JPH04371695A - Ditch excavation method by making use of liquid jet - Google Patents

Abstract

PURPOSE:To excavate a ditch in the depth direction or longitudinal direction in addition to a deeper ditch formed by advancing a nozzle into the ditch excavated with the nozzle. CONSTITUTION:While oscillating a nozzle 18 jetting liquid within a plane, repeated motion including motion constituent in the direction at a right angle to the plane is made, and after the first ditch 150 is excavated up to the specific depth by advancing the nozzle subsequently to the excavated surface side, the repeated motion and advancing motion are stopped. After that, the nozzle 18 is set to a specific repeated motion stop angle to make it oscillate in the plane, so that a ditch smaller than the size in width of the first ditch measured in the direction at a right angle to the turning surface is additionally excavated in the direction of the depth. Or, the repeated motion and advancing motion are stopped, and then, the nozzle is set to a specific repeated motion stop angle and a specific oscillating stop angle to retreat it, so that a ditch 152 smaller than the size in width of the first ditch measured in the direction at a right angle to the turning surface is additionally excavated in the longitudinal direction of the ditch.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a trench excavation method and apparatus using a liquid jet. Note that in this specification, the term "liquid jet" includes a so-called abrasive water jet in which an abrasive material is mixed in a liquid.

0002

2. Description of the Related Art A conventional groove excavation method using a liquid jet is disclosed in Japanese Patent Application Laid-Open No. 2-101287. In the groove excavation method shown therein, a nozzle that injects a liquid jet is swung within one plane and moved forward in the direction of the liquid jet injection. As a result, an elongated and deep groove can be formed in the excavated portion.

0003

[Problems to be Solved by the Invention] However, according to the conventional trench excavation method as described above, the shape of the formed trench is thin and has a small width dimension measured in the direction perpendicular to the swinging surface. The problem is that it is limited. Further, there is also the problem that uneven portions are likely to occur in the grooves, and when such uneven portions occur, it is impossible to make the nozzle dig. In order to solve this problem, the nozzle that injects the liquid jet is oscillated in one plane, and the nozzle is repeatedly moved including a motion component in the direction orthogonal to the plane, so that the nozzle is sequentially moved toward the excavation surface. A way forward is being done. By doing so, it is possible to form a groove having a larger width dimension, that is, a groove having a larger cross-sectional area than that shown in JP-A-2-101287. However, according to this method, there is a problem that the groove cannot be excavated efficiently in the groove depth direction in a short time. Also, for example, two
Even when it is necessary to connect grooves in the shortest possible time, there is a problem in that it takes time to connect the grooves because the cross-sectional area of the excavated part is large. The present invention aims to solve these problems.

0004

[Means for Solving the Problems] The present invention enables excavation to be carried out while the forward motion and repetitive motion are stopped and the rocking motion is performed, or to be carried out while the rocking motion and the repetitive motion are stopped and the rocking motion is made to be carried out. The above problem is solved by causing the above problem to occur. That is, the groove excavation method using a liquid jet of the present invention is intended for forming a deep groove in an excavated part, and while swinging the nozzle that injects the liquid jet within one plane, After excavating the first groove to a predetermined depth by making a repeated movement including a motion component in the direction of By setting the movement stop angle and swinging in one plane, a second groove whose width measured in the direction perpendicular to the swing plane is smaller than the width of the first groove is additionally excavated in the depth direction. I have to. In addition, while swinging the nozzle that injects the liquid jet within one plane, the first groove is moved to a predetermined position by repeatedly moving the nozzle that includes a motion component in a direction perpendicular to the one plane and sequentially advancing it toward the excavation surface. After excavating to a depth, the above-mentioned repetitive motion and forward motion are stopped, and then the nozzle is set at a predetermined repeating motion stop angle and a predetermined swing stop angle and is moved backward in a direction perpendicular to the above-mentioned swing plane. A third groove whose measured width is smaller than the width of the first groove is additionally excavated in the longitudinal direction of the groove. In this case, after additional excavation, additional excavation may be performed by changing one or both of the repeating motion stop angle and the swing stop angle and moving forward. The speed at which the nozzle is oscillated or moved during the additional excavation is preferably lower than the corresponding speed during excavation of the first groove.

[0005]

[Operation] Aim the liquid jet nozzle at the excavation surface such as a tunnel and spray the liquid jet. At the same time, the nozzle is oscillated within a predetermined oscillation angle range within a plane using one axis as a fulcrum, and is repeatedly moved with a motion component in a direction perpendicular to this, for example, a circular motion that crosses the oscillation plane around one point. . As a result, an elongated groove extending in the nozzle swinging direction is formed on the excavated surface. By varying the amplitude of the repetitive motion, the width of the groove can be varied. As the groove gradually becomes deeper, the nozzle is moved toward the excavation surface accordingly. This causes the groove to become deeper. A nozzle is advanced into the formed groove to form a first groove having a predetermined depth into which the nozzle can dig. Next, the forward motion and repetitive motion are stopped, and the nozzle is moved at a relatively low speed from one end of the swing to the other end. This makes it possible to additionally excavate an elongated second groove in the depth direction (longitudinal direction) of the first groove. The depth of the second groove added is 0.5
It is possible to process up to about m. As a result, even in the case of concrete, grooves with a depth of 1 m or more can be formed. For example, after digging to a depth of 1 m by moving the nozzle forward while making a circular motion, stop the forward motion and circular motion and perform only a rocking motion to excavate an additional 0.5 m, for a total depth of 1.5 m. It is possible to excavate the grooves. In addition, when stopping the forward motion, repetitive motion, and swinging motion, the stopping angle of the repeating motion of the nozzle is set to a jet injection angle as close to perpendicular to the excavation direction as possible, and the stopping angle of the swinging motion is set at a predetermined angle. By retreating with the groove set at an angle, a third groove elongated in the longitudinal direction of the first groove can be additionally excavated. As with the second groove, this third groove can also be machined up to about 0.5 m in the longitudinal direction of the groove. By doing this, additional elongated grooves can be excavated in a short time.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIGS. 1 and 2 show a groove excavation device using a liquid jet. A moving table 4 is mounted on the frame 2 in FIGS. 1 and 2,
It is provided so as to be movable in the left and right direction. The frame 2 itself is attached to the tip of a robot arm (not shown), and can be moved to a desired position and kept stationary. The moving table 4 is equipped with a motor 6 (
It is driven by a pulley 7 and a belt 8 by a forward/backward movement device, and its position is controlled. Note that a connecting member 5 fixed to the belt 8 is attached to the bottom surface of the movable table 4. The movable table 4 is provided with a rocking device 10 and a repetitive exercise device 12. Rocking device 10 and repetitive exercise device 1
2 will be explained below. (Rocking device 10) The rocking device 10 has forked portions 20a and 2
A lever 20 having a Y-shape with 0b and one end side 24a
is fitted into the slot at the tip of the forked portion 20a and rotatably supported by the pin 22, and the other end 2
a link 24 having a connecting hole at 4b; an arm 28 having one end 28a rotatably supporting the forked portion 20b with a pin 26; and an arm 28 having a projecting portion 28b at the other end; and one end of the link 24. A link 34 supported by pins 30 and 32 on the side 24a and one end side 28a of the arm 28, respectively, and a drive device 36 that swings the link 24 in the left-right direction in FIG. 1 using the pin 32 as a fulcrum,
By swinging the link 24 in the left-right direction, the lever 20 can be swinged in the vertical direction in a plane parallel to the plane of the paper in FIG. 1 using the pin 26 as a fulcrum. The lever 20 is provided with a hole 20c for attaching a fork 56 of the repetitive exercise device 12, which will be described later, and a bearing part 20d, which rotatably supports the shaft of an eccentric cam 60, which will also be described later. The drive device 36 includes a cylindrical case 37 having a swing bearing portion 37a at its end, and a screw shaft 38 that is connected at one end to the swing bearing portion 37a and connected to the link 24 and the arm 28 by a pin 30 at the other end. and,
A cylindrical nut 40 that is screwed together with this, and a nut 40
A gear 42 is integrally attached to the case 37 and is rotatably supported by a bearing 50 within the case 37, a gear 44 meshing with the gear 42, and a gear 44 that is attached within the case 37 and rotatably supported by a bearing 50.
4, and a motor 46 for driving the motor 4. motor 46
A reduction gear 52 and a positioning encoder 54 are attached to the. The swing bearing portion 37a of the case 37 is
It is swingably supported by a trunnion mechanism 48 fixed to the moving table 4. As a result, even if the link 24 moves in the horizontal direction in the figure with the pin 32 as the fulcrum and the distance between the shafts with the arm 28 changes, the case 37 can swing in the vertical direction in the figure with the trunnion shaft of the trunnion mechanism 48 as the fulcrum. By moving, it is possible to follow changes in the distance between the axes. In addition,
The driving device 36 is configured to reverse its rotational direction at a preset period, thereby making it possible to swing the lever 20 at a predetermined period within the angle range shown from +β to −β in FIG. . (Repetitive exercise device 12) The repetitive exercise device 12 has a shaft portion 56a that fits into the hole 20c of the lever 20 of the swinging device 10, and a fork 56 with a slot on one end, and a fork 56 with a slot on one end. Pin 58 fitted into the split
It is rotatably supported by the nozzle mounting part 1 at one end.
6a and a spherical receiving portion 16b at the other end.
and an eccentric cam 60 in which one end of the shaft part is eccentric and a spherical end 60a is formed at the tip, which is fitted with the spherical receiving part 16b, and a joint part 60b is formed at the other end.
, a universal joint 62 having a joint part 62a combined with the joint part 60b of the eccentric cam 60 at one end and a joint part 62b at the other end; and the joint part 6.
A rotary joint 64 combined with 2b and a rotary joint 6
4. Note that, as shown in FIG. 8, the shaft portion of the eccentric cam 60 is rotatably supported by the bearing portion 20d of the lever 20 of the swinging device 10. The spherical end 60a of the eccentric cam 60 is formed at a position where its axis is offset from the axis of the eccentric cam 60 by an eccentric amount e. The universal joint 62 is
It has a spline hole part 68 in the middle part, and a spline shaft part 70 fitted into the spline hole part 68 so as to be movable in the axial direction.
This allows it to expand and contract in the axial direction. Rotary drive device 66
A reduction gear 72, a clutch/brake mechanism 74, and a motor 76 are attached to the . By rotationally driving the rotary joint 64 by the rotary drive device 66, it is possible to repeatedly move the spherical end 60a of the eccentric cam 60 in a circular motion. That is, the head 16 is connected to the fork 5
Using the shaft portion 56a of No. 6 and the pin 58 as fulcrums, it is possible to perform repetitive motion including a motion component in a direction perpendicular to the plane of the paper in FIG. Nozzle attachment part 1 of the head 16
A nozzle 18 for ejecting a liquid jet is attached to 6a. A high-pressure water hose 82 and an abrasive material hose 84 are attached to the head 16, and high-pressure water from the high-pressure water hose 82 and abrasive material hose 8 are installed inside the head 16.
A mixing chamber 80 is provided in which the abrasives from No. 4 are mixed and supplied to the nozzle 18 . High-pressure water is supplied to the high-pressure water hose 82 from a high-pressure water pump (not shown), and abrasive material is supplied to the abrasive hose 84 from an abrasive supply pump (not shown). . The nozzle 18 is capable of injecting a grinding liquid obtained by mixing high-pressure water and abrasive material in a mixing chamber 80 onto an excavated surface 86 as a liquid jet. A cover 88 is provided to separate the movable table 4 side and the jet injection section 14 side. The cover 88 is provided so that the link 24, the arm 28, the two hoses 82, 84, and the universal joint 62 pass through it, thereby preventing contamination of equipment installed on the movable platform 4 side due to splashing of liquid jets. can do.

Next, the operation of this embodiment will be explained. first,
The frame 2 is positioned and fixed by a robot arm (not shown). The moving table 4 is moved back to the left from the position shown in FIGS. 1 and 2, and the nozzle 18 is moved to the excavation surface 86.
Let me face you. At this time, the nozzle 18 is at one end of the swing (eg, position m in FIG. 1). In this state, the jet starts ejecting. In other words, the high pressure water hose 8
High-pressure water and an abrasive are supplied to the head 16 through the abrasive hose 84 and the abrasive hose 84, the two are mixed in the mixing chamber 80, and a jet containing the abrasive is ejected from the nozzle 18. The jet ejected from the nozzle 18 cuts concrete, rock, etc. with the kinetic energy of the high-pressure water and abrasive material. At the same time, the rotary drive device 66 is driven to rotate the rotary joint 64. This causes the universal joint 62 to rotate, causing the eccentric cam 60 to rotate. As a result, the head 16 moves from +α to −α in FIG.
Repeated circular movements are performed in the angular range shown by , and a circular hole with a depth H is excavated. On the other hand, the drive device 36
The motor 46 is driven to rotate the gear 44 via the reducer 52. As a result, the gear 42 and nut 40 are rotated, and the screw shaft 38 is moved in the axial direction. The link 24 swings from +β to -β using the pin 32 as a fulcrum in the left-right direction (for example, rightward) in FIG.
It will swing in a plane parallel to the plane of the paper in the range shown by . That is, as shown in FIG. 3, the nozzle 18 performs excavation by swinging in the lateral direction while repeatedly moving in a circular motion. The entire device is moved forward by driving a motor 6 for forward and backward movement. As a result, as shown in FIG.
can be drilled. The width of the groove 150 in the direction perpendicular to the plane of the paper in FIG. 4 corresponds to the diameter of the circular motion. Next, the excavation of the second groove 151 to be added will be explained. The jet is stopped from being ejected from the nozzle 18, the motor 6 for forward and backward movement is stopped, and the movement of the entire apparatus is stopped. The motor 76 of the rotary drive device 66 is stopped. As a result, the repeated circular motion of the nozzle 18 shown in FIG. 3 is stopped. Further, by driving the motor 46, the nozzle 18 is caused to swing. While ejecting a jet from the nozzle 18, it is moved, for example, from the n position to the m position shown in FIG. As a result, a slit-shaped second groove 151 is additionally excavated in the depth direction of the first groove 150 as shown by a virtual line. The widthwise dimension of the second groove 151 is smaller than the widthwise dimension of the first groove 150 because there is no circular repetitive movement. This additional excavation may be performed by swinging the nozzle 18 from the n position to the m position shown in FIG. 1 at a lower speed than when forming the first groove 150, and when forming the first groove 150. This may be done by moving back and forth at the same speed. Figure 4
A model of a first groove 150 that is first excavated and a second groove 151 that is additionally excavated in the groove depth direction is shown. By changing the setting angle of the head 16, the second groove 151 can be formed not only at the a position in the figure but also at the p position, b position, etc. The excavation depth of the second groove 151 is limited because the motor 6 is stopped and the nozzle 18 does not move in the excavation direction, but concrete is used as the object to be cut and steel grid is used as the abrasive at a speed of 7 kg per minute. In the case of an abrasive water jet that was supplied and injected from the nozzle 18 with 25 liters of water per minute pressurized to a pressure of 150 MPa, additional excavation to a depth of approximately 0.5 m was possible. FIG. 5A shows a situation where a second groove 151 is additionally excavated following the excavation of the first groove 150. Next, a case where a third groove 152 in the longitudinal direction of the groove is additionally excavated will be described. The jet is stopped from being ejected from the nozzle 18, and the motor 76 is stopped. This causes the nozzle 18 shown in FIG.
The repetitive circular motion of stops. The motor 46 is stopped with the nozzle 18 positioned at one end of the swinging position m. Next, the motor 6 is driven in the backward direction while a jet is ejected from the nozzle 18, and the entire apparatus is moved backward in the left direction in FIG. This backward speed is smaller than the forward speed. By moving the nozzle 18 to the groove edge 86, a third groove 152 in the longitudinal direction of the groove is additionally excavated. In this case, the cutting efficiency generally improves as the set angle β of the nozzle 18 approaches 90 degrees with respect to the axis in the advance/retreat direction of the device. The second groove 1 in Figure 5(b)
In addition to grooves 51, third grooves 152 and 152a in the longitudinal direction of the grooves are additionally excavated on both sides of the upper and lower sides of the figure. By applying the processing method shown in FIG. 5(b), as shown in FIGS. 6 and 7, a plurality of first grooves 150 are formed at predetermined intervals.
The space can be connected by a third groove 152. For example, the adjacent first grooves 150 are excavated sequentially so that the interval between the edges is 1 m, and the third grooves 152 and 152a are 0.5 m in the longitudinal direction of the grooves from both sides of the first groove 150.
By sequentially forming the grooves, it is possible to form grooves that are continuous in the longitudinal direction of the grooves. By doing so, the first grooves 150 can be connected in a short time by the third grooves 152 and 152a. Further, the second grooves 151 in the depth direction can also be formed by sequentially connecting them. In the above embodiment, the locus of the repetitive movement is circular as shown in FIG. 3, but it may be a zigzag or other shape. Further, the angle β at which the nozzle 18 is swung is the first
Although the same angle is used when forming the groove 150 and when forming the second groove 151, the angle may be different. Furthermore, in the above example, additional excavation is performed from the position where the excavation stroke is maximum, but if the excavation depth is shallow or if there is a hard foreign object in the middle of excavation and it is difficult to proceed further, additional excavation may be performed from the middle. It is also possible to perform additional excavation.

[0007]

As described above, according to the present invention, it is possible to additionally form an elongated groove in the depth direction of a deep groove having a large cross-sectional area or in the longitudinal direction of the groove so that the nozzle can move. Therefore, deep grooves with large cross-sectional areas can be connected in a short time.

[Brief explanation of drawings]

FIG. 1 is a front view of a groove excavation device using a liquid jet.

FIG. 2 is a view taken along line 2-2 in FIG. 1;

FIG. 3 is a diagram illustrating a trajectory of a nozzle.

FIG. 4 is a sectional view showing a state in which a groove is additionally excavated in the groove depth direction.

FIG. 5 is a sectional view showing a state in which grooves are additionally excavated in the depth direction and longitudinal direction of the grooves.

FIG. 6 is a sectional view showing a state in which grooves excavated at intervals are connected by an additionally excavated groove.

FIG. 7 is a view taken along arrow 7 in FIG. 6;

FIG. 8 is an enlarged view of the nozzle and its surrounding area.

[Explanation of symbols]

18 Nozzle 150 1st groove 151 Second groove (depth direction groove)

Claims (4)

[Claims] Claim 1: In a groove excavation method using a liquid jet for forming a deep groove in an excavated part, a nozzle that injects a liquid jet is oscillated within a plane while a motion component in a direction perpendicular to the plane is generated. Do repetitive exercises that include
After the first groove is excavated to a predetermined depth by sequentially advancing toward the excavation surface side, the above-mentioned repeating motion and forward motion are stopped, and then the nozzle is set to a predetermined repeating motion stop angle and oscillated in one plane. A groove excavation method using a liquid jet for additionally excavating a groove in the depth direction whose width dimension measured in the direction perpendicular to the swinging surface is smaller than the width dimension of the first groove. Claim 2: In a groove excavation method using a liquid jet for forming a deep groove in an excavated part, a nozzle that injects a liquid jet is oscillated within a plane while a motion component in a direction perpendicular to the plane is generated. Do repetitive exercises that include
After excavating the first groove to a predetermined depth by sequentially advancing toward the excavation surface side, the above-mentioned repeating motion and forward motion are stopped, and then the nozzle is set to a predetermined repeating motion stop angle and a predetermined swing stop angle. A groove excavation method using a liquid jet, in which a groove is additionally excavated in the longitudinal direction of the groove, the width of which is smaller than the width of the first groove when measured in a direction perpendicular to the swinging surface, by retracting the groove. 3. The trench excavation method using a liquid jet according to claim 2, wherein after the additional excavation, one or both of the motion stop angle and the swing stop angle are repeatedly changed and the groove is advanced. 4. The groove using a liquid jet according to claim 1, wherein the speed at which the nozzle is oscillated or moved during the additional excavation is lower than the corresponding speed during excavation of the first groove. Drilling method.