JPH07119475B2 - Automatic excavation equipment for trenches for underground walls - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic excavating device for a trench for an underground continuous wall, and more particularly to an automatic excavating device used for chopping a clamshell bucket for hydraulic trench excavation.

(Prior Art) Conventionally, when excavating a vertical continuous wall trench, an excavator having a clamshell bucket for trench excavation is used.

During the actual excavation of the continuous wall groove, the operator manually operates the clutch and brake levers in the operator's cab to wind up the winch and rotate it in the rewinding direction to raise and lower the excavation bucket.

The clamshell is opened and closed by manually operating the lever in the cab to operate the hydraulic jack.Furthermore, the inclination of the excavation bucket with respect to the vertical line is corrected by observing the lever displayed on the inclination display meter provided in the cab. By manually operating the hydraulic stabilizers, etc., they are moved in and out of the groove for the underground continuous wall.

Further, since the excavation bucket used for excavating the trench for the underground continuous wall has a considerable weight, in the soft ground, the excavation bucket is opened with the clam shell open. The blade edge of the clamshell in the open state can be cut into the ground simply by lowering it to the bottom, which allows the ground to be excavated relatively easily.

However, in the hard ground, the blade edge of the clam shell cannot be cut into the ground only by lowering the excavation bucket once.

Therefore, a so-called chopping operation is performed multiple times (5 to 6 times) by lifting the excavation bucket from the bottom of the ground by about 0.5 to 1.0 m and free-falling by releasing the clutch to scrape the ground.
Excavation of hard ground is repeated.

In the case of this chopping, unless the brake is applied to the winch as soon as the bucket reaches the bottom of the excavation, the wire becomes too slack and the next time the wire is wound on the winch,
There is a problem that the wire becomes entangled.

For this reason, conventionally, chopping work is performed with the operator's feeling while watching the movement of the hanging wire.

In addition, as another conventional method, a sensor for detecting the tension of the suspension wire is provided, and the sensor detects the state where the bucket reaches the bottom of the excavation and the suspension wire is unloaded, and the brake is operated by this detection signal. By doing so, the winch was automatically stopped.

(Problem to be Solved by the Invention) However, in the excavation method by the manual operation described above, it is a difficult technique to perform a brake operation at a timing so that the hanging wire does not become excessively loosened during chopping work, and it requires skill. However, there is a problem that the mental and physical burden on the operator increases.

Also, in the method of automatically braking the winch by detecting the no-load state of the hanging wire with a sensor, there is a time lag between when the bucket reaches the bottom of the excavation and when the winch is braked. You cannot eliminate the slack.

In addition, the load of the suspension wire fluctuates greatly when a shock is applied to the bucket during chopping, which makes it difficult to determine no load.

The present invention has been made in view of the above points, and an object of the present invention is to provide an automatic excavating device for a groove for an underground continuous wall that can minimize the slack of the suspension wire during chopping.

(Means for Solving the Problem) The present invention will be described with reference to FIGS. 1 to 5. The present invention is based on a bucket support body 231, a clam shell 235 openably and closably attached to a lower end, and a clam shell 235. An excavation bucket 23 having a hydraulic jack 236 that opens and closes,
A winch 24 for raising and lowering the excavation bucket 23, a brake device 24b for braking the winch 24, and the winch 2
The load detection means 30 for detecting the lifting load of the excavation bucket 23 by 4, the up-and-down amount detection means 32 for detecting the up-and-down amount of the excavation bucket 23, and the load detection means 30 and the up-and-down amount detection means 32 While controlling the winding and unwinding of the winch 24 based on the detection data, the excavation bucket 23 is moved up and down in the groove 19 for the underground continuous wall, and the crumb is lowered when the excavation bucket 23 descends from a predetermined height. The control means 42 for chopping the bottom portion 19a of the underground continuous wall groove 19 with the shell 235 and the excavation bucket 23 and the excavation bucket 23 start descending from a predetermined height toward the bottom portion 19a of the underground continuous wall groove 19. At the time of starting, the descent time of the excavating bucket 23 is counted, and when this count value reaches a set value, an operation command is given to the brake device 24b to stop the rewinding operation of the winch 24. It is made and a timer means 42a.

(Operation) During the chopping control by the control means 42, when the excavation bucket 23 that has risen to a predetermined height starts to descend, the timer means 42a starts to measure the descent time of the excavation bucket 23.

Then, when the count value of the timer means 42a is a preset value, that is, when the cutting edge of the clamshell 235 falls into the bottom portion 19a of the underground continuous wall groove 19 due to the descent of the excavation bucket 23, the timer means 42a is reached. Signal is generated to operate the brake device 24b to brake the winch 24 and stop its rewinding rotation.

Thereby, the slack of the suspension wire can be minimized.

(Example) Hereinafter, the Example of this invention is described based on drawing.

1 to 5 show an embodiment of an automatic excavating device for a trench for an underground continuous wall according to the present invention. FIG. 1 is an overall system configuration diagram, and FIG. 2 is an automatic system using a yagura. A front view of the excavator and FIG. 3 are side views thereof.

First, in FIG. 2 and FIG. 3, reference numeral 20 is a drilling tower dedicated to excavation installed on the ground for excavating a vertical continuous wall groove, and a base 21 and a predetermined vertical standing on the base 21. Equipped with height posts 22.

On the platform 21, a winch 24 for raising and lowering the excavation bucket 23, and a hose 25 for supplying hydraulic oil to the excavation bucket 23.
A winding hose reel 25 of a, a hydraulic unit 26 for supplying hydraulic oil, and a control panel 27 for excavation are respectively installed.

The wire 24a wound around the winch 24 was pulled out to the side opposite to the winch 24 via the guide sheave 28 provided at the upper end of the column 22, and was wound around the sheave 29 provided in the excavation bucket 23. After that, it is coupled to the upper end portion of the column 22 via a load detector 30 composed of a load cell or the like. As a result, the excavation bucket 23 is supported in a suspended state via the sheave 29.

The excavation bucket 23 is located at the upper and lower portions of the bucket support body 231, and the plurality of hydraulic stabilizers 232 for tilt correction provided on the front, rear, left and right sides of the bucket support body 231.
234, a clam shell 235 attached to the lower end of the bucket support 231 so as to be openable and closable, and a plurality of hydraulic jacks 236 for opening and closing the clam shell 235.

Reference numeral 31 denotes an inclination detector provided on the bucket support body 231 for detecting the inclination of the excavation bucket 23 in the excavation direction with respect to the underground continuous wall groove 19.

Reference numeral 32 denotes an elevation amount (depth) detector attached to the column 22, which is a photoelectric type device including a rotating disk that converts the elevation amount of the excavation bucket 23 into a pulse signal, and a light emitting element and a light receiving element that face each other across the rotating disk. A wire 32a composed of a pulse generator and the like, and for rotating the rotating disk forward and backward in accordance with the elevation of the excavation bucket 23, is connected to the bucket support 231.

33 is a flow meter that detects the amount of hydraulic oil from the hydraulic unit 26 supplied to the hydraulic jack 236 of the excavation bucket 23, and is composed of a pulse generator that converts the flow rate into a pulse signal. The detection signal of the load detector 30 and the pulse signal of the lift amount detector 32 are input to the control panel 27. Similarly, the detection signal of the inclination detector 31 is input to the control panel 27 through a signal cable (not shown).

34 is a battery-powered vehicle for earth removal that carries the earth and sand excavated by the excavation bucket 23, has a reversible earth removal bucket 34a, and extends along the opening edge of the underground continuous wall groove 19. It is installed so that it can travel on a rail 35 laid horizontally on the ground.

Next, the configuration of FIG. 1 will be described.

FIG. 1 shows the details of the excavation control section provided in the control panel 27, and 40 and 41 are AD converters for converting the analog signals from the load detector 30 and the inclination detector 31 into digital signals. The digital signal output from each of the A / D converters 40 and 41 is captured by the arithmetic processing unit 42 including a personal computer.

44 and 45 are counters for counting the pulse signals from the up-and-down amount detector 32 and the flow meter 33, respectively.
The count values of 4,45 are taken into the arithmetic processing unit 42.

Through the output interface 46 to the processor 42
A display device 47 such as a CRT and a printer 48 are connected so that the calculation result of the calculation processing device 42, a control program and the like can be displayed or printed.

Also, an output interface connected to the processor 42
49 includes winch 24, brake device 24b of winch 24, hose reel 25, stabilizers 232, 234, hydraulic jack 236.
And a relay box 50 for controlling the soil transfer vehicle 34 is connected, and the command signal output from the relay box 50 is further transmitted via the control distribution board 51 to the clutch and brake device 24b of the winch 24 and the solenoid valves of the stabilizers 232, 234. (Not shown), an electromagnetic valve (not shown) of the hydraulic jack 236, and the earth discharging carriage 34.

The processor 42 is used for the excavation bucket 23 during chopping.
It has a timer 42a for brake control that measures the fall time of the. This timer 42a is configured by software such as the RAM and CPU of the arithmetic processing unit 42, and is used for the excavation bucket 23
The clocking operation is started from the start point of the fall, and when it matches the installation value stored in the ROM or the like, the operation command is sent to the brake device 24b.

A manual operation panel 53 is connected to the arithmetic processing unit 42 via an input interface 52.
Reference numeral 53 is used in the initial excavation stage of the trench 19 for the underground continuous wall.

The arithmetic processing unit 42 includes a load detector 30 and an inclination detector.
A ROM for storing a series of excavation control programs and installation data shown in the flowchart of FIG. 4 according to input information from the counter 31 and counters 44, 45, and a RAM for storing calculation results and input information of the arithmetic processing unit 42. Is equipped with.

Next, the operation of the present embodiment configured as described above will be described with reference to the flowchart shown in FIG. 4 and FIG.

When excavating the vertical continuous wall groove 19 in the ground, first, various buttons (not shown) on the excavation operation panel 53 provided on the control panel 27 are manually operated to manually operate the clutch of the winch 24. Also, the brake is controlled to raise and lower the excavation bucket 23, and the hydraulic jack 236 is opened and closed to excavate the continuous wall groove 19.

Then, the earth and sand excavated by the excavation bucket 23 are dropped into the bucket 34a of the earth-moving carrier 34 that is driven by the manual operation of the operation panel 53 at the relevant positions shown in FIGS. 20 Transported outside.

When the depth of the underground continuous wall groove 19 is excavated to such a depth that the entire excavation bucket 23 is almost buried by such a manual operation, the excavation mode is switched from the manual mode to the automatic mode, and the automatic excavation is performed by chopping. To do.

At the time of automatic excavation by chopping, in step S1 shown in FIG. 4, the brake device 24a is loosened and the winch 24 is rotated in the rewinding direction to move the excavating bucket 23 at the rising end to the continuous wall groove 19. Slowly descend to the bottom 19a.

The clam shell 235 is opened while the excavation bucket 23 is descending.

In the next step S2, the excavation bucket 23 moves into the continuous wall groove 19
The winch 24 based on the detection data from the load detector 30 when reaching the bottom 19a of the
To stop the descent of the excavation bucket 23.

Then, in step S3, a wire winding command is given to the winch 24, the winch 24 is rotated at a low speed in the winding direction, and the excavation bucket 23 is moved as shown in FIGS. 5 (a) and 5 (b). h (0.5 to 1.0 m) up. The amount of rise h at this time is determined on the basis of the measured values measured by the up / down amount detector 32 and the counter 44.

In the next step S4, when the lift amount h is determined, the clutch of the winch 24 is disengaged, and the lifting operation of the excavation bucket 23 is stopped and the brake is applied at the same time.

After that, in step S5, the brake device 24b of the winch 24 is released to cause the excavation bucket 23 to freely fall and at the same time to start the timer 42a to cause the blade of the clamshell 235 to bite into the ground of the bottom portion 19a.

In the next step, step S6, it is determined whether the time measured by the timer 42a has reached the set time t.

Here, if it is determined that the count value of the timer 42a has reached the set time t required to drop the excavation bucket 23 by an amount that is slightly larger than the amount corresponding to the ascending amount h, the process proceeds to step S7, and the calculation process is performed. An ON command is given to the brake device 24b from the device 42 through the output interface 49, the relay box 50 and the control distribution board 51, and the winch 24 is braked by operating the brake device 24b, and the suspension wire 24a is loosened more than necessary. Prevent.

In the next step S8, as shown in FIG. 5 (c), it is detected whether the bite amount of the clamshell 235 due to the free fall of the excavation bucket 23 has reached the set value α from the current excavation bottom level, and the ascent / descent amount is detected. The determination is made based on the count values obtained from the instrument 32 and the counter 44.

Here, when it is determined that the bite amount ≧ α is not satisfied, the process returns to step S3, and the chopping processing in and after step S3 is repeatedly executed until the bite amount ≧ α.

If it is determined that the bite amount ≧ α, the process proceeds to the next step S9, the hydraulic jack 236 is operated to close the clam shell 235 as shown in FIG. 5 (d), and the bottom 19a is excavated.

Hereinafter, by repeatedly executing the operation shown in FIGS. 5A to 5D, the trench 19 for the underground continuous wall is excavated to the design depth.

In this embodiment, the free fall time of the excavating bucket 23 during chopping is measured by the timer 42a, and when the measured value reaches the set value, the braking device 24
Since the brake is applied to the winch 24 by operating b, the timing of braking to the winch 24 is ensured, and the slack of the suspension wire can be minimized as well as
It is possible to prevent the hanging wire from being excessively loosened and the wire from being irregularly wound.

Further, by measuring the load applied to the hanging wire 24a by the load detector 30, the winch stop can be safely and reliably performed by triple checking the load of the hanging wire, the time by the timer and the excavation depth of the continuous wall groove. Can be done

In addition, in the said Example, although the case where it excavated using the exclusive yagura was described, it is not restricted to this and this invention is applicable even if a crawler crane is used. However, in this case, do not use a battery car for soil removal.

Further, the excavation method of the present invention is not limited to the one using a personal computer, and it goes without saying that various changes can be made within the scope described in the claims.

Furthermore, at the initial stage of excavation of the trench for underground wall, if the frame body for guiding the excavation bucket in the vertical direction is provided, the manual excavation described in the above embodiment can be omitted, and the excavation is performed in the automatic mode from the initial stage of excavation. You can work.

(Effects of the Invention) As described above, according to the present invention, when chopping work is performed, the excavation bucket is allowed to freely fall from a predetermined rising position to cause the clamshell to bite into the excavation bottom, and the fall time is measured by a timer. However, because the signal is used when the count value of this timer reaches the setting time, the brake is operated to stop the wire feeding of the winch, so the brake operation timing for the winch is ensured,
The slack of the hanging wire can be minimized, and excessive slack of the hanging wire and irregular winding of the wire can be prevented.

[Brief description of drawings]

FIG. 1 is a system configuration diagram showing an embodiment of the present invention, and FIG.
FIG. 3 is a front view of the excavator in this embodiment, and FIG. 3 is a second view.
FIG. 4 is a side view of the drawing, FIG. 4 is a flow chart showing an operation procedure of excavation in the present embodiment, and FIGS. 5A to 5D are explanatory views showing operation states of the excavation bucket during chopping in the present embodiment. Is. In the figure, 23 is an excavation bucket, 231 is a bucket support, 2
32, 234 is a stabilizer, 235 is a clamshell, 236 is a hydraulic jack, 24 is a winch, 24b is a brake device, 26 is a hydraulic unit, 27 is a control panel, 30 is a load detector, 31 is a tilt detector, and 32 is a lift amount detection. , 42 is an arithmetic processing unit, and 42a is a timer.

Front page continuation (72) Inventor Takahiro Maru 4-6-15 Sendagaya, Shibuya-ku, Tokyo Within Fujita Industry Co., Ltd. (72) Inventor Xie ▲ Sen 娟 4-6-15 Sendagaya, Shibuya-ku, Tokyo Fu Within Zita Industry Co., Ltd.

Claims (1)

[Claims] 1. An excavation bucket having a bucket support, a clam shell openably and closably attached to a lower end thereof, and a hydraulic jack for opening and closing the clam shell, a winch for moving the excavation bucket up and down, and a brake for the winch. And a load detecting means for detecting a hoisting load of the excavating bucket by the winch, an ascending / descending amount detecting means for detecting an ascending / descending amount of the excavating bucket, and a load detecting means and an ascending / descending amount detecting means. The excavation bucket is moved up and down in the groove for the underground continuous wall by controlling the winding and rewinding of the winch based on the detection data, and when the excavation bucket is lowered from the predetermined height, the underground is provided by the clamshell. Control means for performing an excavation operation by chopping the bottom of the continuous wall groove, and the excavation bucket from a predetermined height The descent time of the excavation bucket is counted starting at the time of starting the descent toward the bottom of the groove for the middle continuous wall, and when this count value reaches a set value, an operation command is given to the brake device to An automatic excavation device for a trench for a continuous underground wall, comprising: a timer means for stopping the unwinding operation of a winch.