JPH0523627Y2 - - Google Patents

Description

[Detailed description of the invention] (Field of industrial application) The present invention relates to an underwater rubble leveling device for leveling rubble thrown into the bottom of the water.

(Prior Art) Various leveling devices have been proposed or put into practice in order to level the rubble thrown into the bottom of the water.
One of them is a vibrating leveling machine. This device is equipped with a tamper as a leveling weight, connected to a vibrator installed on or in the water, and suspended from a crane on a work boat to apply longitudinal vibration to the tamper. Recently, its use has been attracting attention because it is easy to work with and can produce a rubble layer with high surface accuracy.

(Problems to be solved by the invention) However, in the above-mentioned vibrating leveling machine,
The tamper applies vertical pressure to force the rubble into the ground or push it away, so depending on the condition of the rubble, it may be difficult to move the rubble laterally, and in some cases it may be difficult to move the rubble horizontally. ), which caused the problem of reduced leveling efficiency.

In addition, fluid resistance acts on the tamper, causing a loss of vibrational energy, so in order to compensate for this loss, a large amount of energy must be applied, that is, a large vibrator is required, resulting in an increase in manufacturing and operating costs.

This invention was devised in view of the above-mentioned conventional problems, and its purpose is to produce underwater rubble that can significantly improve leveling efficiency while taking advantage of the workability of the vibrating leveling machine. The purpose is to provide a leveling device.

(Means for Solving the Problems) Therefore, the present invention consists of a rough leveling machine, which has a multi-jointed arm and a leveling claw attached to the tip of the arm, and a vibration type A work machine that suspends and holds a finish leveling machine is mounted so that it can run along the opening, and a frame extending across the opening can be horizontally moved in a direction intersecting the traverse direction. disposed on a ship, a plurality of acoustic depth sounders are attached to the frame, an attitude detection device is provided for detecting the attitude of the arm of the rough leveling machine, and signals from the water depth detection device and the attitude detection device are provided. The present invention is characterized in that a display device is provided for displaying an image of the operating state of the arm including the leveling claw, the trajectory of the tip of the leveling claw, and the surface shape of the rubble layer.

(Function) In the underwater rubble leveling device with the above configuration, pressure can be applied to the rubble in both pushing and pulling directions by the rough leveling machine having a multi-jointed arm, so it is possible to easily level the rubble regardless of the surface condition of the rubble layer. You can do the leveling work. Moreover, the operation of the arm of the rough leveling machine,
The trajectory of the tip of the leveling claw and the surface shape of the rubble layer can be confirmed on the screen, making it easier to set goals and perform leveling work more efficiently. Furthermore, by performing rough leveling with the rough leveling machine and then finishing with the vibrating finish leveling machine, it is possible to form a rubble layer with good surface accuracy while taking advantage of the good workability of the vibrating leveling machine. I can do it.

(Example) Hereinafter, an example of the present invention will be described based on the accompanying drawings.

In FIGS. 1 and 2, one work boat has two openings 2 and 3, one large and one small, in the center.
A rough leveling machine (backhoe in this case) 4 is mounted on the work boat 1 so as to be movable along one opening 2. The rough leveling machine 4 has a leveling claw 6, which will be described later, attached to the tip of a multi-jointed arm 5, and has a sufficient arm length R to reach the rubble layer 8 thrown into the water bottom 7. There is. Here, the leveling claw 6 is
As shown in FIGS. 3 and 4, a plurality of claw bodies 10, 10...
It is made by attaching. This leveling claw 6 is similar to a so-called ripper, but has a major feature in that the claw body 10 is formed in a straight line. As a result, pressure can be applied to the rubble in both pushing and pulling directions, and the leveling of the rubble can be easily performed regardless of the state of the rubble.

A first crawler crane 11 is mounted on the work boat 1 so as to be movable along the other opening 3, and a vibrating finish leveling machine 12 is suspended from this. This finish leveling machine 12 has a support 13
A casing 14 containing a built-in vibrator, which is a source of vibration, and a tamper 15 that comes into contact with the rubble surface are attached to the lower end of the casing 14, and the support 13 is held by a holding device 16 provided above the opening 3. - Guided. The holding device 16 is movably attached to a girder 17 that is movably bridged over the opening 3, so that the finish leveling machine 12 can move in the X and Y directions within the opening range of the opening 3. It is now possible to move freely.

Further, above the openings 2 and 3, a water depth detection device 18,
19 are movably provided. The water depth detecting devices 18, 19 are constructed by attaching a number of acoustic depth sounders 18b, 19b to frames 18a, 19a which are movably bridged over the openings 2, 3, and are capable of measuring the water depth of the rubble layer 8 over a wide range. Can be detected.

As shown in FIG.
It is now being sent to Display device 20
These include an interface 21 into which signals from the water depth detection devices 18 and 19 are input, a CPU 22 that determines the surface shape of the rubble layer 8 based on the signals from the interface 21, and a CRT 23 that displays the surface shape on a screen. It is equipped with. The display device 20 also includes rotary encoders (posture detection devices) 24a, 24b, 24 attached to each joint (three points in this case) of the arm 5 of the rough leveling machine 4.
An angle signal is input from c.
In this case, the display device 20 takes in the angle signal to the CPU 22 via the interface 21,
Therefore, the operating state of the arm 5 including the leveling claw 6 is calculated, and the operating state of the arm 5 is displayed on the CRT 23 in real time, and the trajectory of the tip of the leveling claw 6 of the arm 5 is also displayed.

FIG. 6 shows an example of the display screen of the CRT 23, and shows the surface shape B of the rubble layer 8 with respect to the target depth A, the operating state C of the arm 5 of the rough leveling machine 4, and the trajectory D of the leveling claw 6. is displayed in correlation with horizontal distance (horizontal axis) and water depth (vertical axis). Here, the surface shape of the rubble layer 8 is not only displayed cross-sectionally as shown in B above, but also displayed planarly by assigning depth-based colors F to the grid-like sections E, as shown in FIG. , or as shown in FIG. 8, by capturing the image three-dimensionally, it is displayed as a stereoscopic image G, which is saved as the back screen of the CRT 23.

A second crawler crane 26 is mounted on the work boat 1, and this is used to move the work boat 1.
Stones can be appropriately scooped up from a supply ship 27 that comes alongside and dropped onto the rubble layer 8, and excess rubble from the rubble layer 8 can be removed. Furthermore, spuds 28, 28 are provided at at least two corners of the work boat 1 so that they can be raised and lowered, and by abutting the spuds 28, 28 against the bottom of the water, it is possible to prevent the work boat 1 itself from moving laterally. There is.

With this configuration, the work boat 1 is towed and positioned above the target rubble layer 8, and the spud 28
is lowered and the work boat 1 is fixed. First, the water depth detection device 18 is moved to detect the water depth of the rubble layer 8 at the leveling target point. This result is the 6th
The surface shape of the rubble layer 8 is displayed on the CRT screen shown in the figure or in FIGS. 7 and 8. Next, the operator operates the rough leveling machine 4 and moves the leveling claw 6 at the tip of the arm 5 onto the rubble layer 8. At this time, the operating state C of the arm 5 including the leveling claw 6 is displayed on the CRT screen in real time, and the operator can see the operating state C of the arm, the tip trajectory D of the leveling claw 6, and the rubble layer 8. The rough leveling work is performed by swinging the arm 5 in the front and back direction while observing the surface shape B.

Since the leveling claw 6 included in the rough leveling machine 4 has a claw body 10 that extends linearly, it is possible to apply pressure to the rubble in both pushing and pulling directions, and it is possible to apply pressure to the rubble in both pushing and pulling directions. Regardless of the state of existence,
You can easily level the rubble. It also makes it possible to level the slope, minimizing the generation of wasteful rubble.

The rough leveling work described above is repeated, and when the rubble layer reaches around the target depth A (Fig. 6), the work boat 1 is moved again, and this time, another water depth detection device 19 detects the current surface shape of the rubble layer. Then, the finish leveling machine 12 is operated to shape the surface of the rubble layer to the target depth, thereby completing a series of leveling operations.

(Effects of the invention) As explained in detail above, the present invention is equipped with a rough leveling machine with a leveling claw attached to the end of a multi-jointed arm, which applies pressure to the rubble in both the pushing and pulling directions. This has the effect of making it possible to easily rough-level the rubble layer regardless of its surface condition.
Moreover, the screen display allows you to perform leveling work while checking the operation of the rough leveling machine's arm, the trajectory of the leveling claw tip, and the surface shape of the rubble layer, making it easy to set targets and achieve efficient roughing. It is effective for leveling work. Furthermore, by using a vibrating finish leveling machine,
The surface of the rubble layer can be shaped with high precision, and since it is used exclusively for finishing, it has the advantage of fully utilizing the inherent good workability of the vibrating leveling machine.

Furthermore, since the frame with multiple echo sounders mounted on it runs directly on top of the work boat, the echo sounders can be stably scanned horizontally without being affected by waves or wind, and the rubble layer can be scanned horizontally. The surface shape can be accurately grasped, and the leveling accuracy is significantly improved. In addition, the frame, which extends across the opening of the workboat, is installed so that it can be moved horizontally in a direction that intersects with the transverse direction of the frame. The opening can be provided as a working area for a rough leveling machine or a finishing leveling machine, and this has great effects. Furthermore, since the rough leveling machine and the acoustic depth sounder are mounted on the work boat, there is no need for a special watertight structure, and it is possible to provide a rubble leveling device with a simple structure and excellent maintainability.

[Brief explanation of drawings]

Fig. 1 is a side view showing the underwater rubble leveling device according to the present invention partially opened, Fig. 2 is a plan view of the present rubble leveling device, and Figs. 3 and 4 are parts thereof. 5 is a block diagram of the display device which is also a part of the leveling nail, and FIGS. 6 to 8 are schematic diagrams showing the CRT screen in the display device. . 1... Work boat, 4... Rough leveling machine, 5... Arm, 6... Leveling claw, 8... Rubble layer, 12... Vibrating finish leveling machine, 18, 19... Water depth detection device ,1
8b, 19b... Echo sounder, 20... Display device, 23... CRT, 24a, 24b, 24c...
...Rotary encoder.

Claims (1)

[Scope of utility model registration request] On a work boat having an opening, a rough leveling machine having a multi-jointed arm and a leveling claw attached to the tip of the arm and a working machine that suspends and holds a vibrating finish leveling machine are installed in the opening. A frame mounted so as to be able to run along the same side and extending across the opening is disposed on a work boat so as to be horizontally movable in a direction intersecting the transverse direction, and a plurality of echo sounders are attached to the frame. , further comprising a posture detection device for detecting the posture of the arm of the rough leveling machine, and processing signals from the posture detection device and the acoustic sounder to see how the arm including the leveling claw operates; An underwater rubble leveling device characterized by being provided with a display device that displays an image of the tip trajectory of the leveling claw and the surface shape of the rubble layer.