JPH0461929B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention particularly relates to an underground wall excavation device that can perform deep excavation with high precision.

<Conventional Technology> The underground wall construction method is a construction method in which a trench is excavated underground, a reinforcing cage is built inside the trench, and then concrete is poured to provide a reinforced concrete wall underground.

There are relatively few problems when using this underground wall for water-stopping purposes, but when using it as part of a structure, it is important to maintain highly accurate verticality during excavation. be.

<Disadvantages of conventional technology> In order to perform high-precision excavation, it is impossible to rely solely on the skill of the operator, and a way to improve this point is to attach a center to the underground excavator and introduce a computer. A method has been developed to correct the position of the aircraft by reacting to the detected value of the sensor.

However, since conventional equipment uses a combination of an inclinometer and a depth meter, it can detect if the main body tilts, but if the tilt and the direction of excavation are different, such as when the body slides without tilting, It was difficult to detect absolute position.

Furthermore, there is a device that measures the displacement of the aircraft by installing a precision inclinometer in the ground space, connecting this inclinometer and an excavator with a wire, and detecting the inclination of the wire with the inclinometer. .

However, with such a device, as the depth increases, the length of the wire increases, so it is impossible to avoid wire stretching, slack, and vibration, making accurate detection difficult.

<Objective of the present invention> The present invention was made to improve the above-mentioned drawbacks, and it is not only possible to improve the inclination and displacement of the aircraft body.
The purpose of the present invention is to provide an underground wall excavation device capable of detecting and correcting torsion of the fuselage.

<Structure of the present invention><A> Excavator main body The excavator main body 1 is equipped with known mechanisms such as a vibration device and a control device.

Furthermore, excavating means such as a rotary bit 2 is provided in the lower part of the main body 1 in a downwardly exposed state.

The rotation axis of this bit 2 can be either horizontally configured or vertically configured.

The earth and sand excavated by the excavating means such as the bit 2 is sent upward together with the stabilizing liquid and discharged to the outside through an earth and sand transport pipe provided at the center of the upper part of the main body 1.

This main body 1 is suspended into an underground trench by a wire or pipe.

The main body 1 is raised and lowered by winding up this wire by the rotation of a drum located at its upper end.

<B> Detection device The excavator main body 1 is provided with a plurality of detection devices.

Inclinometer First, an inclinometer 3 is fixed to the main body 1 as a detection device.

The inclinometer 3 is a known instrument for detecting the inclination of the main body 1, that is, the degree of inclination of the main body 1 in the front, back, left, and right directions.

Laser plumber On the other hand, at least two or more hollow cylinders 41 are installed vertically above the main body 1.

A laser plumber 4 for collimating a downward vertical line is positioned downward in the upper part of each hollow cylinder 41 while being insulated from the hollow cylinder 41.

In other words, two or more vertical downward sight lines are secured in a state insulated from movement or displacement of the main body.

For this purpose, the plumber 4 may be fixed to an immovable frame installed on the ground.

Laser Light Detection Device On the other hand, at the lower end of each hollow cylinder 41, a device for detecting the laser light of the laser plumb meter 4 is provided.

For this purpose, a screen 42 is provided at a position corresponding to the laser plumber 4, and a television camera 43 that collimates and detects the light beam received by the screen 42 is located below this screen 42.

Depth Detection Device Furthermore, a device for detecting the depth of the excavator main body 1 underground is provided.

For this purpose, for example, a method can be adopted in which a wire for depth measurement is attached to the excavator body, and a rotary encoder 5 is attached to the rotating shaft of the drum D that winds the wire.

The current position of the main body 1 in the depth direction can be determined from the rotational speed of the drum D detected by the rotary encoder 5.

<C> Control device Guide plates 6 are provided on both sides and side surfaces of the excavator main body 1.

This guide plate 6 is a sled-shaped plate whose upper and lower edges are bent inward;
It is configured so that it can be freely moved in and out toward the outside without being fixed to the outside.

The timing and distance for moving in and out of the guide plate 6 are determined as follows.

That is, each guide plate 6 is attached to the tip of a hydraulic cylinder, and the cylinder is configured to expand and contract in response to detection signals from each of the above-mentioned detection devices.

This signal can then be used to determine the timing and distance of expansion and contraction.

<D> Image processing device Inputs the image signal from the television camera and calculates the position of the laser spot.

Then, the signal from the inclinometer and the signal from the depth meter are taken in, and each is sent as a numerical value to a calculation device.

<E> Computing device, etc. A control computer is provided that computes signals from the image processing device, displays predetermined elements, and sends out control signals.

<Operation of the device of the present invention><A> Detection Signals from each of the detection devices described above are input to the control device via a signal circuit.

For this purpose, an inclinometer 3 and two TV cameras 4 are required.
3 and the rotary encoder 5 are input to the arithmetic unit via the image processing device 7.

<B> Image processing, calculation, and display First, the current position and attitude of the excavator main body 1 underground can be directly observed on the screen.

At the same time, the signals from each sensing device are calculated and compared with design values.

<C> Correction of tilting and parallel movement At this stage, the central axis of the main body 1 may not be completely oriented in the vertical direction, that is, the main body 1 may be tilted toward one of the sides.

At that time, the control circuit calculates the amount of deviation from the normal value, and automatically moves each guide 6 plate in and out according to the calculated amount.

As a result, the posture of the main body 1, which had fallen down, is corrected to a normal state.

When the main body 1 moves parallel to the design line, compare the amount of movement and move the guide 6 on the side of the main body 1.
Corrections are made by moving the board in and out.

<D> Correcting twist The above is an explanation of the case where the main body 1 has fallen down, but there are also cases where the main body 1 has not fallen down, that is, the center line is normal, but "twist" has occurred. be.

In this case, the device of the present invention is arranged so that the two vertical lines are insulated from the displacement of the main body 1 by the plumber 4.
Therefore, the amount of twist can be detected from the difference between the two values.

In this case as well, by protruding the guide plate 6 in the direction opposite to the twisting direction, correction can be performed automatically without relying on the skill or skill of the operator.

By repeating the above operations, the main body 1 can be excavated to a great depth while maintaining an accurate position.

<Effects of the present invention> Since the apparatus of the present invention is configured as described above,
The following effects can be expected.

<B> In order to perform excavation while constantly correcting by detecting the inclination of the excavator and displacement from the central axis, etc.
Even if the depth of excavation becomes greater than 100 meters, it is possible to perform excavation with good accuracy.

<B> Furthermore, since the device of the present invention constantly detects the position of the excavator body by transmitting two vertical lines downward, it detects the “twisting” of the excavator body, which could not be detected with conventional devices. ” and “horizontal movement” can be accurately detected and corrected.

[Brief explanation of drawings]

FIG. 1 is a perspective view of the excavation equipment of the present invention, and FIG. 2 is an explanatory diagram of its control system.

Claims (1)

[Scope of Claims] 1. An excavator body provided with an excavating means such as a bit on the lower surface and a guide plate that can be freely moved in and out on the outer periphery; at least two hollow cylinders attached to the upper part of this body; A laser plumber is located in the upper space of the tube, insulated from the hollow tube, and aims at a downward plumb line, and a laser light detector is located at the bottom end of the hollow tube and installed in a symmetrical position to the laser plumber. a device, a depth detection device that detects the depth position of the excavator body, a calculation device that compares the signals of each of the detection devices and the planned line, and sends out the calculation results as a signal for entering and exiting the guide plate. An underground wall excavation device consisting of a circuit that