D.

Next, a vibration isolation method for the three-dimensional scanner 40 when performing measurement work using the three-dimensional scanner 40 mounted on the vibration-isolating pedestal 30 will be described. Here, an example of operation will be described when the three-dimensional scanner 40 measures and manages the thickness of shotcrete to be sprayed onto the ground 7 using the spraying device 20 of the erector-mounted spraying machine 1.

For example, after excavating the face 2 in a new section for installing a new support structure and removing the sludge, the erector-mounted spraying machine 1, which had been waiting at a predetermined standby area, is driven by itself to the construction position near the face 2. Deploy. At this time, the erector-mounted spraying machine 1 is moved from the standby location to the construction position near the face 2, with the pair of hands 12L, 12R in the erector device 10 holding a pair of shoring pieces, respectively. Here, the above-mentioned waiting place is an example of a predetermined preparation position different from the construction position near the face 2.

In this embodiment, when moving the erector-mounted spraying machine 1 to the construction position near the face 2, shocks to the three-dimensional scanner 40 caused by vibrations and the like while the erector-mounted spraying machine 1 is traveling are prevented. In order to reduce the vibration, the measuring instrument holding part 32 of the vibration-proof pedestal 30 is fixed to the pedestal main body part 31. In this embodiment, the measuring instrument holding part 32 is fixed to the gantry main body part 31 by causing the locking air cylinder 34 to perform a pulling action and by causing each of the mounting legs 35 to perform a pushing action. As a result, the piston rod 352 in each mounting leg 35 expands, and the piston rod 342 in the locking air cylinder 34 contracts.

As a result, as shown in FIG. 12, the mounting plate 353 attached to the tip of the piston rod 352 in each mounting leg 35 and the locking plate 353 attached to the tip of the piston rod 342 in the locking air cylinder 34 The bottom plate 311 of the gantry main body 31 is sandwiched between the stop plates 343, and the air pressure supplied to each of the mounting legs 35 and the locking air cylinder 34 causes the gantry to be placed on the bottom plate 311 of the gantry main body 31. The measuring instrument holding part 32 is fixed to the bottom plate 311. Hereinafter, as shown in FIG. 12, the state in which the measuring instrument holding part 32 is fixed to the bottom plate 311 of the gantry main body part 31 will be referred to as a "fixed state." As described above, by fixing the measuring instrument holding part 32 to the gantry main body 31, the measuring instrument holding part is placed on the bottom plate 311 of the gantry main body 31 when the erector-mounted spraying machine 1 is running. 32 never flutters. As a result, shocks, vibrations, etc. that act on the three-dimensional scanner 40 held by the measuring instrument holding section 32 can be alleviated.

Furthermore, according to the vibration isolating pedestal 30 in this embodiment, the vibration isolating rubber 36 is disposed between the base plate 33 in the measuring instrument holding section 32 and the mounting plate 37 on which the three-dimensional scanner 40 is installed. , it is possible to suitably suppress vibrations caused by the running of the erector-mounted spraying machine 1 from being transmitted to the three-dimensional scanner 40.

As described above, after the erector-mounted spraying machine 1 is moved from the standby place to the construction position near the face 2 with the measuring instrument holding part 32 fixed to the bottom plate 311 of the main body part 31 of the vibration-proof pedestal 30. , the control computer 102 pushes and operates the locking air cylinder 34. As a result, as shown in FIG. 13, the piston rod 342 of the locking air cylinder 34 extends, and the locking plate 343 attached to the tip of the piston rod 342 separates from the bottom plate 311 of the gantry main body 31. As a result, the locking of the bottom plate 311 by the locking plate 343 of the locking air cylinder 34 is released, and as a result, the fixed state of the measuring instrument holder 32 to the gantry main body 31 is released.

As described above, after releasing the fixation of the measuring instrument holder 32 from the gantry main body 31, the control computer 102 extends the support rods 52 in the four support legs 50. Then, when the ground plate 53 of the support rod 52 in each support leg 50 comes into contact with the ground G, the motor 54 of the support leg 50 whose ground plate 53 is in contact with the ground is temporarily stopped. Note that while the support rod 52 of each support leg portion 50 is being extended, torque fluctuations of each motor 54 are detected in real time. The control computer 102 can detect that the ground plate 53 of the support rod 52 has touched the ground G based on the detection result of the torque fluctuation of the motor 54 when the support rod 52 of each support leg 50 is extended. In addition, as another aspect, a contact sensor for detecting that the ground plate 53 provided at the tip of each support rod 52 is grounded on the ground G is installed on the lower surface of each ground plate 53, and the contact sensor detects The signal may be configured to be sent to control computer 102 in real time. In this embodiment, the control computer 102 can detect the timing of the grounding plate 53 on each support leg 50 based on the detection signal from the contact sensor. As described above, the control computer 102 grounds the ground plates 53 of all the support legs 50 of the vibration-isolating pedestal 30 to the ground G. Note that even if the amount of axial movement of the ball screw (support rod 52) rotationally driven by the motor 54 in each support leg 50 is displayed on the monitor 101 of the erector-mounted spray machine 1, good. When the control computer 102 detects that the ground plate 53 of each support leg 50 is in contact with the ground, the control computer 102 sets the height of the support leg 50 at that time to the origin "0".

FIG. 14 shows a state in which the ground plate 53 of the support rod 52 of the support leg portion 50 of the vibration-proof pedestal 30 is grounded to the ground G. In this way, after the ground plates 53 of all the support legs 50 in the vibration-isolating frame 30 are grounded to the ground G, for example, the two-axis inclinometer 60 provided on the base plate 33 is visually checked, and as appropriate. The base plate 33 is leveled by adjusting the height of each support leg 50 using a manual pulse generator (not shown). Further, when leveling the base plate 33, for example, the heights of the other support legs 50 may be adjusted using the highest support leg 50 among the four support legs 50 as a reference. Note that the three-dimensional scanner 40 in this embodiment may be equipped with a known auto-leveling device that automatically adjusts the mounting plate 37 of the three-dimensional scanner 40 to be horizontal. In this way, when the three-dimensional scanner 40 is equipped with an auto-leveling device, the two-axis inclinometer 60 may be omitted, and the two-axis inclinometer 60 may be used to level the base plate 33. However, the three-dimensional scanner 40 may be only roughly leveled, and the detailed leveling of the three-dimensional scanner 40 may be performed by an autoleveling device. Moreover, instead of the two-axis inclinometer 60, a simple bubble-type leveler may be installed, and the base plate 33 may be leveled using the bubble-type leveler.

After horizontally aligning the base plate 33 in the measuring instrument holder 32 as described above, the control computer 102 drives the motors 54 of all the support legs 50 at the same time to reach a predetermined height ( For example, the support rods 52 of each support leg 50 are simultaneously extended by a few centimeters. As a result, as shown in FIG. 15, the ground plate 53 of each support leg portion 50 is separated from the ground G and becomes floating above the ground G. Moreover, since each support leg part 50 is fixed to the base plate 33 of the measuring instrument holding part 32, each support leg part 50 is fixed to the base plate 33 of the measuring instrument holding part 32. By extending the support rods 50 (support rods 52), the measuring instrument holder 32 is lifted upward by each support leg 50. That is, the measuring instrument holding part 32 placed on the bottom plate 311 of the gantry main body 31 is lifted upward by each support leg 50, so that the measuring instrument holding part 32 does not come into contact with the gantry main body 31. becomes.

As described above, when the measuring instrument holding part 32 of the vibration isolating pedestal 30 is held by each support leg part 50 with the measuring instrument holding part 32 lifted upward from the pedestal main body part 31, measurement by the three-dimensional scanner 40 is performed. You are ready to start. In this way, after preparations for starting measurement by the three-dimensional scanner 40 are completed, the three-dimensional scanner 40 is activated by measuring the position of each body target 9B of the erector-mounted spray machine 1 using the total station 70. Get the placed position (three-dimensional coordinates). Thereafter, measurement by the three-dimensional scanner 40 is started, and at the same time, spraying of the primary shotcrete 3 onto the face 2 and the ground 7 (pit wall surface) using the spraying device 20 is started. Note that here, the three-dimensional scanner 40 is used to measure the shape of the ground 7 (pit wall surface) in the face 2 and its vicinity, thereby monitoring the thickness of the shotcrete. Further, the monitoring results of the thickness of shotcrete on the face 2 and the ground 7 are displayed on the monitor 101 in real time.

Here, when the spraying operation of shotcrete by the spraying device 20 is started, the erector-mounted spraying machine 1 will vibrate. On the other hand, in this embodiment, since the measuring instrument holding part 32 is lifted upward by each support leg part 50 with respect to the bottom plate 311 of the gantry main body part 31, the machine of the erector-mounted spraying machine 1 It is possible to suppress vibrations from being transmitted to the three-dimensional scanner 40 mounted on the measuring instrument holding section 32 via the gantry fixing frame 13 and the gantry main body 31. Thereby, accurate measurement can be performed using the three-dimensional scanner 40 mounted on the erector-mounted spraying machine 1 while operating the erector-mounted spraying machine 1. In other words, the thickness of shotcrete can be controlled with high precision. As a result, uneven spraying of shotcrete is less likely to occur, and it is also possible to avoid spraying more shotcrete than necessary, reducing construction time and wasting materials (reducing costs). I can do it.

After confirming that the primary shotcrete 3 has been sprayed as designed by the spraying device 20, for example, the operation of the spraying device 20 is temporarily stopped, and the tunnel support 4 is placed in a predetermined position using the erector device 10. erected at the erected position. For example, by setting the shoring pieces 4L and 4R held by a pair of hands 12L and 12R at predetermined erection positions, and joining the upper ends (top ends) of each shoring piece 4L and 4R in that state, , forming an arch-shaped tunnel support 4. Note that, of course, the connection structure of each of the shoring pieces 4L and 4R is not particularly limited. The joint plates provided at the upper ends (tops) of each of the shoring pieces 4L and 4R may be bolted to each other, or each shoring piece may be joined using a one-touch joint for joining the joint plates with one touch. 4L and 4R may be connected. Further, as described above, the tunnel support 4 may be erected after the spraying of the primary shotcrete 3 on the ground 7 in the new section is completed, or the work of spraying the primary shotcrete 3 and the Part of the erection work for the shoring pieces 4L and 4R may be performed overlappingly. In addition, when erecting the tunnel support 4, each support target 9A attached to the pair of support pieces 4L, 4R is sighted by the total station 70, and based on the position of each support target 9A acquired in real time. This can be done by operating the pair of hands 12L and 12R.

After the tunnel support 4 has been erected, the spraying device 20 is operated again to spray the secondary shotcrete 5 onto the ground 7. Note that the measurement by the three-dimensional scanner 40 may be continued even when the tunnel support 4 is being erected. Alternatively, measurement by the three-dimensional scanner 40 may be interrupted while the tunnel support 4 is being erected, and may be started simultaneously with the start of spraying of the secondary shotcrete 5. Even during the work of spraying the secondary shotcrete 5 onto the ground 7, the measurement results by the three-dimensional scanner 40 are displayed on the monitor 101 in real time. Then, the total sprayed thickness of the shotcrete on the ground 7 (the sum of the sprayed thickness of the primary shotcrete 3 and the sprayed thickness of the secondary shotcrete 5) reached a specified thickness or more. When this is confirmed, the shotcrete spraying work by the shotcrete apparatus 20 is finished, and the measurement work by the three-dimensional scanner 40 is finished. Thereafter, one cycle of tunnel excavation is completed by appropriately driving rock bolts (not shown) into the ground 7.

After the rock bolt driving is completed as described above, the erector-mounted spraying machine 1 is evacuated to a standby location in order to excavate the face 2 in the next cycle. When moving the erector-mounted spraying machine 1 from the construction position near the face 2 to the standby position, the mount on the vibration-isolating frame 30 is used in the same way as when moving the erector-mounted spraying machine 1 from the standby position to the construction position. The meter holding section 32 is moved to a fixed state in which it is fixed to the bottom plate 311 of the main body section 31.

That is, the support rod 52 is contracted until the ground plate 53 provided on the support rod 52 of each support leg portion 50 is sufficiently separated from the ground G. As a result, the vibration-isolating pedestal 30 shifts from the state shown in FIG. 15 to the state shown in FIG. The measuring instrument holder 32 is placed on the bottom plate 311 in a state where it is in contact with the upper surface 311A of the bottom plate 311. From this state, the locking air cylinder 34 is caused to perform a pulling operation to retract the piston rod 342 in the locking air cylinder 34. As a result, the state shown in FIG. 12 is entered, and the mounting plate 353 of the piston rod 352 in each mounting leg 35 and the locking plate 343 of the piston rod 342 in the locking air cylinder 34 are connected to the gantry main body. As a result of the bottom plate 311 of 31 being sandwiched, the measuring instrument holding part 32 is fixed to the bottom plate 311 of the gantry main body part 31. After the measuring instrument holding part 32 is shifted to the fixed state in this manner, the erector-mounted spraying machine 1 is moved from the construction position to the standby position. Thereby, it is possible to reduce shocks, vibrations, etc. transmitted to the three-dimensional scanner 40 held by the measuring instrument holding part 32 when the erector-mounted spraying machine 1 is running. In this embodiment, the locking air cylinder 34 constitutes a fixing mechanism that can switch between fixing the measuring instrument holding section 32 to the gantry main body 31 and releasing the fixed state of the measuring instrument holding section 32.

Further, according to the vibration-proof pedestal 30 in this embodiment, since the first guide part 38 is provided on the bottom plate 311 of the pedestal main body 31, the piston rod 352 in each mounting leg 35 expands and contracts. Horizontal movement of the rod 352 can be restricted. Further, since the bottom plate 311 of the gantry main body 31 is further provided with a second guide portion 39, horizontal movement of the piston rod 342 is restricted when the piston rod 342 of the locking air cylinder 34 expands and contracts. can. Thereby, relative movement in the horizontal direction can be restricted while allowing relative movement in the vertical direction of the measuring instrument holding part 32 with respect to the gantry main body part 31. Thereby, when moving the measuring instrument holding part 32 up and down with respect to the gantry main body part 31, it is possible to suppress the horizontal position of the measuring instrument holding part 32 (three-dimensional scanner 40) from shifting. In this embodiment, the first guide section 38 and the second guide section 39 correspond to the guide section.

Although the embodiments of the present invention have been described above, the vibration-isolating pedestal according to the present invention, the construction machine equipped with the same, and the vibration-isolating method for a measuring instrument using the vibration-isolating pedestal are not limited to these. For example, in the vibration isolating pedestal 30 according to the present embodiment, the positions and numbers of the locking air cylinder 34 and the mounting legs 35 provided in the measuring instrument holding section 32 are not particularly limited. Furthermore, the position and number of the support legs 50 fixed to the base plate 33 of the measuring instrument holding section 32 are not particularly limited.

Furthermore, in this embodiment, the three-dimensional scanner 40 has been described as an example of a measuring instrument mounted on the vibration-isolating pedestal 30, but the type of measuring instrument is not particularly limited. For example, instead of the three-dimensional scanner 40, a total station (surveying instrument), a millimeter wave radar device, or the like may be installed in the measuring instrument holding section 32.

Furthermore, in the present embodiment, an erector-mounted spraying machine has been described as an example of a construction machine on which the vibration-proof pedestal 30 is mounted, but the vibration-proof pedestal 30 may be mounted on other construction machines. For example, the anti-vibration mount 30 may be mounted on a construction machine such as a drill jumbo or a breaker that excavates the face 2 of a tunnel. In this case, for example, the three-dimensional scanner 40 may be used to measure the shape of the surface of the tunnel excavation, and may be used to identify hit points that may cause problems in subsequent lining. Further, the present invention provides a measurement unit including the vibration-isolating pedestal 30 according to the embodiment described above and a measuring instrument (for example, a three-dimensional scanner 40, etc.) held in the measuring instrument holding section 32 of the vibration-isolating pedestal 30. It is also possible to specify.

1...Erector-mounted spraying machine 2...Face 3...Primary shotcrete 4...Tunnel support 5...Secondary shotcrete 7...Mound 10...Erector Device 20...Blowing device 30...Vibration isolation pedestal 31...Base main body 32...Measuring instrument holding part 33...Base plate 34...Locking air cylinder 35...Mounting Placement leg 40...Three-dimensional scanner 50...Support leg

Claims (5)

A vibration-proof stand for installing a measuring device on a construction machine,
a gantry main body fixed to the construction machine;
a measuring instrument holding part that is placed on the gantry main body part and holds the measuring instrument;
a plurality of support legs that are vertically disposed downward from the measuring instrument holder so as not to contact the gantry main body and are extendable and retractable along the vertical up-down direction;
Equipped with
When using the measuring instrument, the plurality of supporting legs are extended, the plurality of supporting legs are grounded, and the measuring instrument holding part is lifted upward from the gantry main body. is held by the plurality of support legs ,
The measuring instrument holding section has a rod member that is vertically disposed downward from the measuring instrument holding section, separately from the plurality of supporting legs,
The gantry main body includes a guide surface that slides the side circumferential surface of the rod member in the vertical direction, and a guide portion that restricts horizontal movement of the rod member.
Anti-vibration pedestal. The measuring instrument holding section has a fixing mechanism that can switch between fixing the measuring instrument holding section to the gantry main body and releasing the fixed state of the measuring instrument holding section.
The vibration-proof pedestal according to claim 1. A construction machine comprising the vibration-proof frame according to claim 1 or 2 . A vibration isolation method for a measuring instrument installed on a construction machine via a vibration isolation frame,
The vibration-proof pedestal is
a gantry main body fixed to the construction machine;
a measuring instrument holding part that is placed on the gantry main body part and holds the measuring instrument;
A plurality of support legs are provided vertically downward from the measuring instrument holding part so as not to contact the gantry main body part, and are extendable and retractable along the vertical up and down direction,
The measuring instrument holding section has a rod member that is vertically disposed downward from the measuring instrument holding section, separately from the plurality of supporting legs,
The gantry main body has a guide surface that allows the side peripheral surface of the rod member to slide in the vertical direction.
and a guide portion that restricts horizontal movement of the rod member,
The vibration isolation method includes:
After the construction machine is moved to a predetermined construction position, the plurality of support legs are extended, the plurality of support legs are grounded, and the measuring instrument holding part is lifted upward from the gantry main body. a measuring instrument holding section is held by the plurality of support legs ;
when extending the plurality of support legs, using the guide section to restrict horizontal relative movement of the measuring instrument holding section with respect to the gantry main body;
Vibration isolation method for measuring instruments. The measuring instrument holding part has a fixing mechanism that can switch between fixing the measuring instrument holding part to the gantry main body and releasing the fixed state of the measuring instrument holding part,
The construction machine is moved from a predetermined preparation position different from the construction position to the construction position with the measuring instrument holding part fixed to the gantry main body part by the fixing mechanism, and the construction machine is moved to the construction position. and then releasing the fixed state of the measuring instrument holding part by the fixing mechanism, and then extending the plurality of supporting legs.
The vibration isolation method for a measuring instrument according to claim 4 .

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