JPH0420478B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Field of Industrial Application The present invention relates to an automatic excavator that can easily excavate tunnels with irregular cross-sectional shapes with high precision.

(b) Conventional technology In general, when excavating tunnels for which shield excavators cannot be used or tunnels with irregular cross-sections using trenchless methods, crawler-type excavators with a boom are often used. Conventionally, when excavating tunnels with this type of excavator, an operator sitting in the cab of the excavator body visually followed the movement of the cutter head (cutting drum) attached to the tip of the boom while operating the boom control lever. was used to control the movement of the cutter head. However, in general, a large amount of dust is generated by excavation at the face, so visibility is poor, and visual confirmation of the cutter head position is inaccurate.As it is often impossible to confirm the cutter head position, accurate excavation is difficult. It was hot.
These inaccurate operations caused deviations in the tunnel cross section and increased over-digging, leading to a decline in work efficiency. Therefore, a considerable degree of skill is required on the part of the operator to move the cutter head to match the tunnel reference cross section without being able to accurately confirm the position of the cutter head. If over-digging or deviation of the tunnel cross-section occurs due to lack of skill, it will be uneconomical as it will lead to an increase in the amount of shotcrete or inner-wrapped concrete. Since the cutter head is operated by hand, it takes time to judge the position of the cutter head, making it difficult to operate continuously, and if the cutter head is operated carefully to avoid over-digging, the construction speed will slow down and efficiency will decrease. It was hot.

In addition, in order to solve the above problem, the excavator
A group of detectors that detect the position of the cutter head (cutting drum, etc.) relative to the excavator body, an inclination detector that detects the degree of inclination of the excavator body in the longitudinal and horizontal directions, and a cutting boom that supports the cutter head. Calculate the relative relationship between the excavator body and the cutter head with respect to the tunnel reference cross section based on the output signals of the respective detector groups with the laser target aligned with the excavation direction reference laser beam set in the tunnel. A calculation device and a display device having a display screen that displays the tunnel reference cross section and the cutter head position based on the output of the calculation device are provided, and cutting can be performed while looking at the display screen, that is, without looking at the cutter head of the cutting blade. An excavator that excavates by operating a boom is described in Japanese Patent Application Laid-open No. 173297/1983 and is well known in the art. However, this one
Since the cutting boom is operated manually while visually checking the tunnel standard cross section and the cutting drum position displayed on an electronic display screen such as a CRT, it is difficult to excavate an accurate tunnel cross section and work continuously for long periods of time. Yes, when using this, it is necessary to install two reference laser beams inside the tunnel being excavated, but this is difficult because the laser beams may be blocked by attached equipment at the rear of the excavator. , there is a drawback.

(C) Problems to be Solved by the Invention The present invention overcomes the problems that exist in conventional excavators as described above, such as poor operability and low excavation accuracy, and improves operator comfort. To provide an automatic excavator capable of easily excavating an accurate tunnel cross section without requiring any skill by automatically moving a cutting drum regardless of operation.

(d) Measures to solve the problem A laser target mounted on a cutting boom that lifts, rotates, and expands and contracts with respect to the aircraft, and a rear laser that is attached to the rear of the aircraft so that it lifts and turns relative to the aircraft. a detector that detects the target, a heave angle, a rotation angle, and an amount of expansion and contraction of the cutting boom; a detector that detects the longitudinal and horizontal inclination angles of the machine body;
A detector detects the heave angle and rotation angle of the rear laser target, and the coordinate position of the cutting drum is calculated from the detected values of each detector, taking into account the deflection angle of the aircraft with respect to the tunnel axis, and the coordinate position is calculated in advance. Compare and calculate the reference movement coordinates of the cutting drum stored in the internal memory of the computer and the external storage device,
The present invention is characterized by a configuration that includes an excavation control device that controls each hydraulic cylinder device that raises, rotates, and extends and contracts the cutting boom in accordance with the calculation results. In this automatic excavator, before starting excavation work, the front laser target mounted on the cutting boom and the rear laser target mounted on the machine body are sequentially aligned with a reference laser beam set inside the tunnel. The position of the machine with respect to the tunnel axis, that is, the deflection angle of the machine, is calculated based on the detected values of each detector when Ru.

Furthermore, if the excavation control device 27 is provided with a display screen that relatively displays the tunnel reference section and the position of the cutting drum, it will be useful for monitoring automatic excavation work and for manual control of the cutting drum.

(E) Embodiments Examples of the present invention will be described with reference to the drawings.

FIG. 1 is a schematic side view of an automatic excavator of the present invention. Reference numeral 1 denotes an excavator main body that can move in the front and back direction (in the direction of arrow A in the figure), and the excavator main body 1 is equipped with a traveling device 2 such as a caterpillar. Excavator body 1
is equipped with a prime mover, a hydraulic pump, etc., and is also provided with a driver's seat 3. In addition, the excavator body 1
A loader 4 (loading device) is installed on the side of the excavator to collect excavated soil (sludge). It is designed to be rotated in the direction. On the other hand, on the side of the excavator main body 1, a shear discharge belt conveyor 6 for feeding the scraps scooped up by the loader 4 is installed parallel to the forward and backward movement direction of the excavator.

A vertical post (cylindrical part) is provided at the front of the excavator main body 1, and a turning table 7 that can turn around a vertical axis is fitted to the upper end of the post. A hydraulic cylinder device 8 provided in the main body 1 allows the post to be pivoted about its vertical central axis. A horizontal support shaft 9 that is perpendicular to the forward and backward movement direction of the excavator main body 1 is provided at the front end of the rotating table 7, and a cutting boom 10 that extends parallel to the forward and backward movement direction of the excavator is provided on the support shaft 9. The base end portion of is fitted so as to be swingable in the vertical direction. The cutting boom 10 is vertically swung about the support shaft 9 by a hydraulic cylinder device 26 attached to the front end of the rotating table 7, and part of the weight of the cutting boom 10 is caused by this hydraulic pressure. It is supported by a cylinder device 26. The cutting boom 10 has a built-in hydraulic cylinder in its upper part, and has an electric motor (not shown) at the tip of the boom and a cutting drum 12 (drum cutter,
Cutterhead) is supported.

In FIG. 1, a front laser target 18 is mounted on the cutting boom 10 of an excavator. A cutting drum 12 is rotatably attached to the tip of the cutting boom 10 to excavate a tunnel or the like.
The cutting surface of this cutting drum 12 is preferably spherical.

Further, a rear laser target 11 is attached to the rear part of the excavator main body 1, as shown in FIGS. 1 to 3. The rear laser target 11 is supported by the target arm 20 and mounted on a rotating table 35. The rear laser target 11 can be moved up and down (elevation) and rotated by hydraulic cylinder devices 33 and 34, and detectors 21 and 22 for the elevation and rotation angle of the target arm 20 are attached to the rear laser target 11. The detected values of the elevation angle and the turning angle are input to the control device unit 28. In FIG. 3, 32 indicates a gear transmission.

The movable part at the top of the post is a rotating table 7.
A table rotation angle detector 13 fixed to the (swivel base) is provided, a movable portion of the support shaft 9 is connected to a cutting boom 10, and a boom elevation angle detector 14 is attached to the center of elevation. As these rotational angle detectors, for example, known detectors such as a rotary encoder, rotary potentiometer, synchro, etc. can be used, but any type of detector may be used. On the other hand, in order to detect the amount of expansion/contraction (expansion/contraction stroke) of the cutting boom 10 in the axial direction, it consists of a rack bar 15a fixed to the cutting drum 12 side, and a rotary encoder 15b rotated via a pinion meshing with the rack bar 15a. A boom expansion/contraction amount (extension/contraction stroke) detector 15 is provided on the cutting boom 10 . That is, this detector 15 is composed of a rack and pinion mechanism that converts a stroke into a rotation angle, and a rotation angle detector.

Furthermore, on the excavator main body 1, there is a longitudinal inclination angle detector 16 for detecting the inclination of the excavator main body 1 in the forward and backward directions, and a horizontal inclination angle detector 16 for detecting the inclination of the excavator main body 1 in the horizontal direction. An angle detector 17 is provided. As these two inclination angle detectors, for example, known magnetic detectors, capacitance detectors, potentiometers, etc. are used.

As shown in FIG. 2, there is usually one laser beam generator 19 (laser beam projector, laser beam projector) installed in the tunnel, but two or more can be installed if the tunnel cross section is large.
If the tunnel is straight, the laser beam generator is installed so that the laser beam is parallel to the tunnel center axis, but even if the tunnel is curved, the tunnel center axis can be calculated using the laser beam as a reference. .

As shown in FIG. 2, with the machine body 1 arbitrarily fixed in the tunnel, the cutting boom 10 is moved to align the center of the laser target 18 with the laser beam L, and the rear laser target 11 is aligned with the laser beam L. Match L. The detection values of each detector at this time are input to the control device unit 28.

FIG. 4 shows a schematic configuration diagram of the excavation control device installed in the automatic excavator of the present invention.

Detectors 13, 14, 15 detect the elevation, rotation angle, and extension/contraction stroke of the cutting boom to detect the position and movement of the cutting boom 10, and detect the longitudinal and lateral inclination angles of the excavator body 1 to determine the posture. Detectors 16 and 17 for detecting the elevation and rotation angle of the target arm 20 of the rear laser target are electrically connected to a control device unit 28 mounted on the excavator main body 1. Each detector group constitutes an excavation control device 27 together with a control device unit 28, an external storage device 25, an operation keyboard 24, a display device 23, and the like. The control device unit 28 built into the operation panel of the excavator main body 1 is composed of a microcomputer which is a calculation device having a calculation function and a memory function. A display device 2 such as a cathode ray tube (CRT) or liquid crystal display installed near the
3 is connected. The operation keyboard 24 is provided on the operation panel of the excavator main body 1 and is connected to the control device unit 28, and the external storage device 25 is connected to the control device unit 28.

The control device unit 28 has a function of calculating the relative positional relationship between the reference excavation cross section to be excavated and the attitude of the excavator main body 1, and also calculating the position and movement of the cutting drum 12 based on the relative positional relationship. There is. On the screen 23a of the display device 23, an image Z of a true predetermined reference cross section and the momentary image and locus of the cutting drum 12 are displayed.

In order to perform each operation of elevating, rotating, and extending/contracting the cutting boom according to the calculations of the microcomputer, the elevating solenoid valve 29, the rotating solenoid valve 30, and the extending/contracting solenoid valve 31 are dynamically operated. It's getting old.

5 to 9 are explanatory diagrams for explaining examples of calculations etc. performed within the excavation control device 27, FIG. 5 is a perspective diagram, and FIG. 6 is a quadrilateral MCEI of FIG. 5. It is a development line diagram developed on a plane.

In FIGS. 5 and 6, L is a laser beam projected into the excavation tunnel parallel to the excavation direction,
As shown in FIG. 6, the case is shown in which the excavator main body 1 is deflected to the left from the forward direction by an angle γ in a horizontal plane with respect to the excavation direction. Before or during excavation, the operator rotates the cutting boom 10 to the left and right by an appropriate amount so that the front laser target 18 on the cutting boom 10 is irradiated with the laser beam L as shown in FIG. Cutting boom 10
to stop. Next, the rear laser target 11 is raised and rotated to emit the laser beam L as shown in FIG.
In this state, the control switch of the operating keyboard 24 on the operation panel is turned on. Then, detection signals of the rotation angle α ₁ of the cutting boom 10 from the table rotation angle detector 13 and the rotation angle α ₂ of the rear laser target 11 from the target arm rotation angle detector 22 are input to the control device unit 28 . .

The distance MD(g) includes a value obtained by the input signal from the expansion/contraction stroke detector 15,
The angles β ₁ and β ₂ are obtained based on the detection signal of the boom depression/elevation angle detector 14 .

In FIGS. 5 and 6, O ₁ is the intersection of the laser beam L and the front laser target 18, O ₁ is the position point of the elevation angle β ₂ of the target arm 20, and H is the elevation angle β ₁ of the target arm 20. The intersection of the laser beam L and the rear laser target 11 at the position, M is the intersection
The intersection point with the perpendicular drawn from O ₁ to the rotating plane of the rotating table 7, I is the point of intersection from the position point O ₂ to the rotating table 3
C is the rotation center of the rotation table 7, D is the elevation center of the cutting boom 10, E is the rotation center of the target arm 20,
F is the elevation center of the target arm 20, β ₁ is the elevation angle of the cutting boom 10, and β ₂ is the target arm 2.
0 is the elevation angle, α ₁ is the turning angle of the cutting boom 10 when the front laser target 18 is aligned with the laser beam L, and α ₂ is the turning angle of the target arm 20 when the rear laser target 11 is aligned with the laser beam L. Angle, N
is the intersection of the perpendicular lines drawn from the intersection M to the machine center axis Y'-Y', P is the intersection of the perpendicular lines drawn from the intersection I to the machine center axis Y'-Y', and a is the rotation center C of the turning table 7. and the distance between the center of elevation D of the cutting boom 10,
g is the distance between the elevation center D of the cutting boom 10 and the intersection M, j is the distance between the rotation center E of the target arm 20 and its elevation center F, and k is the distance between the target arm 20
_l1 is the distance between the rotation center C of the rotation table 7 and the intersection point N, _l2 is the distance between the rotation center C of the rotation table 7 and the rotation center E of the target arm 20 in the same horizontal plane. , l ₃ is the distance between the rotation center E of the target arm 20 and the intersection P, l ₄
is the distance between intersection N and intersection P in the same horizontal plane,
x ₁ is the distance between the intersection M and the intersection N, x ₂ is the distance between the intersection I and the intersection P
The distances are shown respectively.

Calculating the tilt angle γ of the aircraft with respect to the tunnel axis Y-Y line direction, l ₁ = (g + a) cos α ₁ l ₃ = (k + j) cos α ₂ x ₁ = (g + a) sin α ₁ x ₂ = (k + j) sin α ₂ l ₄ = l ₁ + l ₂ + l ₃ γ = tan ^-1 x ₂ - x ₁ / l ₄ Figure 7 shows the horizontal turning angle of the excavator body 1 toward the right side in the direction of travel with respect to the machine center line Y'-Y'. FIG. 3 is an explanatory diagram for determining the center position J of the cutting drum 12 when the cutting boom 10 is rotated at α. In this case, if the X-axis is taken in the lateral direction with the laser beam L on the left side in the traveling direction as the origin, the x-coordinate of the center J of the cutting drum 12 is (x ₁ +x). Therefore, since the boom rotation angles α ₁ and α with respect to the machine center line Y'-Y' can be detected by the table rotation angle detector 13, γ and α ₁ are known, so x ₁ and x can be immediately obtained. be able to.

FIG. 8 is an explanatory diagram for determining the center position J of the cutting drum 12 when the cutting boom 10 is set at an arbitrary depression angle. In this case, if the y-coordinate is set in the vertical direction with the laser beam L as the origin, the y-coordinate of the center J of the cutting drum 12 will be -(y ₁ + y ₂ ).
y ₁ is uniquely determined by the value of β ₁ , and
y ₂ is the output of the longitudinal tilt angle detector 16 θ ₁
and β ₃ which is the output of the boom elevation angle detector 14, the vertical position of the cutting drum 12 can be immediately determined from the output signals of each detector. In FIG. 8, S ₁ is a virtual horizontal board surface parallel to the laser beam L, P ₁ is a virtual horizontal surface parallel to the laser beam L, and S ₀ is the actual board surface.

FIG. 9 shows a case where the board surface S ₀ of the tunnel is tilted by an angle θ ₂ in the left-right direction with respect to the virtual horizontal board surface S ₁ . In this way, if the operator operates the cutting boom 10 while riding on the excavator tilted with respect to the virtual horizontal plate surface _S1 , even if the operator intends to excavate a tunnel with the regular standard excavation cross section _F1 , the actual In this case, a tunnel with an excavation cross section F ₀ tilted by an angle θ ₂ will be excavated. In other words, when the operator positions the cutting drum 12 at point J ₀ and excavates, even if the operator himself thinks that he is excavating the outer periphery of the tunnel with the regular standard excavation cross section F ₁ , the actual Unless the cutting drum 12 is positioned at point _J1 , it is not possible to excavate the regular standard excavation cross section _F1 . Therefore, in order to perform accurate excavation, it is necessary for the operator to recognize this fact and operate the cutting boom 10 accurately, which is not possible with conventional excavators.

In the excavator of this embodiment, when the excavator is _tilted as shown in FIG. Based on the controller unit 28
By performing coordinate transformation between the inclined coordinate axis system and the regular coordinate axis system, the cutting drum 12 is
The position of can be displayed with respect to the regular reference excavation cross section _F1 . In addition, P ₀ is the actual track surface
A plane parallel to S ₀ and P ₁ is a horizontal plane.

Various variables necessary for coordinate transformation are obtained from the output signals of the various detectors. Further, the transformation between the tilted coordinate axis system and the regular non-tilted orthogonal coordinate axis system is performed by a known coordinate transformation method.

As described above, the inclination angle of the machine body (front and back, left and right, tunnel axis direction) is detected, and based on these values, the elevation angle, rotation angle, and extension and contraction stroke of the cutting boom at the coordinate point where the cutting drum moves are determined. Calculated by a microcomputer, each angle and stroke amount are set as target values, and operating current is applied to each solenoid valve that operates the cutting boom. When the target value is reached, the valve is sequentially switched to the next target value.

All these operations are handled by microcomputer programs.

It is possible to display the position of the cutting drum along with the operation of the cutting boom. On the display screen, in addition to the tunnel reference cross-sectional line, drum outline, and laser beam position, it is also possible to display numerical values such as the tilt angle of the machine, the elevation, rotation angle, and expansion/contraction stroke of the cutting boom. be. In particular, it is also possible to display the distance between the tunnel reference cross-section line and the drum outline line graphically or numerically.

Commands and numerical values are input to the microcomputer using operation keys.

In a curved tunnel, the tunnel cross section can be excavated accurately by inputting the amount of deviation between the tunnel axis and the laser beam and the inclination angle of the tunnel cross section using operation keys or the like. Therefore, the effectiveness of the present invention is not impaired even in curved tunnels.

Furthermore, each coordinate value of the excavation pattern is stored in the microcomputer as a memory (ROM/read-only memory), and can be input to the microcomputer from an external storage device, making it easy to change the excavation pattern. Ru.

In this example, only a self-propelled excavator body having a crawler-type traveling device is shown as the excavator body, but it goes without saying that the excavator body does not have to be self-propelled, and can be used simply for installation. It may also be in the form of a support stand. Furthermore, as the cutting drum (cutter head), it is possible to use not only a drum cutter but also various types of cutters such as blades and bucket wheels. You may also do so.

(F) Effects of the Invention Since the automatic excavator of the present invention has the above-described configuration, the position of the cutting drum and the attitude of the excavator body are electrically detected, and the position of the cutting drum is adjusted based on each detected value. Since the momentary position of the cutting drum is displayed on the screen of the display device with respect to a predetermined reference excavation cross section, there is no need to actually visually check the cutting drum, and regardless of the attitude of the excavator body, the reference excavation is always Excavation work can be performed with the same precision as the cross section.

Furthermore, the automatic excavator of the present invention has the following effects.

Since the cutting drum is automatically moved without any operation by the driver, it is possible to easily excavate an accurate tunnel cross section without requiring any skill.

The movement order and each coordinate of the movement of the cutting drum can be set in advance, and the excavation pattern can be selected depending on the rock quality of the tunnel, etc., allowing efficient excavation.

Not only in a straight tunnel but also in a curved tunnel, the tunnel cross section can be easily and accurately excavated by inputting the deviation amount and inclination of the tunnel axis using the operation keys. This eliminates the need for corrections by surveying, etc.

There are few special restrictions on the installation position of the laser beam, and the installation position can be determined quite freely. Therefore, it is less likely to be obstructed by attached equipment at the rear.

High-precision excavation work reduces the amount of wasted concrete used to fill in excess excavation, lowering raw material costs, and increasing the speed of excavation work by accurately recognizing the movement of the cutting drum. , construction period is shortened and construction costs are reduced.

This reduces driver fatigue, eliminates the need for highly skilled workers, and reduces labor costs.

[Brief explanation of drawings]

FIG. 1 is a schematic side view of the automatic excavator of the present invention, and FIG. 2 is a schematic side view of the automatic excavator of the present invention, showing the relationship between the front laser target on the cutting boom, the rear laser target on the fuselage, and the inside of the excavation tunnel in the automatic excavator of the present invention. FIG. 3 is a schematic perspective view showing the relationship with a reference laser beam. Fig. 3 shows the rear laser targeting device, and Fig. 3A is its plan view;
Figure b is a side view of the target, and figure c is a front view of the target. FIG. 4 is a schematic diagram of the excavation control device installed in the automatic excavator of the present invention. 5 to 9 are explanatory diagrams for explaining examples of calculations etc. performed within the excavation control device, FIG. 5 is a perspective diagram, and FIGS. 6 and 7 are plan diagrams. , FIG. 8 is a side view, and FIG. 9 is a rear view. 1... Excavator main body, 2... Traveling device, 3... Driver's seat, 4... Loader (loading device), 5... Hydraulic cylinder device, 6... Belt conveyor for shear discharge, 7... Turning table , 8... Hydraulic cylinder device, 9... Support shaft, 10... Cutting boom, 11...
... Rear laser target, 12 ... Cutting drum (drum cutter/cutter head), 13 ... Table rotation angle detector, 14 ... Boom elevation angle detector, 15 ... Boom extension/contraction amount detector, 15a ... Rack bar, 15b ... …rotary encoder,
16... Front-back tilt angle detector, 17... Left-right tilt angle detector, 18... Front laser target (target for excavation direction reference beam/cutting boom target), 1
9... Laser light generator (laser beam projector, laser beam projector), 20... Target arm,
21...Target arm elevation angle detector, 22
...Target arm rotation angle detector, 23...
Display device, 24... Operation keyboard, 25...
External storage device, 26... Hydraulic cylinder device, 27
...Drilling control device, 28...Control device unit, 2
9...Elevation solenoid valve, 30...Swivel solenoid valve, 31...
...Telescopic solenoid valve, 32...Gear transmission, 33,3
4...Hydraulic cylinder device, 35...Swivel table.

Claims (1)

[Scope of Claims] 1. A front laser target 18 mounted on a cutting boom that lifts, turns, and expands and contracts with respect to the fuselage, and a rear laser target 18 that is attached to the rear of the fuselage so that it lifts and turns with respect to the fuselage. 11, and a detector 1 that detects the heave angle, rotation angle, and amount of expansion and contraction of the cutting boom.
4, 13, 15, detectors 16, 17 that detect the inclination angle of the aircraft in the front-rear direction and left-right direction, detectors 21, 22 that detect the heave angle and rotation angle of the rear laser target, and each detector. From the detected values, calculate the coordinate position of the cutting drum that takes into account the deflection angle of the machine with respect to the tunnel axis, and compare the coordinate position with the reference movement coordinates of the cutting drum that are stored in advance in the computer's internal memory and external storage device. An automatic excavation device characterized by being provided with an excavation control device 27 that performs calculations and controls each hydraulic cylinder device that raises, rotates, extends and contracts a cutting boom according to the calculation results. 2 Display device 2 that relatively displays the tunnel reference cross section and the position of the cutting drum on the excavation control device 27
3. The automatic excavator according to claim 1, further comprising: 3.