JPH07119391A - Vertical shaft spraying device and vertical shaft spraying method - Google Patents

Abstract

PURPOSE:To spray concrete, etc., to wall surfaces mechanically with remote control by suspending a frame body in a vertical shaft to position it with grippers, and turning and driving a nozzle on the frame body. CONSTITUTION:Four grippers 16 positioning a frame body 13 in a vertical shaft are provided to the side of the frame body 13 opposed to a side wall Wa in an expansible manner in the horizontal direction. When spraying operation of concrete, etc., is made, a hydraulic unit 35 is operated from a remote control section to espand and drive all grippers 16, and the whole contact member 34 is brought into contact with the existing earth retaining layer Wb to position a rotary shaft 25 at the approximate center of the vertical shaft W as the pushing reaction. After that, a supply device is started, and a nozzle driving section 44 is driven to rotate the rotary shaft in a required direction. According to the constitution, concrete, etc., from a nozzle 27 are made to adhere to the opposite side wall Wa, and the uniform earth retaining layer Wb is formed in succession in every direction. After specific thickness is decided by a TV camera 32, every operation is stopped to degenerate and drive the grippers 16, and a spraying manipulator 11 is lowered by specific distance.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vertical shaft spraying apparatus and a vertical shaft spraying method for spraying concrete or mortar onto a wall surface of a vertical shaft by remote control so that the side wall is self-supporting.

[0002]

2. Description of the Related Art In recent years, in shafts having a large construction cross section, the NATM method of retaining soil by rock bolts and concrete spray has been generally adopted. However, in a vertical shaft having a small construction cross section, a general-purpose machine having a structure for excavating or spraying concrete, which is usually used in a vertical shaft having a large construction cross section, cannot be carried in.

Therefore, in a vertical shaft having a small construction cross section, as shown in FIG.
As shown in Fig. 2, the worker M enters the shaft W to excavate it manually, and the excavated soil is discharged to the outside of the shaft W by the loading slot 1, a simple winch turret or a small truck crane 2, and then the worker M. Alternatively, another worker sprays concrete on the side wall Wa to retain the soil. However, since concrete spraying work in such a narrow space is a difficult work in a bad environment, as an alternative method, a steel liner plate 3 or a corrugated steel plate and steel shovel is used for vertical shafting. The side wall Wa of W is also earthed.

[0004]

However, even in the vertical shaft construction method using the above-mentioned conventional steel liner plate 3,
Workers must enter the shaft W for earth retaining work and also handle heavy soil retaining materials such as the steel liner plate 3 and corrugated steel plates and steel supports. It is a tough and low-safety work, and the working environment is poor.

When a steel liner plate 3 or the like is used as the earth retaining material, mortar or the like must be injected into the space between the liner plate 3 and the excavated ground to backfill the ground to prevent it from loosening. In this case as well, the worker must enter the vertical shaft W to perform the work, which is complicated and requires a long time.

In order to reduce such complicated work, a perforated liner plate and the like which can omit the backfilling work have been devised, but the problem that the concrete is not sufficiently filled remains, and the It has not reached the point where backfilling work can be omitted.

[0007] Therefore, the present invention provides a vertical shaft spraying device and a vertical shaft spraying method which can mechanically remote-control earth retaining by spraying concrete or mortar even in a vertical shaft having a small construction cross section as described above. However, the above-mentioned conventional drawbacks are to be solved.

[0008]

A vertical shaft blowing apparatus of the present invention for achieving the above object is provided with a frame body 13 which can be lifted up and down in a vertical shaft W, and is rotatably supported by the frame body 13. , A nozzle 27 for spraying concrete or mortar onto the side wall Wa of the shaft W, a nozzle drive unit 44 for rotating the nozzle 27, and a frame body for rotating the nozzle 27 while maintaining a constant distance from the side wall Wa. It has a spraying manipulator 11 with a gripper 16 for holding 13 in the shaft W. In the above, it is preferable in practice to provide the television camera 32 for monitoring the spraying state of concrete or mortar.

Further, in the vertical shaft blowing method of the present invention for achieving the same object, the frame body 13 is suspended in the vertical shaft W, and the nozzle 27 supported by the frame body 13 is separated from the side wall Wa by a predetermined distance. The frame body 13 is positioned in the shaft W by the gripper 16 so as to rotate while holding the nozzle drive unit 44.
While rotating the nozzle 27 by the wall surface Wa of the vertical shaft W
The concrete or mortar is sprayed toward.

[0010]

The frame is suspended in the vertical shaft, and the frame is positioned by a gripper so that the nozzle can be swung while maintaining a constant distance from the side wall of the vertical shaft by remote control, and the wall of the vertical shaft can be rotated while driving the nozzle. Concrete or mortar can be sprayed at.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described with reference to the drawings. FIG. 1 is an explanatory view showing the overall structure of a vertical shaft spraying device as one embodiment, FIG. 2 is an enlarged side view showing a detailed structure of a spraying manipulator arranged in a vertical shaft, and FIG. 3 is a spraying shown in FIG. It is a top view of a mounting manipulator. In the figure, Wb is an earth retaining layer formed partway along the side wall.

The vertical shaft spraying device shown in FIG. 1 is a supply device 1 for supplying concrete, mortar (hereinafter referred to as "concrete or the like") and water to be added to the concrete or the like.
0, a spraying manipulator 11 that can be lifted up and down in a vertical shaft W by, for example, the small truck crane 2 described above, and a remote control unit 12 that can perform drive control of each part of the spraying manipulator 11 from remote positions. Have

As shown in FIG. 1, the supply device 10 is a shaft W.
Installed near the entrance of the water pump 37 and a water flow meter and a water amount adjusting valve (not shown) provided in the control device 40 of the remote control unit 12 which will be described later. Water pump 3 according to the water rate
Water amount adjusting device 38 for adjusting the amount of water supplied from 7 to an appropriate amount
, A spraying machine 39 for adding and mixing empty kneaded concrete or the like and a quick-setting agent, and a compressor 3 for sending the mixed concrete or the like to the water mixing ring 20 by compressed air.
6 and. The spray hose 14 is connected to the supply hose 14 for sending concrete or the like, and the water amount adjusting device 38 is connected to the supply pipe 22.

As shown in detail in FIGS. 2 and 3, the spraying manipulator 11 includes a frame body 13 assembled in a prismatic shape having a maximum diameter smaller than the diameter of the shaft W. On the upper frame 13a of the frame body 13, a wire 17 suspended from a main wire 18 for suspension shown in FIG.
Mounting portions 13b, 13b of are provided. This frame 1
3 is made to project to the lower side of this frame 13 and the blowing part 15
Is provided.

The spraying portion 15 is a hollow swivel shaft 25 rotatably supported by an upper bearing 23 mounted on the upper frame 13a of the frame 13 and a lower bearing 24 mounted on the lower frame 13c. And a mounting member 25 'composed of a downwardly facing U-shaped frame integrally attached to the lower end of the swivel shaft 25, an upper side inserted into the swivel shaft 25, and a lower side facing the mounting member 25'. The flexible blowing hose 26 that has been drawn out and a nozzle 27 that is attached to the lower end of the blowing hose 26 are provided. 1 and 2,
Shows the side surface of the mounting member 25 '.

A supply hose 14 for feeding concrete or the like of the supply device 10 is connected to the upper end of the spray hose 26. Between the connection ends of the supply hose 14 and the spray hose 26, a joint 19 fixed to the supply hose 14 and water supplied from the supply pipe 22 and the water supplied from the supply pipe 22 are attached to the joint 19. Water mixing ring 20 for mixing with supplied concrete, etc.
And a swivel joint 21 rotatably attached to the water mixing ring 20, and the upper end of a spray hose 26 is connected to the swivel joint 21. In this structure, the spray hose 2 is provided together with the swivel shaft 25.
The swivel joint 21 rotates so that the water mixing ring 20 and the supply hose 14 are not twisted when the 6 rotates in either direction.

Between the lower ends of both legs of the mounting member 25 ',
Mounting part 25 for supporting the nozzle 27 swingably in the vertical plane
a is installed. A hydraulic cylinder 31 is mounted on the side surface of the intermediate portion of the mounting member 25 ′, and a drive rod 31 a of this hydraulic cylinder 31 is connected to the nozzle 27. Therefore, the nozzle 27 is swung by the hydraulic cylinder 31 in the vertical plane. Furthermore, this mounting member 2
A television camera 32 is attached to the upper end side surface of 5'to monitor the state of spraying concrete or the like from the nozzle 27 and the side wall Wa portion on which the concrete or the like is sprayed.

By the way, the swivel shaft 25 is swivel-driven by 360 ° in any direction within a horizontal plane by a nozzle drive section 44 provided in the frame 13.
The nozzle drive unit 44 includes a large-diameter sprocket 45 fixed to the outer peripheral wall of the upper end of the swivel shaft 25, a motor 28 fixed to the upper frame 13a of the frame 13, and the motor 2
8 has a small diameter sprocket 29 fixed to the drive shaft, and a chain 3 stretched between the two sprockets 45, 29.
It has 0 and.

On the side surface of the frame 13 facing the side wall Wa,
Four grippers 16 for positioning the frame 13 in the vertical shaft W are provided so as to be extendable and contractible in the horizontal direction. This gripper 16 is in the same horizontal plane centering on the turning axis 25,
The hydraulic cylinder 33 is attached to the frame 13 toward the wall surface at 90 ° intervals, and the contact member 34 fixed to the drive rod 33a of the hydraulic cylinder 33 is provided. Further, on the lower frame 13c of the frame body 13, a hydraulic unit 3 for adjusting the pressure of hydraulic oil to the hydraulic cylinder 33 is adjusted.
5 is attached. In this embodiment, the four grippers 16 are provided, but the present invention is not limited to this.

In the gripper 16, when the spraying manipulator 11 is moved up and down in the vertical shaft W, the drive rod 33a is contracted so that all the contact members 34 are separated from the wall surface Wa of the vertical shaft W. When spraying concrete or the like from the nozzle 27 toward the wall surface Wa,
The nozzle 27 and the wall surface W that swirl together with the swivel shaft 25 so that the swirl shaft 25 is substantially at the center of the shaft W.
The drive rod 33a is extended so that the distance from it is substantially the same in all directions. The gripper 16
The extension amount of the contact member 34 may be set in consideration of the inner diameter of the vertical shaft W and the like.

The remote control unit 12 includes a control device 40 arranged in the operation room H near the entrance of the vertical shaft W, a television monitor 41 for displaying an image photographed by the above-mentioned television camera 32, and a spray manipulator 11. A control unit 42 mounted inside the frame 13 is provided, and the control device 40 and the control unit 42 are connected by a cable 43. Further, the cable 4 is also provided between the water amount adjusting device 38 of the supply device 10 and the control device 40.
3'is connected.

The control unit 42 includes a hydraulic unit 35.
All hydraulic cylinders 33, 31, a hydraulic motor 28 for driving the revolving shaft 25, a television camera 32, etc. are connected to the control device 40 arranged in the operation room H so that they can be controlled. .

Next, a spraying method using the vertical shaft spraying device having the above structure will be described mainly with reference to FIG.
When spraying concrete or the like, the remote control unit 12 operates the hydraulic unit 35 to drive all the grippers 16 to extend. As a result, the contact members 34 are moved from the retracted position shown in (a) to the extended position shown in (b), and as shown in FIG. 2, all the contact members 34 abut against the existing earth retaining layer Wb and press them. To do. As this reaction, the frame body 1
3, that is, the turning shaft 25 is positioned and held substantially at the center of the shaft W.

Since the spraying manipulator 11 itself is supported by the small truck crane, the pressing force of the earth retaining layer Wb by the abutting member 34 causes the trace of the abutting member 34 pressing against the earth retaining layer Wb. It may be set so that the frame 13 does not remain and the frame 13 can be positioned.

When the positioning operation is completed in this way, the remote control unit 12 starts the supply device 10 to blow concrete or the like from the nozzle 27, and the nozzle drive unit 44 is driven to move the turning shaft 25. Rotate to either side. At the time of this turning operation, since the turning shaft 25 coincides with the center of the vertical shaft W, the nozzle 27 and the side wall Wa are equidistant in all directions. Further, the hydraulic cylinder 31 may be driven to swing the nozzle 27 appropriately in the vertical plane, and if not necessary, for example, it may be stopped in a horizontal state.

By this spraying operation, the concrete sprayed from the nozzle 27 adheres to the opposing side wall Wa, and the soil retaining layer Wb which is uniform in all directions is continuously formed below the existing soil retaining layer. It Further, when the formation state of the soil retaining layer Wb is monitored by the television monitor 41 via the television camera 32, and when it is determined that the soil retaining layer Wb being formed has a predetermined thickness, the supply device 10 and the nozzle drive unit. The rocking of the nozzle 44 and the nozzle 27 is stopped. Then, the gripper 16 is driven to retract, the contact member 34 is separated from the earth retaining layer Wb, and the spraying manipulator 11 is further lowered by a predetermined distance. These operations are sequentially repeated to form the earth retaining layer Wb on the entire surface of the side wall Wa.

The present invention is not limited to the above-described embodiments, but various modifications can be made within the scope of the invention. In the above embodiment, the remote operation of manually operating the spray manipulator 11 using the television camera 32 has been described, but the remote operation may be automatically performed as follows.

First, a plurality of sequence control programs for setting the operation pitch of each actuator and executing a spraying pattern corresponding to the natural condition are prepared.
The plurality of sequence control programs are stored in advance in the storage unit (not shown) in the control device 40 described above. Then, when performing the spraying work, an optimum sequence control program according to the natural situation is selected from a plurality of sequence control programs stored in the storage unit and executed.

When the sequence control program is executed, each actuator is driven and at the same time, the control device 40 outputs a control signal to the control unit 42. The control unit 42 uses the input control signal to secure the required thickness of the earth retaining layer Wb according to the discharge amount of concrete or the like from the supply device 10 and the hydraulic cylinder 31 together with the rotation speed of the rotation shaft 25. The rocking speed of is controlled to increase or decrease. Thereby, the spray manipulator can be automatically operated.

Further, the spraying condition at the time of automatic operation is monitored by the television monitor 41 installed in the remote control section 12, and if necessary, the control device 40 is switched from the automatic operation mode to the manual operation mode, and in the same manner as described above. It is also possible to perform remote control from outside the mine.

[0031]

According to the present invention, concrete or mortar can be mechanically sprayed by remote control even in a vertical shaft having a small construction cross section. As a result, the safety of the worker can be ensured and the laborious work in the shaft can be relieved. Further, since the continuous spraying work can be performed, the working time can be shortened and the cost can be reduced. Furthermore, if a television camera for monitoring the spraying condition of the side wall of concrete or the like is provided, the spraying condition can be easily grasped and the earth retaining layer can be finished with high quality.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing the overall configuration of a vertical shaft spraying device as an embodiment of the present invention.

FIG. 2 is an enlarged side view showing the detailed structure of the spray manipulator arranged in the shaft.

FIG. 3 is a top view of the spray manipulator shown in FIG.

FIG. 4 is an explanatory view showing a vertical shaft spraying method of the present invention.

FIG. 5 is an explanatory diagram showing a conventional shaft excavation work.

[Explanation of symbols]

 11 Spraying manipulator 13 Frame 16 Gripper 27 Nozzle 44 Nozzle drive part W Vertical shaft Wa Side wall Wb Earth retaining layer

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Tatsuya Nose 2 Sanbancho, Chiyoda-ku, Tokyo Tobishima Construction Co., Ltd. (72) Inventor Tetsuya Kawamura 2 Sanbancho, Chiyoda-ku, Tokyo Tobishima Construction Co., Ltd. Within

Claims (3)

[Claims] 1. In a vertical shaft spraying device that sprays concrete or mortar onto the side wall of a vertical shaft by remote control to make the side wall self-supporting, in a vertical shaft, a frame body that can be hung up and down in the vertical shaft and rotatably supported by this frame body. A nozzle for spraying concrete or mortar toward the side wall of the shaft, a nozzle drive unit for driving the nozzle to rotate, and a frame member for holding the frame in the shaft so that the nozzle rotates at a constant distance from the side wall. A vertical shaft spraying device comprising a spraying manipulator having a gripper. 2. The vertical shaft spraying device according to claim 1, further comprising a television camera for monitoring the spraying condition of concrete or mortar on the side wall. 3. A nozzle is driven by suspending a frame body in a vertical shaft, positioning the frame body in the vertical shaft so that a nozzle supported by the frame body turns while keeping a constant distance from a side wall, and driving the nozzle. A vertical shaft spraying method characterized in that concrete or mortar is sprayed toward a wall surface of a vertical shaft while the nozzle is swung by a section.