JPH11303420A - Transferring device of working machine for structure surface - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a transferring device which shifts a working machine cutting a structure surface or the like, vertically, laterally, and back and forth in a simple operation and further, acts on the structure surface in an appropriate posture. SOLUTION: A boom 5 and an arm 7 which are independently turnable are mounted on a revolving base 2 of a truck 1 in turn. The arm 5 is made extensible and a working machine 18 is fitted to the front end of the arm 7 so as to be rotatable on the plane normal to the vertically rotary face of the boom 5 and the arm 7 and make the working machine 18 transferable in both vertical and lateral directions by only the rotary operation of the boom 5 and the arm 7, while retaining the working machine 18 in an appropriate posture.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to concrete, stone,
A device that moves a work machine that performs processing such as cutting, grinding, and cleaning on the surface of a structure made of asphalt, etc., specifically, easily moves the work machine up, down, left, right, back and forth, and has a proper posture on the surface The present invention relates to a moving device that can be operated by a moving device.

[0002]

2. Description of the Related Art For example, removing makeup stains on the surface of a structure to renew the makeup by painting or spraying or extending the life of the structure, and removing a weathered portion of the surface of the structure to improve seismic reinforcement. The surface of a structure is cut to improve the familiarity of the structure.

[0003] Since these operations are usually performed on a wide surface of a structure, for example, as described in Japanese Utility Model Application Laid-Open No. 63-116597, a backhoe or a similar device is used. A cutting tool is provided at the end of the link mechanism, and the cutting is performed while the cutting tool is moved by rotating a boom and an arm constituting the link mechanism.

FIG. 9 is a schematic diagram showing a schematic configuration of a boom 104 in which a base end of a boom 104 is rotatably mounted on a swivel 102 which is rotatably mounted on a movable dolly 101. The base of the arm 106 is
The cutting machine 108 is rotatably attached to the end of the cutting machine 6. The boom 104, the arm 106, and the cutting machine 108 are individually rotated on a vertical plane by hydraulic cylinders 105, 107, and 109. The cutting machine 108 includes a cutting tool and a driving motor for driving the cutting tool. .

[0005]

As described above, when a backhoe or a similar link mechanism is used as a means for moving the cutting machine 108, the boom 104 and the arm 1 are moved.
By rotating the 06, vertical cutting can be performed from a low portion to a high portion of the structure. However, if the turning table 102 is turned to move the cutting machine 108 in the left-right direction, the cutting tool is inclined in the left-right direction with respect to the surface of the structure. However, there is a problem that the operation efficiency is not good because it is necessary to repeat the operation of performing vertical cutting in a state in which it faces the structure surface correctly.

Further, in order for a cutting tool to act on a curved structure surface in an appropriate posture, it is necessary to slightly expand and contract the three hydraulic cylinders 105, 107, and 109, which is extremely difficult. In addition, when the curved surface is a combination of a plurality of curved surfaces having different radii of curvature, it is impossible to make the cutting tool act in an appropriate posture over the entire vertical direction.

Further, when it is required to cut the cutting tool into the surface of the structure at a certain depth during the cutting operation to cut the surface into a flat surface, it is necessary to move the cutting tool while maintaining a certain biting state. Hydraulic cylinders 105, 107, 109
This operation is also troublesome and difficult.

However, in the case where the cutting depth is large and there is no problem even if there are large irregularities on the surface after cutting, the hydraulic cylinders 105, 107 and 109 do not require fineness in expansion and contraction. A backhoe or similar link mechanism can be used,
Has to be moved by the cutting width.

According to the present invention, when performing processing such as cutting, grinding and cleaning on a wide surface of a structure using a processing tool such as a cutting tool, the processing tool is not only vertically fixed but also left and right while being fixed at one place. The object of the present invention is to solve the above-mentioned problem that there is no easy-to-operate moving device that can move the object while maintaining it in an appropriate posture and make the surface of the structure having various shapes a uniform finished state.

[0010]

According to the present invention, a processing tool for performing processing such as cutting, grinding and cleaning on the surface of a structure and a device for moving a working machine having a driving motor for driving the tool are installed on a movable trolley. A swivel base, a boom having a base end rotatably mounted on the swivel base, and a distal end arm section having a base arm and a working machine rotatably mounted at the distal end, the base end being located at the distal end of the boom. An arm having a rotatable arm, a first hydraulic cylinder and a second hydraulic cylinder for individually rotating these booms and the arm, and a third for advancing and retracting the distal arm with respect to the proximal arm. A hydraulic cylinder is provided, the boom and the arm rotate on a vertical plane, and the work machine is configured to turn on a plane perpendicular to the vertical plane.

As described above, the boom and the arm, which individually rotate on the vertical plane, are sequentially attached to the swivel of the bogie, and the arm can be extended and contracted. Can be freely pivoted on a plane perpendicular to the plane, so that the processing tool can be maintained in an appropriate posture in the vertical and horizontal directions while the bogie is fixed at one place without performing highly sensitive operations on the hydraulic cylinder. While moving, the surface of the structure having various shapes can be brought to a uniform finished state.

In the present invention, an accumulator is provided in the hydraulic circuit of the third hydraulic cylinder in the moving device, and the pressing force of the processing tool against the structure surface is made constant.

By providing such an accumulator, it is possible to stably and continuously perform operations such as cutting with only a simple operation of a boom and an arm, by pressing the structure with appropriate force without performing a delicate operation on a processing tool. You can now be done.

It is preferable to provide a shock absorber for absorbing vibrations around the pivot axis of the working machine, so that vibrations generated at the time of work can be suppressed, and the surface of the structure can be processed to a better finished state. Can be.

It is preferable that the processing tool has a tool disposed in front of the disk, and the drive shaft to which the disk is fixed is a hollow shaft opened in the front of the disk. That is, the face milling-like processing tool does not bite deeply into the surface of the structure, so that the finished state is not deteriorated. The hollow drive shaft is a passage for collecting chips generated during work and for injecting water to prevent scattering. It can be used for piping installation space.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a working machine for thinning a surface layer of a peripheral wall for repairing a tunnel will be described with reference to the drawings. Referring to FIG.
A swivel 2 is installed on the swivel 2, and the swivel frame 4 can be swiveled 360 ° on a horizontal plane as indicated by an arrow A about a vertical swivel center axis via a swivel bearing 3 on the swivel 2. Is equipped with A hydraulic power device and a driver's cab are installed on the swivel 2, and a generator and a dust collector are installed on the trolley 1 or the swivel 2.

A base end of a boom 5 is rotatably connected to the revolving frame 4 by a support shaft 6, and an arm 7 is rotatably connected to a distal end of the boom 5 by a support shaft 10. Each pivots on a vertical plane as indicated by arrows B and C around the support shafts 6 and 10 extending in the horizontal direction. That is, the cylinder cylinder 11a of the first hydraulic cylinder 11 and the piston rod 11b are attached to the pin 12a,
The cylinder cylinder 13a of the second hydraulic cylinder 13 and the piston rod 13b are connected to the base end of the arm 7 and the distal end of the boom 5 by pins 14a, 1b.
The hydraulic cylinders 11 and 13 rotate the boom 5 and the arm 7 separately.

The arm 7 has a cylindrical base arm 8 and a holding arm 9a slidably fitted on the base arm 8.
And a distal arm portion 9 composed of a substantially U-shaped support arm member 9b which is fixed to the distal end and protrudes forward from the proximal arm portion 8. The distal end of the base arm 8 is connected to the boom 5 by the support shaft 10 and the cylinder cylinder 13a of the second hydraulic cylinder 13
Are connected to the base end of the base end arm 8 by pins 14a.

The third hydraulic cylinder 15 is disposed parallel to the arm 7, and has a cylinder cylinder 15a and a piston rod 1
5b is connected to the center of the base arm 8 and the middle of the support arm 9b by pins 16a and 16b. The third hydraulic cylinder 15 moves the distal arm 9 forward and backward with respect to the proximal arm 8, and thus expands and contracts the arm 7 in the direction of arrow D in a telescopic manner.

In the illustrated embodiment, the bogie 1, the boom 5, and the arm 7 are arranged so that work is performed within one lane of the one-sided one-way traffic tunnel, and a work machine attached to the tip of the arm 7 Reference numeral 18 cuts the peripheral wall W of the tunnel T on the lane side on which the truck 1 has entered, from the shoulder portion to the top portion. Therefore, the work can be carried out without completely interrupting the traffic, and the posture when the boom 5 and the arm 7 are turned and raised to cut the top surface is shown by two points in FIG. Indicated by dashed lines.

Referring mainly to FIG. 4, the working machine 18 has a box-shaped housing 19.
Is rotatably supported by penetrating a hollow drive shaft 20, and a drive motor 21 composed of a hydraulic motor is fixed by protruding rearward to secure the output shaft of the drive motor 21. A reduction gear 22 composed of a spur gear for transmitting to the drive shaft 20 is built in. Mounting flange 20a provided at the shaft end of drive shaft 20 projecting forward of housing 19
A processing tool 24 is detachably fixed by bolts 23, and a dust collecting hose 30 is connected to a rotary joint 29 fitted to the shaft end of a drive shaft 20 protruding rearward of the housing 19.

The processing tool 24 is a face mill-like cutting tool for cutting the peripheral wall W of the tunnel T, and is mainly shown in FIGS.
Referring to, a plurality of blades 25 are planted in a row in a row from a conical bit-shaped cutting blade at least whose tip portion is made of a cemented carbide with almost no gap therebetween, and fitted into the center. In this configuration, a large number of holding tables 26 are fixed radially at substantially equal intervals in the circumferential direction on the front surface of a disk 27 having holes 27a. The top surface of the holding table 26 is an inclined surface that becomes lower from the center of the disk 27 toward the outer peripheral edge.
Is rotatably fitted into the mounting hole 26a along the inclined surface, and therefore, the cutting edge of the blade 25 is arranged in a spherical shape.

The radius of curvature of this spherical surface is set to a value substantially equal to the average radius of curvature of the peripheral wall W of the tunnel T.
In general, cutting can be performed without deeply penetrating the inner surface of a tunnel composed of a combination of two or more different radii of curvature.

In addition, the blade 25 is, as shown in FIG.
7 is inclined obliquely forward in the rotation direction R, and is fitted into the mounting hole 26a of the holding base 26 in a posture in which the center axis is slightly outward with respect to the cutting direction S. For this reason, when the disk 27 is rotated, the blade 25
In order to make a predetermined finished surface Wa by biting into the surface layer portion and revolving while rotating, the entire peripheral surface of the biting portion is uniformly worn, and the tip is always sharpened and good cutting is performed. There is an advantage.

Further, the chips are discharged well by the gap between the blades 25 and the space between the holding tables 26, and the required power is reduced because the specific chip resistance is small, or the efficiency is improved by rotating at high speed. There is an advantage that can be.

Further, the processing tool 2 is provided on the front of the housing 19.
A flexible dust-proof cover 28 is attached around the disk 4, and the hollow portion 20 b of the drive shaft 20 opened at the front of the disk 27 is connected to a dust collector 31 installed on the swivel 2 via a dust collection hose 30. By this, the chips are collected in the dust collector 31 without scattering to the surroundings, and the environment in the tunnel T is not deteriorated.

The above-described housing 19, drive shaft 20, drive motor 21, reduction gear 22, processing tool 24, dust cover 2
The working machine 18 is pivotally mounted on both upper and lower surfaces by a support shaft 32 with the housing 19 sandwiched between the support arm members 9b, and is turned around the support shaft 32 in the direction of arrow E, that is, the boom 5 and the arm. 7, the rotation direction B,
It turns on a plane perpendicular to the vertical plane that is C.

The turning range of the working machine 18 is limited by a stopper (not shown) so that the working machine 18 can freely turn left and right within a range of 10 to 15 degrees in one direction from a posture facing the front. In addition, when the cutting tool 25 cuts into the peripheral wall W and performs cutting, if there is unevenness or a step on the surface, the working machine 18 may vibrate due to a sudden change in cutting resistance, and the cutting loss of the cutting tool 25 and the finished surface Wa This causes inconveniences such as coarsening and excessive load on the support shaft 32.

As a countermeasure, in the embodiment shown in the figure, two shock absorbers 33 each composed of a hydraulic damper are connected to two arm pieces 19a and the support arm body 9b projecting rearward from the side surface of the housing 19, respectively. And arranged in parallel with each other.
When the working machine 18 vibrates around the support shaft 32, the two shock absorbers 33 extend one side and contract the other side, so that the processing tool 24 can be turned to either side by the peripheral wall W.
Work to keep it parallel to the surface of the

FIG. 8 shows the three hydraulic cylinders 11, 1 described above.
3 shows an embodiment of a hydraulic circuit for driving the driving motors 3 and 15 and the driving motor 21. The hydraulic power device 35 includes an oil tank 36,
The hydraulic pump 37, which includes a drive motor 38 and a flow control valve 39, is installed on the swivel 2 shown in FIG. An operation unit 40 including direction switching valves 41, 42, 43 for changing the operation directions of the three hydraulic cylinders 11, 13, 15, a switching valve 44 for operating / stopping the driving motor 21, and a relief valve 45. Is mounted on a driver's cab installed on the swivel 2.

In the illustrated neutral position, the hydraulic pump 37 is
The hydraulic oil of No. 6 is circulated by passing through the operation unit 40. Here, for example, when the direction switching valve 41 is operated to push out the piston rod 11b of the first hydraulic cylinder 11, the hydraulic oil pressurized by the hydraulic pump 37 flows from the inlet main line 46 through the direction switching valve 41 to the inlet branch pipe. The hydraulic oil on the outlet side is sent from the passage 48a to the inlet side of the cylinder cylinder 11a, and returns to the oil tank 36 from the outlet main line 47 via the outlet branch line 48b via the direction switching valve 41.

The second and third hydraulic cylinders 13 and 15 and the respective inlet branch pipelines 49a, 50a and 51 of the driving motor 21 are provided.
a, the outlet branch pipes 49b, 50b, 51b are also connected to the inlet main pipe 46 and the outlet main pipe 47 via the respective direction switching valves 42, 43, and the switching valve 44, and the boom is manually operated by the driver. The rotation of the arm 5 and the arm 7, the expansion and contraction of the arm 7, and the rotation of the processing tool 24 are performed separately and arbitrarily.

An accumulator 52 is provided in the inlet branch pipe line 50a of the third hydraulic cylinder 15, so that the force for pressing the working machine 18 against the peripheral wall W of the tunnel T is made substantially constant.

Prior to the cutting operation, the turntable 2 is turned in the direction of arrow A to place the boom 5 at a position perpendicular to the tunnel axis, and the piston rod 15b of the third hydraulic cylinder 15 is advanced to extend the arm 7. The working tool 24 of the working machine 18 attached to the tip arm 9 is pressed against the surface of the peripheral wall W with a pressing force necessary for cutting.

In the cutting operation, the processing tool 24 is rotated, and the piston rod 11b of the first hydraulic cylinder 11 is inserted and removed, and the boom 5 is rotated about the support shaft 6 at a substantially constant speed in the direction of arrow B on the vertical plane. At the same time, the piston rod 13b of the second hydraulic cylinder 13 is moved in and out, and the arm 7 is rotated little by little in the direction of arrow C about the support shaft 10 on the vertical plane, so that the processing tool 24 Adjust so that it is in close contact with the surface.

At this time, the first and second hydraulic cylinders 1
Only the rotation of the boom 5 and the arm 7 by the first and the 13th causes a change in the distance between the processing tool 24 and the peripheral wall W, which may cause an excessive load on the driving motor 21 due to a strong pressing, and may not be able to cut away from each other. is there. However, the accumulator 52 absorbs an increase in the pressure on the inlet side of the third hydraulic cylinder 15 when strongly pressed, and the accumulator 52 discharges hydraulic oil to compensate for the pressure on the inlet side when leaving the third hydraulic cylinder 15. The surface of the peripheral wall W is moved from the lower end to the top with an appropriate pressing force initially set only by the turning operation of the boom 5 and the arm 7 by the first and second hydraulic cylinders 11 and 13 without performing a delicate operation on 15. Can be cut over.

In practice, the center of rotation of the boom 5 cannot be located at the center of the curved surface forming the peripheral wall W, and the peripheral wall W is formed by a curved surface obtained by combining a plurality of curved surfaces having different radii of curvature. Usually, in these cases as well, while the bogie 1 is stopped at one place, the processing tool 24 is appropriately applied to the surface of the peripheral wall W only by rotating the boom 5 and the arm 7 as described above. It is possible to press with a pressing force of. If the curved surface has a peculiar shape and the space between the processing tool 24 and the peripheral wall W changes beyond the pressure compensation capability of the accumulator 52, the third hydraulic cylinder 15 is operated to extend and contract the arm 7. Needless to say.

When required cutting from the lower end to the top of the peripheral wall W is completed with the boom 5 placed at a position perpendicular to the tunnel axis, the swivel 2 is slightly swiveled right or left. Boom 5 were perpendicular to the tunnel axis as shown in FIG. 7 (A) by pivoting of the arrow A direction, the rotational direction B, the vertical plane V ₁ is a C arm 7, shown in FIG. 7 (B) not perpendicular to the tunnel axis as shown by V ₂ in the same time, the processing tool 24
Is separated from the peripheral wall W by a distance corresponding to the turning angle.

At this time, when the third hydraulic cylinder 15 is operated to extend the arm 7 by the above-mentioned distance, first, one end of the processing tool 24 comes into contact with the peripheral wall W as shown in FIG. On the other hand, the working machine 18 because it is free swiveling in a plane perpendicular to said vertical plane V ₂ around the support shaft 32, the arm 7 after a part of the processing tool 24 is in contact with the surface of the peripheral wall W With the extension, it automatically turns around the support shaft 32 in the direction of arrow E, specifically, in the direction opposite to the turning direction of the turntable 2, and FIG.
(D), the processing tool 24 is placed in a posture parallel to the surface of the peripheral wall W, and the processing tool 24 is pressed against the surface of the peripheral wall W again with the same pressing force as described above. When the processing tool 24 is in such a posture, the boom 5 and the arm 7 are pivotally operated in the same manner as described above to cut a portion adjacent to the preceding cutting point from the lower end to the top.

With the carriage 1 stopped at one place, the working machine 18
When the cutting is completed within the range in which it can be turned in the direction of arrow E, the carriage 1 is slightly moved in the tunnel axis direction to repeat the above-described cutting operation. When the peripheral wall W on the one lane side of the tunnel T is cut over a required section in this manner, the bogie 1 is driven into the other lane to perform the cutting operation, so that the bogie 1 can be cut into one lane without blocking all traffic. Predetermined work can be completed by securing traffic.

The processing tool 24 can be replaced with an appropriate one according to the type of work.
Instead of 5, a wire brush attached to the front of the disk 27 is used. Alternatively, a processing machine 18 having a flat milling-like processing tool instead of the face milling-like processing tool 24 can be freely pivotally attached to the arm 7.

It is to be noted that not only the surface of the structure which is concavely curved with respect to the cutting machine 18 but also the surface which is convexly curved or a flat surface is cut, ground and cleaned in the above-described manner. Needless to say, such processing can be performed.

[0043]

As described above, the arm rotatably attached to the tip of the boom rotatably attached to the swivel of the bogie is extendable, and the working machine attached to the tip of this arm. According to the present invention, the bogie and the arm can be freely rotated on a plane perpendicular to the vertical rotation surface of the boom and the arm. In addition, it can be moved in the right and left directions while maintaining a proper posture. Therefore, processing such as cutting, grinding, and cleaning can be performed on a wide surface of a structure having various shapes in a uniform finished state without performing a highly delicate attitude control operation.

According to another aspect of the present invention, an accumulator is provided in a hydraulic circuit of a hydraulic cylinder for extending and retracting an arm so that a pressing force of a processing tool against a structure surface is made constant. The turning operation can be easily performed so that cutting and the like can be stably and continuously performed.

[Brief description of the drawings]

FIG. 1 is a side view showing a use state of an embodiment of the present invention.

FIG. 2 is an enlarged partial view of FIG. 1;

FIG. 3 is a plan view of FIG. 2;

FIG. 4 is an enlarged cross-sectional partial view of FIG. 3;

FIG. 5 is a front view of the processing tool in the embodiment of FIG. 1;

FIG. 6 is a view for explaining the attachment and cutting action of the blade in the embodiment of FIG. 1;

FIG. 7 is a plan view illustrating a turning operation of the working machine in the embodiment of FIG. 1;

FIG. 8 is a hydraulic circuit diagram in the embodiment of FIG.

FIG. 9 is a schematic side view of a conventional example.

[Explanation of symbols]

1 bogie, 2 swivel, 5 boom, 7 arm, 8 proximal arm, 9 distal arm, 11
1st hydraulic cylinder, 13 2nd hydraulic cylinder, 1
5 third hydraulic cylinder, 18 working machine, 20 drive shaft, 21 drive motor, 24 processing tool, 25
Knife, 27 disk, 31 dust collector, 33 shock absorber,
52 accumulator,

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁶ Identification code FI B28D 1/18 B28D 1/18 E21D 11/00 E21D 11/00 Z

Claims (4)

[Claims] 1. A swivel mounted on a movable dolly, a boom having a base end rotatably mounted on the swivel, a base arm and a distal arm, and provided at a distal end of the boom. An arm to which the base arm portion is rotatably mounted, a working machine having a processing tool and a driving motor for driving the same, which is rotatably mounted to the distal end portion of the distal arm portion, and the boom and the arm are separately rotated. A first hydraulic cylinder and a second hydraulic cylinder to be moved, and a third hydraulic cylinder for moving the distal arm portion forward and backward with respect to the proximal arm portion, wherein the boom and the arm rotate on a vertical plane. A moving device for moving the work machine on a plane perpendicular to the vertical plane. 2. The moving device for a structure surface working machine according to claim 1, wherein an accumulator for keeping a pressing force of the processing tool against the structure surface is provided in a hydraulic circuit of the third hydraulic cylinder. A mobile device characterized by the above-mentioned. 3. The moving device for a structural surface working machine according to claim 1, further comprising a shock absorber configured to absorb vibration of the working machine about a pivot axis. 4. The processing tool according to claim 1, wherein the processing tool has a configuration in which a tool is arranged in front of a disk, and a drive shaft that fixes the disk is a hollow shaft that is opened in front of the disk. A moving device for a surface work machine.