JPH0720208Y2 - Grab bucket excavation trajectory display - Google Patents

Description

[Detailed description of the device] [Industrial applications]

The present invention mainly relates to a device that is mounted on a dredging ship and that displays the excavation trajectory of a grab bucket that horizontally excavates the seabed.

[Prior art]

If the seabed is dredged with the conventional grab bucket shown in FIG. 4, the mountain shape shown in FIG. 5 is obtained. This is because when the grab bucket is suspended at a fixed position and the shell is closed, the shell rotates around the fulcrum. When the grab bucket is closed by loosening the support wire that suspends the grab bucket, the grab bucket descends into the ground as the shell is closed, so the center becomes deeper. In any case, the dredged seabed will be uneven and not level. When performing dredging work using a grab bucket, it is desirable to make the dug level as horizontal as possible. To level the dig, it is necessary to lower the grab bucket by a certain amount as the grab bucket shell is closed.
In order to perform this operation, the operator is required to make a correction operation for adjusting the amount of extension of the support wire. That is, in order to make the excavation locus of the grab bucket horizontal, the operator is required to perform a difficult operation in which the support wire is gradually fed out and the grab bucket is lowered as the opening / closing wire is wound to close the grab bucket. When excavating a grab bucket, the operator
I can't see what the excavation path of the shell looks like. For this reason, the operator relies on his feeling to adjust the amount of extension of the support wire. This method requires the operator to be extremely sophisticated. In addition, not all operators can accurately drill horizontally on the seabed. In order to eliminate this drawback, an underwater excavation condition monitoring device for a hydraulic backhoe ship has been developed (Japanese Utility Model Publication No. 64-91012). The device described in this publication searches the topography of the excavation surface with a sonar sensor, calculates the topography of the excavation surface, and displays it.

[Problems to be solved by the device]

The device described in this publication can display the excavated locus only when the seabed is not being excavated. There is a drawback that the excavation locus of the grab bucket cannot be displayed during actual excavation. The excavation trajectory display device of the grab bucket wants to display the excavation trajectory when excavating. This is because it is desired to check the display device to confirm that the excavation is normally performed. However, the device described in this publication cannot display the excavation locus until a certain period of time has passed after excavation and the turbidity during excavation disappears. Since the sea is cloudy during excavation, the excavation trajectory cannot be detected. This is because the sonar sensor cannot search for the excavated surface when it is cloudy. In particular, if innumerable minute bubbles are generated in the sea during excavation, the sonar sensor cannot be searched. This is because the sound is reflected on the surface of the bubbles. The sonar sensor cannot search the excavated surface until the bubbles rise to the interface and the turbidity settles to the bottom. Therefore, the device described in this publication has a drawback that the excavation surface cannot be displayed not only during excavation but also until a predetermined time elapses after the excavation is completed. To make matters worse, the time until the excavation is completed and the excavation surface can be displayed varies significantly depending on the environment of the excavation site. On the seabed where the sludge is accumulated, it takes a long time to clear the turbidity after the excavation, and the excavated surface cannot be displayed during this period. Further, recently, in order to prevent turbidity during excavation from scattering around, excavation is sometimes performed around a periphery of an excavated portion with a grab bucket. Even in this state, it takes an extremely long time for the turbidity to clear. This is because the turbidity does not scatter around. Therefore,
Even in this state, the device described in this publication has a drawback that the excavation surface cannot be displayed. The present invention has been developed for the purpose of solving this drawback, and an important object of the present invention is to provide an excavation trajectory display device capable of displaying an excavation trajectory of a grab bucket while excavating. Another important object of the present invention is to provide an excavation trajectory display device capable of exchanging the grab buckets if necessary to dredge the seabed in an ideal state for each grab bucket.

[Means for Solving the Problems]

An excavation locus display device for a dredge grab bucket according to the present invention has the following configuration to achieve the above object. The grab bucket excavation locus display device includes a calculation unit 6 that processes a signal from a sensor to calculate an excavation locus of the grab bucket 1, and a display member that displays the excavation locus of the glove bucket 1 calculated by the calculation unit 6. 7 and 7. Further, the grab bucket excavation locus display device of the present invention uses sensors for detecting the movement amount of the opening / closing sensor 3 for detecting the movement amount of the opening / closing wire 2 for opening / closing the grab bucket 1 and the movement amount of the support wire 4 for moving the grab bucket 1 up and down. It is composed of a support sensor 5 for detecting. Signals from the open / close sensor 3 and the support sensor 5 are calculated by the calculation means 6 to calculate the excavation locus of the grab bucket, and the calculated excavation locus of the grab bucket 1 is displayed on the display member 7. A monitor television is most suitable for the display member 7. A printer or xy blotter can be used instead of a monitor TV.

[Action]

The grab bucket excavation locus display device of the present invention detects the amount of extension of the opening / closing wire 2 and the support wire 4, and calculates and displays the excavation locus of the grab bucket 1. The movement path of the shell tip of the grab bucket 1 is determined by the movement amounts of the opening / closing wire 2 and the support wire 4. In order to calculate the excavation locus of the shell tip from the movement amount of the opening / closing wire 2 and the support wire 4, the lower method can be adopted. Opening wire 2 without moving support wire 4
Wind up and measure the trajectory of the shell tip, or
Calculate. This locus becomes as shown in FIG.
The trajectory of the shell tip with respect to the winding amount of the opening / closing wire 2 is stored as an x value and ay value. The support wire 4 only moves the grab bucket 1 up and down. Therefore, the movement locus of the shell tip can be obtained by correcting the y-axis position with the movement amount of the support wire 4. However, when the support wire 4 is paid out, the open / close wire 2 is relatively wound. Therefore, the movement amount of the opening / closing wire 2 is corrected by the movement amount of the support wire 4. The result calculated by the calculation means 6 is displayed on the display member 7. The display member 7 displays the movement trajectory of the shell tip, for example, as shown in FIG. As described above, in the grab bucket excavation locus display device of the present invention, the movement locus of the shell is displayed on the display member 7.
Therefore, the operator can easily and accurately check the excavation trajectory of the shell by looking at the display member 7. For this reason, the operator can easily, easily, and accurately dig the horizontal bottom of the sea bed by looking at the display member 7 and adjusting the feeding amount of the support wire 4 so that the excavation trajectory of the shell becomes horizontal. The grab bucket excavation locus display device of the present invention can also be used in an excavation device in which the shell excavation locus is automatically adjusted horizontally. In this case, it is possible to confirm whether or not the shell can be accurately drilled horizontally by looking at the display member 7.
In addition, the device that automatically excavates the seabed horizontally uses the display member 7 so that the shell makes a more complete horizontal moat.
Fine adjustment is also possible.

[Preferred embodiment]

An embodiment of the present invention will be described below with reference to the drawings. However, the embodiments shown below exemplify the excavation locus display device of the grab bucket for embodying the technical idea of the present invention. , Structure and arrangement are not specified in the structure below. The excavation locus display device of the present invention may be modified in various ways within the scope of the claims for utility model registration. Further, in this specification, in order to facilitate understanding of the scope of claims for utility model registration, the numbers corresponding to the members shown in the embodiment are
It is added to the members shown in the "column for claim for utility model", "column for means for solving conventional problems" and "column for action". However, the members shown in the scope of claims for utility model registration are by no means limited to the members of the embodiment. The excavation locus display device of the grab bucket 1 used in the drooping machine shown in FIGS. 1 and 2 includes an opening / closing sensor 3 for detecting the movement amount of an opening / closing wire 2 for opening / closing the grab bucket 1, and a vertical movement of the grab bucket 1. It comprises a support sensor 5 for detecting the amount of movement of the support wire 4, a calculation means 6 for calculating the input signals from both sensors, and a display member 7 for processing the calculation result of the calculation means 6. The opening / closing sensor 3 directly measures the movement amount of the opening / closing wire 2.
Alternatively, all sensors that can be indirectly detected can be used. As the opening / closing sensor 3 that directly detects the amount of movement of the opening / closing wire 2, a sensor that detects the rotation of a roller that rotates in contact with the opening / closing wire 2 can be used. For a sensor that indirectly detects the movement amount of the opening / closing wire 2, for example,
A sensor that detects the rotation of the winding drum of the opening / closing wire 2 can be used. As the support sensor 5, similarly to the open / close sensor 3, all sensors that can directly or indirectly detect the movement amount of the support wire 4 can be used. As the sensor that directly detects the movement amount of the support wire 4, a sensor that detects the rotation of the roller that rotates in contact with the support wire 4 can be used. As a sensor that indirectly detects the movement amount of the support wire 4, for example, a sensor that detects the rotation of the winding drum of the support wire 4 can be used. The calculation means 6 calculates the excavation locus of the grab bucket 1 from the input signals from the opening / closing sensor 3 and the support sensor 5. A microcomputer is used as the computing means 6. The microcomputer includes an A / D converter 6A that converts an analog signal input from the opening / closing sensor 3 and the support sensor 5 into a digital signal, a CPU 6B that calculates an input signal from both sensors and obtains a movement trajectory of the shell tip,
And a memory 6C for storing the movement trajectory of the shell. The memory 6C stores the movement trajectory of the shell tip with respect to the movement amount of the opening / closing wire 2 as an x value and ay value. The dredging machine that replaces and uses multiple grab buckets 1
The trajectories of all the grab buckets 1 used by being exchanged are stored in the memory. The CPU 6B arithmetically processes the signal input from the A / D converter 6A and the stored value of the memory 6C according to a predetermined program to calculate the excavation locus of the grab bucket 1. The display member 7 is connected to the calculation means 6 and the calculation result is transmitted from the calculation means 6 to display the excavation trajectory of the grab bucket 1. As shown in FIG. 1, it is the simplest for the display member to planarly display the movement trajectory of the vertical surface of the shell tip. However, the excavation trajectory of the shell can be displayed three-dimensionally in three dimensions. The display member can display the excavation locus of the grab bucket every time as shown in FIG. 1, but as shown in FIG. 7, a device that displays the excavation locus of the grab bucket a plurality of times. Specifies which part of the seabed at the excavation site was excavated and in what state after the excavation work was completed.
In this case, if the excavation trajectory of the shell is displayed in three dimensions, the state of the seabed can be more easily understood and confirmed. When displaying a plurality of excavation trajectories of the grab bucket, it is better to display the excavation trajectories in correspondence with the positions excavated by the grab bucket, rather than simply displaying the excavation trajectories in order. To realize this, it is necessary to detect the excavation trajectory of the grab bucket and the horizontal position of the grab bucket. The horizontal position of the grab bucket is specified by the ship position where the dredging machine is set and the horizontal and vertical rotation angles of the jib. The ship position can be calculated by detecting the amount of movement of the wire that fixes the four corners of the ship with a sensor. The vertical rotation angle of the jib can be calculated by detecting the amount of movement of the wire that tilts the jib with a sensor. The horizontal rotation angle of the jib can be measured by detecting the rotation angle of the turntable on which the jib is placed with a sensor. The display member that displays the excavation trajectory of the grab bucket a plurality of times in association with the excavation position of the grab bucket has a feature that the state of the entire excavated rotation can be accurately estimated. A monitor television, a printer, an xy plotter, or the like can be used as the display member 7. The excavation locus display device of the grab bucket 1 of the present invention is most conveniently used when used in a dredging machine in which the open / close wire 2 and the support wire 4 can be manually operated. However, the excavation locus display device of the grab bucket 1 of the present invention can also be used for a dredging machine that automatically brings the excavation locus of the shell closer to horizontal. FIG. 2 shows a dredging machine to which the grab bucket excavation locus display device of the present invention can be set. This dredging machine has a grab bucket 1 to be excavated and an opening / closing wire 2 for opening and closing the shell of the grab bucket 1.
A supporting wire 4 for moving the grab bucket 1 up and down, an opening / closing drum 17 for winding the opening / closing wire 2, a supporting drum 10 for winding the supporting wire 4, and a power source 16 for driving the opening / closing drum 17 and the supporting drum 10. Is equipped with. The grab bucket 1 is, as shown in FIGS. 2 and 4,
Two wires, the opening / closing wire 2 and the support wire 4, are connected. The opening / closing wire 2 opens and closes the shell. That is, when the open / close wire 2 is pulled, the shell is closed. The wire 2 is connected to the center of the shell in FIG. The upper end of the shell is rotatably connected. The support wire 4 moves the entire grab bucket 1 up and down. When the support wire 4 and the opening / closing wire 2 are towed together, the grab bucket 1 is moved up and down without being opened / closed. That is, when the opening / closing wire 2 is pulled with respect to the support wire 4, the shell moves in the direction in which the shell is closed. When the opening / closing wire 2 is loosened with respect to the support wire 4, the shell is opened. The dredging machine for horizontal excavation needs to pay out the supporting wire 4 when the shell is closed and the earth and sand are scooped. The amount of extension of the support wire 4 is manually operated by the operator looking at the locus of the display member 7, or is automatically controlled by the control means 8. Control means 8 for automatically bringing the excavation trajectory of the shell closer to horizontal
Adjusts the vertical position of the grab socket 1 with the degree of opening of the shell, and the feed amount of the support wire is fed back at the vertical position of the grab bucket. The opening degree of the shell is detected by the opening / closing sensor 3. The vertical position of the grab bucket 1 is detected by the support sensor 5. Control means 8 for controlling the feeding amount of the support wire 4
Are shown in FIG. The control means 8 includes an arithmetic processing member 11 that calculates the amount of payout of the support wire 4 in response to an input signal from the opening / closing sensor 3. The arithmetic processing member 11 controls the braking means 9 to control the feeding amount of the support wire 4. That is, as the open / close wire 2 is pulled and the shell is closed,
The braking means 9 is controlled by calculating an input signal from the opening / closing sensor 3 so that the grab bucket 1 is lowered by a predetermined amount. When the opening degree of the shell is input from the opening / closing sensor 3, the arithmetic processing member 11 specifies the amount of descent of the grab bucket 1.
The descent amount of the grab bucket 1 is detected by the opening / closing sensor 3. When the descent amount of the grab bucket 1 is smaller than the calculated value, the braking means 9 is loosened. On the contrary, when the descent amount of the grab bucket 1 is larger than the calculated value, the braking means 9 brakes the rotation of the support drum 10. FIG. 6 shows the braking means 9 controlled by the arithmetic processing member 11.
The control circuit diagram of is shown. The braking means 9 shown in this figure includes a disc brake, which is a braking member 9A for braking the rotation of the support drum 10, and a drive member 9B for driving the caliper of the disc brake to adjust the braking force of the disc brake. I have it. As shown in FIG. 2, the disc brake, which is the braking member 9A, includes discs fixed to both sides of the support drum 10, and calipers for sandwiching the discs and braking the rotation of the discs. The drive member 9B includes a hydraulic piston 12 for adjusting the disc stopping force, a control valve 13, a horizontal excavation switching valve 14, and a hydraulic pump.
It has 15 and. When the hydraulic piston 12 is pushed out by hydraulic pressure, the caliper clamps the disc and brakes the rotation of the disc. The control valve 13 is controlled by the arithmetic processing member 11. That is,
The opening degree of the control valve 13 is controlled by the arithmetic processing member 11. Control valve
13 bypasses the hydraulic pressure supplied from the horizontal excavation switching valve 14 to the hydraulic piston 12. The larger the opening of the control valve 13, the larger the amount of hydraulic pressure is bypassed, and the hydraulic pressure supplied to the hydraulic piston 12 is reduced.
The force with which 12 presses the caliper becomes weak. When the pressing force of the caliper becomes weak, the disc easily rotates, that is, the brake is released, and the support drum 10 easily rotates. On the contrary, as the control valve 13 is closed, the hydraulic pressure acting on the hydraulic piston 12 becomes higher, and the hydraulic piston 12 presses the caliper with a stronger force against the disc. In this state, the brake is strongly closed and the rotation of the support drum 10 is stopped or braked. The horizontal excavation switching valve 14 is in the position shown in FIG. 3 until the grab bucket 1 is lowered to a constant water depth. In this state, the differential oil pressurized by the hydraulic pump is not supplied to the hydraulic cylinder. Therefore, the braking means 9 does not brake the rotation of the support drum 10. When the grab bucket 1 is lowered to the bottom of the sea, the horizontal excavation switching valve 14 is switched from the position shown in FIG. When the horizontal excavation switching valve 14 is switched, the hydraulic pump supplies hydraulic oil to the hydraulic cylinder. In this state, the opening degree of the control valve 13 is adjusted, and the grab bucket 1 is gradually lowered as the shell is closed. The above drooping machine automatically controls the feeding amount of the support wire 4, but the excavation trajectory display device of the grab bucket of the present invention is convenient for drunkers that manually operate the feeding amount of the support wire 4. Available.

[Effect of device]

The grab bucket excavation locus display device of the present invention can display the grab bucket excavation locus even when seawater is remarkably muddy after excavation. This is because the movement amount of the support wire and the opening / closing wire is calculated to calculate the excavation locus of the grab bucket, and the calculation result is displayed. The grab bucket excavation locus display device of the present invention does not disturb the excavation locus due to turbidity of the seabed or innumerable bubbles. The device of the present invention has an excellent feature that the excavation trajectory of the grab bucket can be displayed in real time while excavating. Therefore, it is possible to excavate the seabed while observing the display member and checking how the grab bucket excavates the seabed. This is extremely important for the grab bucket excavation trajectory display. This is because if the excavation trajectory of the seabed can be confirmed during excavation, the excavation state can be adjusted to the optimum state. In addition, the grab bucket excavation trajectory display device of the present invention,
The excavation trajectory of the grab bucket can be displayed accurately without being affected by turbidity or bubbles, and the manufacturing cost can be reduced. The reason is that the sensor for the amount of movement of the support wire and the opening / closing wire is cheaper than the sonar sensor equipped in the conventional device. Therefore, the grab bucket excavation locus display device of the present invention can realize an extremely excellent feature of this type of device that the cost can be reduced as a whole and the grab bucket excavation locus can be displayed accurately and in real time. .

[Brief description of drawings]

FIG. 1 is a block diagram of an excavation locus display device for a grab bucket of the present invention, FIG. 2 is a side view showing a dredging machine on which the excavation locus display device is set, and FIG. 3 is a drunk machine shown in FIG. FIG. 4 is a side view of the grab bucket, FIG. 5 is a graph showing the movement trajectory of the shell tip of the grab bucket, and FIG. 6 is a hydraulic circuit showing the control circuit of the braking means. FIG. 7 and FIG. 7 are plan views showing specific examples in which the display member displays the excavation locus of the grab bucket. 1 …… Grab bucket, 2 …… Opening / closing wire 3 …… Opening / closing sensor, 4 …… Supporting wire 5 …… Supporting sensor, 6 …… Computing means 6A …… A / D converter, 6B …… CPU 6C …… Memory, 7 ... display member 8 ... control means, 9 ... brake means 9A ... braking member, 9B ... driving member 10 ... support drum, 11 ... arithmetic processing member 12 ... hydraulic piston, 13 ... control valve 14 …… Horizontal drilling switching valve, 15 …… Hydraulic pump 16 …… Power source, 17 …… Opening / closing drum

Claims (1)

[Scope of utility model registration request] 1. A calculation means (6) for processing a signal from a sensor to calculate an excavation trajectory of a grab bucket (1), and an excavation trajectory of the grab bucket (1) calculated by the arithmetic means (6). An excavation locus display device for a grab bucket including a display member (7) for displaying, wherein the sensor is an opening / closing sensor (3) for detecting a movement amount of an opening / closing wire (2) for opening and closing the grab bucket (1), A support sensor (5) for detecting the amount of movement of the support wire (4) for moving the grab bucket (1) up and down is provided, and the calculation means (6) calculates signals from the open / close sensor (3) and the support sensor (5). Then, the excavation trajectory of the grab bucket is calculated, and the computed excavation trajectory of the grab bucket (1) is displayed on the display member (7). Excavation trajectory display device.