JPS60173297A - Drilling amchine - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an excavator that can easily excavate a tunnel or the like having an irregular cross-sectional shape with high precision.

. In general, tunnels where shield tunneling machines cannot be used or tunnels with irregular cross-sections are excavated without excavation'Il 74;
When excavating with a boom, a crawler-type excavator with a boom is often used. Conventionally, when performing tunnel IUi Fill using this type of excavator, an operator sitting in the cab of the excavator body operated the boom control lever while visually following the movement of the canterhead attached to the tip of the boom. It controlled the movement of the cutter head. However, in general, excavation generates a large amount of dust at the face, resulting in poor visibility and often making it impossible to confirm the position of the cutter head, making it difficult to excavate accurately.

Therefore, a high degree of skill is required to move the cutter head to match the tunnel reference cross section without being able to accurately confirm the position of the cutter head. If over-digging or shifting of the tunnel cross-section is caused due to lack of skill, it is uneconomical as it will increase the failure of shotcrete or in-wrapping concrete.In addition, careful operation to avoid over-excavation will result in construction work. There were problems such as slow speed and reduced efficiency.

An object of the present invention is to provide an excavator that can overcome the problems of conventional excavators as described above, such as poor operability and low excavation accuracy.

The excavator of the present invention includes a detector group for detecting the position or direction of the boom, an inclination detector for detecting the inclination of the excavator body, and an fc excavation direction reference beam target attached to the boom. , when the excavation direction reference beam set in the tunnel matches the target, the relative relationship between the tunnel reference cross section, the false excavator main body, and the canter head is manipulated based on the output signals of each of the detector groups. It is characterized by being equipped with an excavation control device t consisting of a calculation device and a display device that displays the tunnel reference cross section and the momentary position of the cutter head based on the output of the calculation device. In the excavator according to the present invention, the predetermined reference section to be excavated and the momentary position of the cutter head are displayed on the display device lI! 11
Since it is displayed on the surface, it is possible to perform excavation that accurately matches the predetermined standard cross section without visually checking the cutter head at the face, and as a result, there will be no deviation of the tunnel cross section due to over-excavation. It is possible to efficiently form tunnels with high excavation accuracy.

An embodiment of the present invention will be described below with reference to the accompanying drawings. FIG. 1 is a schematic side view of the excavator of the present invention.

Reference numeral 1 denotes a crane excavator main body that moves in the front and back direction (in the direction of arrow A in the figure), and the excavator main body 1 is connected to a traveling device 2 such as a caterpillar.
Equipped with The excavator main body 1 is equipped with a prime mover, a hydraulic pump, and a driver's seat 3. In addition, a loader 4 is installed on the side of the excavator body 1 to collect the excavated material, and the loader 4 is operated by a hydraulic cylinder 5 attached to the front of the excavator body 1 as shown in the figure. It is designed to rotate in the direction of time. on the other hand,
On the side of the excavator body 1, a scrape discharge belt conveyor 6 for feeding the scrapes scooped up by the loader 4 is installed so as to be parallel to the forward and backward movement direction of the excavator. A vertical post (cylindrical part) is provided in the section, and a hanging table 7 that rotates about the lead IK axis 7 is fitted to the upper end of the eibonuto, and a tape yb7F
i The excavator main body 1 is equipped with a hydraulic cylinder 8 to rotate the post around its vertical central axis.

A horizontal support shaft 9 is provided at the front end of the table 7 and is perpendicular to the forward and backward movement direction of the excavator body 1. The end portion is fitted so as to be swingable in the vertical direction. boom 10
is vertically swung around a support shaft 9 by a hydraulic cylinder 1 attached to the front end of the table 7, and part of the weight of the boom 10 is supported by this hydraulic cylinder 11. .

The boom 10 has a built-in hydraulic cylinder in its upper part.
An electric motor (not shown) and a cutter head 12 (drum cutter) rotationally driven by the electric motor are supported at the tip of the boom. (The configuration explained above describes the basic configuration of a standard excavator currently in use.) In the excavator of the present invention, each part constructed by $A as described above. In order to control the movement of the excavation control device, which includes various detectors described below, is installed. That is, a table rotation angle detector 13 whose movable part is fixed to the table 7 is provided at the upper end of the post, and a boom depression/elevation angle detector 14 whose movable part is connected to the boom 10 is provided on the support shaft 9. As these rotation angle detectors, known detectors such as a rotary engoder-1 rotary potentiometer, a synchronizer, etc. can be used. In order to do this, a boom expansion/contraction amount detector 15 is provided on the boom 10'', which is composed of a rack par 15a fixed to the cutter head side and a rotary encoder 15b rotated via a binion meshing with the rack par 15a.

Furthermore, on the excavator body 1, there is a longitudinal inclination detector 16 for detecting the inclination of the excavator main body in the forward and backward movement direction, and a left-right inclination detector 16 for detecting the inclination of the excavator main body 1 in the left-right direction. A container 17 is provided. As these two one-term oblique detectors, for example, known magnetic detectors or capacitance detectors are used.

In addition, the tip of the boom integrated with the cutter head 12 has a target 18 (or detection device) is fixed. In addition, in FIG. 2, 19.20 is a laser beam projector installed inside the excavation tunnel.

A boom detection group for detecting the position and movement of the boom 10 as described above, an excavator attitude detector group for detecting the attitude of the excavator main body 1, and an excavator attitude for detecting the attitude of the excavator main body 1. The detector group is electrically connected to a control device unit mounted on the excavator main body 1, and the detector group, together with the control device unit and a display device described later, etc., is used for excavation as shown in FIG. A control device 21f is configured.

In FIG. 3 VC, 22 is a fri control device unit built into the operation panel of the excavator main body 1, and the control device unit 22 is connected to a calculation device (for example, a microcomputer) that performs calculation functions and memory functions. 9. A display device 23 such as a CR'I' or a liquid crystal display device installed near the driver's seat 3 of the excavator main body 1 is connected to the output end of the control device unit 22. 24 is the excavator body 1
25 is an external storage device connected to the control device unit 22.

The control device unit 22 has a function of calculating the relative positional relationship between the reference excavation cross section to be excavated and the attitude of the excavator main body 1, and also calculating the position and movement of the cutter head 12 based on the relative positional relationship. There is. Display device 23
On the screen 23a, an image F of a predetermined reference cross section of the cutter head 120, and sometimes side images and trajectories of the cuffer head 120 are displayed.

4 to 8 are diagrams for explaining an example of calculations performed by the control device unit 22. FIG.

In FIGS. 4 and 5, L and L2 are laser beams projected into the JJii tunnel in parallel with the excavation direction, and the excavator main body 1 is in a horizontal plane with respect to the excavation direction as shown in FIG. This shows the case where it is deflected to the left from the forward direction by an angle γ. Before or during excavation, the operator swings the boom 10 to the left and right to illuminate the target 18 on the boom 10 with the laser beam.

When irradiated by L2, the boom 10 is stopped, and at the same time, the control switch on the keyboard on the operation panel is turned on. Then, the table rotation angle detection signal is inputted from the table rotation angle detector 13 to the control device unit 22, so by performing this operation twice in total for both laser beams, the angle (α , +α2) (in addition,
αj and tL2 can also be detected individually)
is input to the controller unit 22. Therefore, the deflection angle γ of the excavator main body 1 in the forward and backward directions is calculated from the following equations.

x, −(G, +a) stn(α, +γ) −= −
, -・<1112= (G2-4- a) atn (
α2−γ)・・・−・−(2+dan +λ −L ・・・・
・・・・・・・・・：・・・−・・・・・・・・・・・・(3)
1 2 0 G, = MT + fish β, ・・・・・・・・・・・・・・・
・・・・・・・・・・・・(41G2.=NE fish β2...
・・・・・・・・・・・・・・・・・・・・・・・・
(5) Here a is the rotation center C of the table 7 and the boom 10.
M and N are the intersection positions of the target 18 on the boom 10 and the laser beam, I and 2,
Indicates the distance from 8.

■ and NE are the input h from the boom expansion/contraction amount detector 15.
contains the value obtained by 8, and jiff+ =
! IF NE. Also, β1. β2 is obtained based on the detection signal of the boom elevation angle detector 14.

Therefore, the deflection angle γ of the excavator in the horizontal plane can be determined from the above equations (t) and (2).

FIG. 6 is an explanatory diagram for determining the center position of the cutter head when the boom 10 is rotated at a horizontal arm N angle α toward the right side in the traveling direction with respect to the body center line O4 of the excavator body 1. . In this case, if we take the laser beam on the left side in the direction of travel as the origin and take the X axis in the horizontal direction, the cutter head 12
The X coordinate of the center J is (x, +x). Therefore,
As already explained with reference to FIGS. 3 and 4, the boom rotation angle α5. Since α can be detected by the table rotation angle detector 13, Xl and X can be immediately determined (γ and α are known as described above).

FIG. 7 is an explanatory diagram for determining the center position of the cutter head 12 when the boom 10 is set at an arbitrary depression angle. In this case, if the X coordinate of the center J of the cutter head 12 is set in the vertical direction with the laser beam RI as the origin, the is determined, and y2 is the longitudinal direction tilt detector 1
The vertical position of the cutter head 12 can be determined immediately from the output signals of the respective detectors. In FIG. 7, S is a virtual horizontal board surface parallel to the laser beam, P is a virtual horizontal surface parallel to the laser beam, and So is the actual board surface.

Figure 8 is the board surface S of the excavation tunnel. The case where is inclined by an angle θ2 in the left-right direction with respect to the horizontal plane S is shown.

If the operator operates the boom while riding on an excavator that is tilted with respect to the horizontal plane, even if the operator thinks that he is excavating a tunnel with the regular standard excavation cross section F, it will actually be tilted by an angle θ2. Excavation cross section F. tunnel will be excavated. That is, the operator points the cutter head at point J. When excavating by positioning the cutter head at point J1, the operator may think that he is excavating the outer periphery of the tunnel at the regular standard excavation cross section F, but in reality he must position the cutter head at point J1 (position F). Therefore, in order to perform accurate excavation, it is necessary for the operator to be aware of this fact and operate the boom accurately. This was not possible with an excavator.

In the excavation control device of this embodiment, when the 74R excavator is tilted as shown in FIG. Based on this, the control unit 22 performs coordinate conversion between the tilted coordinate axis system and the regular coordinate axis system, so that the position of the cutter head moment by moment can be displayed with respect to the regular reference excavation cross section F1. Note that Po is the actual shaft surface S. A plane parallel to P is a horizontal plane.

Various variables necessary for coordinate transformation are determined from the output signals of the various detectors. Also, the tilted coordinate axes system and the regular (
Since the transformation with the orthogonal coordinate system (which is not tilted) is performed by a known coordinate transformation method, detailed explanation thereof will be omitted.

As described above, in the excavator of the present invention, the position of the cutter head and the attitude of the excavator body are electrically detected, and based on the detected values, the position of the canter head is adjusted from time to time to a predetermined standard excavation cross section. Since the information is displayed on the screen of the display device, there is no need to actually visually check the canter head, and regardless of the posture of the excavator body, the excavation work is always performed with the same accuracy as the reference excavation cross section. be able to. That is, when excavating a tunnel or the like with the excavator of the present invention, before the start of n1i excavation or occasionally during excavation, the target 18 on the boom 10 is irradiated with a laser beam, and after the excavation control device is activated in accordance with L2. , the one who activated the excavation control device! All you have to do is operate the boom and other operating levers in the same way as with conventional excavators. In this way, the image of the regular standard excavation cross section is displayed on the screen 23a of the display device 23 by the outputs of the various detectors, regardless of the attitude of the excavator body, and the momentary movements of the cutter head relative to the image are displayed. Since the operator can operate the boom control lever while looking at the display screen, the operator can always trace tunnels etc. with the same excavation cross section as the standard excavation cross section without actually looking at the cutter head. It can be removed.

The excavator of the present invention has the following effects.

(2) Since the moment-by-moment position and movement locus of the canter head with respect to a predetermined reference cross section can be accurately known, highly accurate excavation work can be performed without causing gaps in the tunnel cross section even if over-excavation is performed.

Based on the reasons mentioned above, the amount of wasted concrete used to fill in over-drilling holes is reduced, raw material costs are reduced, and the excavation work speed is increased by accurately recognizing the movement of the cutter head. Construction period is shortened and construction costs are reduced.

■ Operator fatigue is reduced, and high-grade perpendicular lines are not required, reducing labor costs.

In this embodiment, only a self-propelled excavator body having a crawler-type traveling device is shown as the excavator body, but it goes without saying that the excavator body does not have to be self-propelled. It may also be in the form of a fixed support stand. Furthermore, as the cutter head, it is possible to use not only a drum cutter but also various cutters such as a blade and a packet wheel.Furthermore, a photodetection element connected to a control unit may be used instead of the target 18. good.

[Brief explanation of drawings]

FIG. 1 is a schematic side view of the excavator of the present invention, FIG. 2 is a schematic perspective view showing the relationship between the target on the boom of the excavator of the present invention and the reference ray in the tunnel during tunnel excavation, and FIG.
The figure is a schematic configuration diagram of the excavation control device installed in the excavation machine of the present invention, and FIGS. 4 is a perspective view, FIGS. 5 and 6 are a plan view, FIG. 17 is a side view, and FIG. 8 is a rear view. l... Excavator main body 2... Traveling device 3... Driver's seat 4... O-der 6... Belt conveyor for pickpocket discharge 7... Table 8... Hydraulic cylinder 9...・Support shaft 10...Boom 12 Upper cutter head 13・
...Table rotation angle detector 14...Boom depression/elevation angle detector 15...Boom expansion/contraction storage detector 16...Anteroposterior tilt detector 17...Left and right tilt surplus [detector 18
... Excavation direction reference beam target 19, 20 River laser beam projector 21 ... Excavation control device 22 ... Control unit 23 ... Display device 24 ... Operation keypad 25 ... External recorder device agent syndrome, bj
Tsune TeruFigure 1Figure 2Figure 3Figure 4Figure 5Figure 6

Claims (1)

[Claims] a boom that is swingable about a horizontal axis perpendicular to the excavation direction and rotatable about a vertical axis; a cutter head attached to the tip of the boom; and a cutter head that supports the boom. An excavator body comprising: a boom and cutter position detector group for detecting the direction and position of the boom and the cutter head; and an excavator body for detecting the inclination of the excavator body with respect to a horizontal plane. An output signal of the boom and cutter position detector group when the inclination detector, the excavation direction reference beam detector attached to the boom, and the excavation direction reference beam detector match the excavation direction reference beam. The relative relationship between the apparent reference excavation cross section and the true reference excavation cross section as seen from the excavator body is calculated based on a display device that displays the instantaneous relative position and trajectory of the cutter head with respect to the reference excavation cross section according to the output of the calculation device;
An excavator characterized by being equipped with an excavation control device consisting of: