JPH0720333U - Driving device for excavation part in underwater working machine - Google Patents

Abstract

(57) [Abstract] [Purpose] To improve the reliability by simplifying the excavator drive unit for underwater working machines. [Constitution] Rotating bucket as excavation part of underwater working machine 10
The 107 is rotatably supported by the watertight ladder 106,
An electric servomotor 1 and a speed reducer 3 directly connected to the electric servomotor 1 are housed in 106, and the electric servomotor 1 rotates the bucket.
By directly driving 107, the number of components can be reduced as compared with the conventional hydraulic drive system, and the structure of the drive device can be simplified and the reliability can be improved. Further, environmental water is efficiently taken into the cooling pipe 7 attached to the electric servomotor 1 from the intake port 8a by utilizing the water flow accompanying the rotation of the rotating bucket 107, and the electric servomotor 1 is effectively cooled.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to an underwater work machine that operates by being submerged in water, and particularly relates to a drive device for a rotating portion thereof.

[0002]

[Prior art]

 Conventionally, as an underwater working machine for excavating rocks by submerging underwater, one shown in Fig. 3 has been proposed. The underwater working machine 101 has a moving mechanism 102 as a main component. , Upper structure 103, swivel column 104, swivel body 105, rudder 106, rotating bucket 107, sediment transport pipes 108, 110, sediment transport pump 109, swivel drive cylinder 111 of swivel body 105, lifting cylinder of ladder 106 112, a hydraulic pressure generator 113 and a hydraulic tank 114 are provided.

While the working mechanism 101 is being moved by the moving mechanism 102, the attitude of the ladder 106 attached to the front part of the working machine is controlled by the swing cylinder 111 and the elevation cylinder 112, and the rotating bucket 107 provided at the tip of the ladder is controlled. The bottom rock and sidewall rock are excavated by pressing in the direction of the arrow while pressing the rock against the rock, and the earth and sand after the excavation is sucked by the earth and sand transfer pump 109 and discharged to the land through the earth and sand transfer pipes 108 and 110. ing. In this underwater working machine, a hydraulic drive system such as a hydraulic system is used to drive the movement mechanism 102, the attitude control cylinders 111 and 112 of the rudder 106, and the rotary bucket 107.

The attitude control of the rudder 106 and the rotation control of the rotating bucket 107 are performed depending on the conditions such as the excavation resistance, the amount of excavation, and the amount of sediment carried out due to the hardness of the rock, and the amount of rotation and rotation of the rotating bucket 107 into the rock. An excavation control system is adopted in which the speed and the turning speed of the ladder 106 are automatically adjusted. Therefore, various sensors such as a pressure sensor, a rotation sensor, a position sensor, and a flow sensor are attached to the conventional underwater work machine to obtain such information. In order to secure a stable excavation work with such a configuration and operation, it is indispensable not only to control the attitude of the ladder 106 accurately but also to control the rotation of the rotating bucket 107 in a stable manner.

FIG. 4 shows an example of a drive system for a rotary bucket. The drive system includes a speed reducer 115 connected to a rotary bucket 107, a hydraulic motor 116, a hydraulic pipe 117, a flow control valve 118, and a direction control. The valve 119, the hydraulic pump 120, the submersible electric motor 121, the flow control valve 118 and the controller 122 of the directional control valve 119, the electric motor operation panel 123, the rotation sensor 124, the pressure sensor 125 and the calculator 126 are provided. The hydraulic oil generated by the pressure pump 120 is sent to the hydraulic motor 116 via the directional control valve 119 and the flow control valve 118 to rotate the hydraulic motor 116, and the output shaft of the speed reducer 115 rotates the rotary bucket 107. The reduction gear 115 and the hydraulic motor 116 are housed in the ladder 106. In this system, the rotation control of the hydraulic motor 116 is performed by adjusting the flow rate by the flow rate control valve 118.

In order to monitor the excavation state, a rotation (N) detection sensor 124 and a circuit pressure detection sensor 125 of the hydraulic motor 116 are incorporated, and the excavation torque (T) and the like are calculated from these information. It Further, the controller 122 receives the rotation speed command Nr of the rotary bucket 107 determined from various information such as the excavation force from the ladder drive system and the amount of carried out sand, and controls the control valves 118 and 119 according to the command. The flow direction and flow rate are adjusted.

[0007]

[Problems to be solved by the device]

 By the way, in the conventional rotary bucket drive system as described above, the hydraulic pressure generator 113 is commonly used for driving the ladder drive cylinder and the like, and a relatively high driving force can be obtained by increasing the pressure. For this reason, the hydraulic drive method represented by hydraulic pressure is adopted. However, in terms of the cylinder configuration, as shown in FIG. 4, many hydraulic devices such as the hydraulic pump 120, the control valves 118 and 119, and the hydraulic motor 116, and connecting pipes for these devices are required. However, the system configuration becomes complicated, and when hydraulic pressure is used, there is concern about environmental pollution due to oil leaks from equipment seals and piping.

Further, since there are many constituent devices, not only the reliability due to a failure or the like is lowered, but also the driving efficiency of the entire system is lowered in consideration of the efficiency of each device. Further, various types of sensors such as the rotation sensor 124 and the pressure sensor 125 are required to obtain the excavation information for performing the excavation control suitable for the rock excavation described above. Furthermore, as the operating characteristics of the system, there is a problem that stable excavation cannot be obtained due to the rotational fluctuation of the rotating bucket 107 caused by the compressibility of the hydraulic fluid, especially when the excavation resistance fluctuates greatly. There is also.

The present invention is intended to solve such a problem, and employs an electric servomotor having a rotation detector capable of controlling the rotation speed and the torque as a drive source of a rotating bucket. In addition, the rotary drive system combines only the speed reducer to reduce the rotation speed of the rotating bucket that requires a relatively low speed rotation (about 15 rpm). It is necessary to store the servomotor in a watertight manner, and since it becomes a closed space, the temperature rise in the electric servomotor in particular may cause failure.Therefore, a cooling pipe is placed on the surface of the electric servomotor to allow water to pass through the surrounding environment. Cooling prevents the electric servo motor from excessive temperature rise.

[0010]

[Means for Solving the Problems]

 In order to achieve the above-mentioned object, the excavation part drive device for an underwater working machine according to claim 1 of the present invention is a rotating bucket as an excavating part in an underwater working machine for excavating rock or the like in a state of being submerged in water. As a rotation driving mechanism for the rotary bucket, a speed reducer connected directly to the electric servomotor and the electric servomotor in the ladder supporting the rotary bucket to directly drive the rotary bucket and connected to the rotary shaft of the rotary bucket. It is characterized in that and are stored.

Further, the excavation part driving device for an underwater working machine according to a second aspect of the present invention is the device according to the first aspect, wherein the surface of the electric servomotor is cooled as cooling water in order to cool the electric servomotor. A cooling pipe into which ambient water can be introduced is attached, and the cooling water intake port of the cooling pipe is provided so as to open in the vicinity of the rotating portion of the rotating bucket.

[0012]

[Action]

 The excavator drive device for an underwater working machine according to the present invention described above can significantly reduce the number of constituent devices compared to the conventional hydraulic drive system, and greatly improves reliability due to device failure and drive efficiency. It becomes possible. Moreover, it is not necessary to add a tachometer, a pressure sensor, a flow rate sensor, etc. to various information for performing excavation control as in the past, and a calculation device is not required, which simplifies the control device. Furthermore, by installing a cooling pipe to prevent heat generation of the electric servomotor, overheating of the servomotor can be suppressed even in the sealed box.

[0013]

【Example】

 An excavator drive device in an underwater working machine as one embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic configuration diagram thereof, and FIG. 2 is an assembly structure diagram thereof. The underwater working machine 10 of this embodiment is also for excavating rock or the like in a state of being submerged in water. The rotary bucket 107 for excavating the rock or the like, and the electric servomotor 1 as a rotary drive source for the rotary bucket 107 are used. It has

The electric servomotor 1 is fixed in the frame of the ladder 106 by bolts or the like, and its output shaft 1a is coupled to the input shaft 3a of the speed reducer 3 by a coupling or the like, so that the drive shaft 4 of the speed reducer 3 is connected. The rotary bucket 107, which is rotatably supported by the ladder 106, is directly driven via the above. The electric servomotor 1 and the speed reducer 3 are both housed and fixed in a watertight ladder 106. The electric servomotor 1 has a built-in rotation detector 2 such as an encoder that detects the amount of rotation with a pulse, and in combination with the servo driver 6, it is possible to directly detect the rotation speed of the electric servomotor 1. There is.

The electric servo motor 1 and the servo driver 6 are connected by a cable 11 such as a power line and a signal line of the rotation detector 2, and drive information such as the rotation speed N and the torque T is transmitted from the servo driver 6. You can get it directly. Further, the rotation speed (speed) command value Nr for controlling the rotation speed (N) of the electric servo motor 1 is input to the servo driver 6, and the servo driver 6 compares the actual rotation speed N with the feedback speed control value Nr. Is being carried out. The speed reducer 3 reduces the rotational speed of the electric servomotor 1 to a required rotational speed of the rotary bucket 107 (for example, 15 rpm). A planetary gear or the like is used, and the speed reducer 3 has a capacity based on a reduction ratio and a required torque. It is determined.

A cooling pipe 7 is attached to the outer surface of the electric servomotor 1. The cooling pipe 7 is connected to a cooling water intake pipe 8 that takes in ambient environmental water as cooling water and a cooling water discharge pipe 9 that discharges the cooled cooling water. Both the cooling water intake pipe 8 and the cooling water discharge pipe 9 penetrate the ladder 106 and extend to the outside, and the intake port 8a of the cooling water intake pipe 8 opens near the rotating portion of the rotating bucket 107.

In the above configuration, by inputting the rotation speed command Nr determined from various kinds of excavation information to the servo driver 6, the rotation speed of the electric servomotor 1 can be freely controlled. As a result, The rotation speed mechanically reduced by the speed reducer 3 is output to the drive shaft 4, and the rotation bucket 107 can be rotated. Further, the actual rotation speed N and the excavation torque T in the rotary bucket 107 can be detected by the servo driver 6 in real time.

The electric servomotor 1 housed in the watertight ladder 106 heats up during excavation operation and the motor temperature rises, but the cooling pipe 7 attached to the outer surface of the electric servomotor 1 By incorporating the ambient water as the cooling water, the servo motor 1 is cooled by the ambient water and the overheat is suppressed. At this time, since the opening 8a of the cooling water intake pipe 8 was arranged in the vicinity of the rotary bucket 107, the ambient water is introduced into the cooling pipe 7 by making good use of the flow of water accompanying the rotation of the rotary bucket 107. can do.

As described above, in this embodiment, by using the electric servomotor as the drive source, it is possible to significantly reduce the number of constituent devices as compared with the conventional hydraulic drive system. It is possible to greatly improve reliability and drive efficiency. In addition, it is not necessary to add a tachometer, pressure sensor, flow rate sensor, etc. to various information for excavation control as in the past, and the rotation detector built into the electric servomotor and the servomotor controller can be used. Since the actual rotation speed and drive torque can be obtained directly from the servo driver, there is also an effect that the control device can be simplified, such as the need for a computing device. Furthermore, by installing a cooling pipe to prevent heat generation of the electric servomotor, it is possible to eliminate the trouble caused by overheating of the servomotor even in the sealed box.

[0020]

[Effect of device]

 As described in detail above, according to the excavator drive device for an underwater working machine of the present invention, the following effects and advantages are obtained. (1) Since the number of constituent devices is small, the reliability against failures can be improved. In addition, the efficiency of the drive system can be improved. (2) Since no hydraulic pressure is used in the drive system, there is no concern about environmental pollution due to oil leakage. In addition, there are few unstable factors such as fluctuations in rotation due to the compressibility of oil, etc., and a stable rotation state can be obtained. (3) Various sensors are not required as a means for obtaining information such as the number of revolutions and excavation torque required for excavation condition monitoring or excavation control, which simplifies the system and reduces costs. (4) To prevent overheating of the electric servomotor, the motor can be directly cooled by a cooling pipe that actively uses environmental water, so that problems such as motor trouble can be avoided.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of an excavation unit drive device in an underwater working machine as one embodiment of the present invention.

FIG. 2 is a view of the assembly structure.

FIG. 3 is a configuration diagram of a conventional underwater working machine.

FIG. 4 is a schematic configuration diagram of an excavation unit driving device in the underwater working machine.

[Explanation of symbols]

 1 electric servo motor 2 rotation detector 3 speed reducer 4 drive shaft 5,11 cable 6 servo driver 7 cooling pipe 8 cooling water intake pipe 8a intake 9 cooling water discharge pipe 106 ladder 107 rotating bucket

Claims (2)

[Scope of utility model registration request] 1. In a submersible working machine for excavating rock or the like in a state of being submerged in water, as a rotary drive mechanism for a rotary bucket as an excavating part, a ladder supporting the rotary bucket for directly driving the rotary bucket. An excavator drive device for an underwater working machine, characterized in that an electric servomotor and a speed reducer connected directly to the electric servomotor and connected to a rotary shaft of the rotary bucket are housed therein. 2. The excavator drive device for an underwater working machine according to claim 1, wherein a cooling pipe capable of introducing ambient environment water as cooling water to the surface of the electric servomotor for cooling the electric servomotor is provided. An excavator drive device for an underwater working machine, which is attached and provided such that an inlet of the cooling water of the cooling pipe opens near a rotating portion of the rotating bucket.