JPS62220696A - Automatic drilling machine - 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 (A) Field of Industrial Application The present invention relates to an automatic excavator that can easily excavate tunnels and the like with irregular cross-sections with high precision.

(B) Prior Art Generally, when excavating tunnels in which shield excavators cannot be used or tunnels with irregular cross-sections by trenchless construction methods, crawler-type excavators with a boom are often used. Conventionally, when excavating tunnels with this type of excavator, an operator sitting in the cab of the excavator body visually followed the movement of the cutter head (cutting drum) attached to the tip of the boom while operating the boom control lever. It was operated to control the movement of the cutter head. However, in general, a large amount of dust is generated by excavation at the face, so visibility is poor, and confirming the position of the cutter head by visual inspection is inaccurate, and it is often impossible to confirm the position of the cutter head, so it is important to excavate accurately. was difficult.

These inaccurate operations may cause deviations in the tunnel cross section,
The increase in over-digging caused a decline in work efficiency. Therefore, a highly skilled operator 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 deviation of the tunnel cross-section occurs due to lack of skill, it will be uneconomical as it will lead to an increase in the amount of shotcrete or in-rolled concrete. Since the cutter head is operated by hand, it takes time to judge the position of the cutter head, making continuous operation difficult. If you operate carefully to avoid over-excavation, the construction speed will slow down and efficiency will decrease. There were problems such as

(C) Problems to be Solved by the Invention The present invention overcomes the problems that exist in conventional excavators as described above, such as poor operability and low excavation accuracy, and improves the driver's (operator's) To provide an automatic excavator capable of easily excavating an accurate tunnel cross section without requiring skill by automatically moving a cutting drum regardless of operation.

(2) Means for Solving the Problems The automatic excavator of the present invention has a front laser target that is mounted on a cutting boom and can be raised, rotated, and extendable with respect to the machine body, and a laser target that is mounted on the rear of the machine and has a laser target that can be freely moved relative to the machine body. , a rear laser target that can freely rotate in elevation, a detector that detects the elevation, rotation angle, and amount of expansion and contraction of the cutting boom, a detector that detects the tilt angle of the machine in front, back, left, and right, and a detector that detects the elevation and rotation angle of the rear laser target. a microcomputer that calculates the position of the cutting drum and the position of the machine relative to the tunnel axis based on the detection values of each detector; the coordinates of the movement of the cutting drum are stored in the microcomputer and an external storage device;
It is characterized by a configuration equipped with a solenoid valve that moves the cutting boom according to these coordinates and a display device that displays the position of the cutting drum with respect to the tunnel reference cross section. The rear radar target, which can be moved to At the same time, the position of the cutting drum is calculated and displayed on the display screen as a relative position with respect to the tunnel reference cross section. Furthermore, the coordinates for moving the cutting drum are stored in the external storage device and the internal memory of the computer, and the computer calculates the elevation, rotation angle, and extension/contraction amount of the cutting boom from these coordinates. By operating the hydraulic cylinder devices for operating the expansion and contraction and the electromagnetic valves that operate the expansion and contraction devices, the cutting drum can be excavated accurately according to the tunnel standard cross section.

(e) Examples Embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a schematic side view of an automatic excavator of the present invention. Reference numeral 1 denotes an excavator main body that can move in the front-back direction (in the direction of arrow A in the figure), and the excavator main body 1 is equipped with a traveling device 2 such as a caterpillar. The excavator main body 1 is equipped with a prime mover, a hydraulic pump, etc., and is also provided with a driver's seat 3. Also,
A loader 4 (loading device) is provided on the side of the excavator main body 1 for recovering excavated material. It is designed to be rotated clockwise at .

On the other hand, on the side of the excavator main body 1, a belt conveyor 6 for discharging scraps into which scraps scooped up by the loader 4 are placed is installed parallel to the forward and backward movement direction of the excavator.

A vertical post (cylindrical part) is provided at the front of the excavator main body 1, and a turning table 7 that can turn around a vertical axis is fitted to the upper end of the post.
is pivoted around the vertical central axis of the post by a hydraulic cylinder device 8 installed in the excavator main body 1.

A horizontal support shaft 9 is provided at the front end of the rotating table 7 and is perpendicular to the forward and backward movement direction of the excavator main body 1.
The cutting boom 1 extends parallel to the forward and backward movement direction of the excavator.
0 is fitted so that it can swing in the vertical direction. The cutting boom 10 is swung vertically about the support shaft 9 by a hydraulic cylinder device 26 attached to the front end of the turning table 7, and part of the weight of the cutting boom 100 is due to this hydraulic cylinder device. Supported by 26. The cutting boom 10 has a built-in hydraulic cylinder in its upper part, and an electric motor (not shown) at the tip of the boom.
and a cutting drum 12 driven by the electric motor for multiple rotations.
(drum cutter, cutter head) is supported.

In FIG. 1, a front laser target 18 (target for excavation direction reference laser beam, boom target) is attached to a cutting boom 10 of an excavator. The cutting drum 12 is attached to the drum to excavate tunnels, etc. The cutting surface of this cutting drum 12 is preferably spherical.

Further, a rear laser target 11 is attached to the rear part of the excavator main body 1, as shown in FIGS. 1 to 3. The rear laser target 11 is supported by the target arm 20 and is provided on a rotating table 35. The rear radar target 11 can move up and down (elevation) and rotate using hydraulic cylinder devices 33 and 34, and detectors 21 and 22 for the elevation and rotation angle of the target arm 20 are attached to the rear radar target 11. Detected values of the elevation angle and turning angle of the target 11 are input to the microcomputer 28. In FIG. 3, 32 indicates a gear transmission.

The upper end of the post has a movable part that is a rotating table 7 (swivel table).
A table rotation angle detector 13 is fixed to the support shaft 9. A movable portion of the support shaft 9 is connected to a cutting boom 10, and a boom elevation angle detector 14 is attached to the center of elevation. These rotation angle detectors include, for example:
Known detectors such as a rotary encoder, rotary potentiometer, synchronizer, etc. can be used, but any type of detector may be used. On the other hand, a rotary encoder 1 is rotated via a rack par 15m fixed to the cutting drum 12 side and a binion meshed with the rack par 15m to detect the amount of axial expansion/contraction (expansion/contraction stroke) of the cutting boom 10.
5b is provided on the cutting boob 410. That is,
The detector 15 is composed of a rack and pinion mechanism that converts a stroke into a rotation angle, and a rotation angle detector.

Furthermore, on the excavator main body 1, there is a rounded longitudinal inclination angle detector 16 for detecting the inclination of the excavator main body 1 in the forward and backward directions, and a lateral inclination angle detector 16 for detecting the inclination of the excavator main body 1 in the horizontal direction. An angle detector 17 is provided. As these two inclination angle detectors, for example, known magnetic detectors, capacitance detectors, potentiometers, etc. are used.

As shown in FIG. 2, normally one laser beam generator 19 (laser beam projector) is installed in the tunnel, but two or more can be installed if the tunnel cross section is large.

If the tunnel is straight, the laser beam generator is installed so that the laser beam is parallel to the tunnel center axis.
Even in the case of a curved tunnel, the central axis of the tunnel can be calculated using the laser beam as a reference.

As shown in Fig. 2, when the machine body 1 is arbitrarily fixed in the tunnel, the cutting boom 1 is exposed to the laser beam.
The front laser target 18 on 0 is moved to match the target center with the laser beam, and the rear laser target 11 is also made to coincide with the laser beam. The detection values of each detector at this time are input to the microcomputer 28.

FIG. 4 shows a schematic configuration diagram of the excavation control device installed in the automatic excavator of the present invention.

Detectors 13, 14, and 15 detect the elevation, rotation angle, and expansion/contraction stroke of the cutting boom to detect the position and movement of the cutting boom 10, and detect the longitudinal and lateral inclination angles of the excavator body 1 to determine the posture. Detector to know 16.17
, detectors 21 and 22 for detecting the elevation and rotation angle of the target arm 20 of the rear laser target are electrically connected to the control device unit 28 mounted on the excavator main body 1, and each detector group constitutes an excavation control device 27 together with a control device unit 28, an external storage device 25, a second operating keyboard, a display device 23, and the like.

The control device unit 28 built in the operating channel of the excavator main body 1 is composed of a microcomputer, which is a calculation device having a calculation function and a memory function. A display device 23 installed near the driver's seat 3 such as a cathode ray tube (CRT) or a liquid crystal display device is connected. Operation key date 24
is provided on the operation panel of the excavator main body 1 and connected to the control device unit 28, and the external storage device 25 is connected to the control device unit 28.

The control device unit 28 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 cutting drum 12 based on the relative positional relationship. There is. The image 2 of the true predetermined reference cross section and the cutting drum 12 are displayed on the screen taa of the display device 23.
The moment-by-moment image and locus of the image are displayed.

In accordance with the calculations of the microcomputer, the solenoid valve 29 for elevation, the solenoid valve 30 for rotation, and the solenoid valve 31 for extension and contraction are automatically operated in order to perform each operation of elevation, rotation, and extension and contraction of the cutting boom. ing.

5 to 9 are explanatory diagrams for explaining examples of calculations etc. performed within the excavation control device 27, FIG. 5 is a perspective diagram, and FIG. 6 is a quadrilateral diagram of FIG. 5. It is a development line diagram in which MCEI is developed on a plane.

In FIGS. 5 and 6, L is a laser beam projected into the excavation tunnel parallel to the excavation direction, and the excavator main body 1 is at an angle within a horizontal plane with respect to the excavation direction as shown in FIG. 6. γ
This shows a case where the vehicle is deflected to the left from the forward direction. Before or during excavation, the operator rotates the cutting boom 10 to the left and right by an appropriate amount, and when the front laser target 18 on the cutting boom 10 is irradiated with a laser beam as shown in FIG. The cutting boom 10 is stopped. At the same time, the rear laser target 11 is also elevated and rotated, so that the radar beam is irradiated as shown in FIG. In this state, the control switch of the key date 24 for operation on the operation i4 channel is turned on. Then, the control device unit 2B receives the rotation angle α of the cutting seam 10 from the table rotation angle detector 13 and the rotation angle α of the rear Rede target 11 from the target arm rotation angle detector 22.

A detection signal is input.

The distance MDω includes the value obtained by the input signal from the expansion/contraction stroke detector 15, and the angle β1. The bird is detected based on the detection signal of the boom elevation angle detector 14.

In FIGS. 5 and 6, 01 is the intersection of the radar beam and the front laser target 18, '4 is the position point of the elevation angle of the target arm 20, and H is the location of the elevation angle β of the target arm 20. Laser beam and rear laser target 11
M is the intersection point with the perpendicular line drawn from the intersection point 01 to the rotating plane of the rotating table 7, ■ is the intersection point with the perpendicular line drawn from the position point α to the rotating plane of the rotating table 35, and C is the intersection point with the perpendicular line drawn from the intersection point 01 to the rotating plane of the rotating table 7. , D is the elevation center of the cutting boom 10 , E is the rotation center of the target arm 20 , F is the elevation center of the target arm 20 , β is the elevation angle of the cutting boom 10 , β is the elevation angle of the target arm 20 , α1 is the turning angle of the cutting boom 10 when the front laser target 18 is aligned with the laser beam, α is the turning angle of the target arm 20 when the rear laser target 11 is aligned with the laser beam, and N is the intersection point. The intersection of the perpendicular lines drawn from M to the fuselage center axis y/ -YZ line, P is the intersection point I to the fuselage center axis y/ -y
/ line, where a is the distance between the rotation center C of the turning table 7 and the center of elevation of the cutting boom 10, g is the distance between the center of elevation of the cutting boom 10 and the intersection point M, and j is the distance between the center of elevation of the cutting boom 10 and the intersection point M. The distance between the turning center E and its elevation center F, k
is the distance between the elevation center F of the target arm 20 and the intersection l,
tl is the distance between the rotation center C of the turning table 7 and the intersection N, z
, is the center of rotation C of the rotating table 70 and the target arm 2
0 is the distance between the turning center E of the target arm 20 in the same horizontal plane, t3 is the distance between the turning center E of the target arm 20 and the intersection point P, 4 is the distance between the intersection point N and the intersection point P in the same horizontal plane, xl is the distance between the intersection point M and the intersection point N , XI indicate the distance between the intersection point I and the intersection point P, respectively.

Calculating the inclination angle γ of the aircraft with respect to the tunnel axis Y-Y line direction, L1= (g0a) cos tχ.

1m ”' (k+j) colI α!x, =
(g+a) sin α1Xt= (g+j)
sin α.

1-4 = 4 + 4 +ta γ = jan'' - Figure 7 shows the cutting boom 10 at a horizontal turning angle α toward the right side in the direction of travel with respect to the body center line Y' to Y' of the excavator body 1.
FIG. 4 is an explanatory diagram for determining the center position J of the cutting drum 12 when the cutting drum 12 is rotated. In this case, if the X axis is taken in the lateral direction with the laser beam on the left side in the traveling direction as the origin, the X coordinate of the center J of the cutting drum 12 is (X1+X). Therefore, the boom rotation angle α1. Since α can be detected by the table rotation angle detector 13, r and α1 are known, so xl and X can be immediately determined.

FIG. 8 is an explanatory diagram for determining the center position J of the cutting drum 12 when the cutting boom 10 is set at an arbitrary depression angle.

In this case, if you set the y coordinate in the vertical direction with the laser beam as the origin, the center J of the cutting drum 12:+
The coordinates are -(ys+Vm), where y is uniquely determined by the value of β1, and "It" is the output of θ・1 of the longitudinal tilt angle detector 16 and the boom elevation angle detector 14. Since it is determined by the output β, the vertical position of the cutting drum 12 can be immediately determined from the output signal of each detector.

In addition, in FIG. 8, S is a virtual horizontal plane parallel to the laser beam, Pl is a virtual horizontal plane parallel to the laser beam,
So is the actual board surface.

FIG. 9 shows a case where the board surface So of the excavation tunnel is inclined at an angle θ· in the left-right direction with respect to the virtual horizontal board surface S. In this way, if the operator operates the cutting boom 10 while riding on the excavator tilted with respect to the virtual horizontal plate surface S, even if the operator is excavating a tunnel with the regular standard excavation cross section F1, the actual The excavation cross section FO is inclined by the angle θλ.
tunnel will be excavated. That is,
When the operator positions the cutting drum 12 at point Jo and excavates, the operator himself is excavating the outer periphery of the tunnel with the regular standard excavation cross section F, even though υ is actually cutting. Unless the drum 12 is positioned at point J, it is not possible to excavate the regular standard excavation cross section F1. Therefore, in order to perform accurate excavation, it is necessary for the operator to recognize this fact and operate the cutting boom 1G accurately, which is not possible with conventional excavators.

In the excavator of this embodiment, when the excavator is tilted as shown in FIG. Based on this, the control device unit 28 performs coordinate conversion between the tilted coordinate axis system and the regular coordinate axis system, thereby making it possible to display the momentary position of the cutting drum 12 with respect to the regular reference excavation cross section F. Note that Po is the actual resistance plate surface S. The plane parallel to p, is a horizontal plane.

Various variables necessary for coordinate transformation are obtained from the output signals of the various detectors. Further, the transformation between the tilted coordinate axis system and the regular non-tilted orthogonal coordinate axis system is performed by a known coordinate transformation method.

According to the above procedure, adjust the tilt angle of the aircraft (front/back, left/right,
Based on these values, the elevation angle, rotation angle, and telescopic stroker microcomputer of the cutting boom at the coordinate point where the cutting drum moves are calculated, and each angle and stroke amount are calculated as target values. As a result, operating current is applied to each solenoid valve that operates the cutting boom, and when the target value is reached, the valve is switched to the next target value.

All operations of the Corella are handled by a microcomputer program.

It is possible to display the position of the cutting drum along with the operation of the cutting boom. On the display screen, in addition to the tunnel reference cross-sectional line, drum outline, and position of the Rede beam, it is also possible to display numerical values such as the tilt angle of the machine, the elevation, rotation angle, and expansion/contraction stroke of the cutting boom. be. In particular, it is also possible to display the distance between the tunnel reference cross-section line and the drum outline line graphically or numerically.

Commands and numerical values are input to the microcomputer using operation keys.

In a curved tunnel, the tunnel cross section can be excavated accurately by inputting the amount of deviation between the tunnel axis and the laser beam and the inclination angle of the tunnel cross section using operation keys or the like. Therefore, the effectiveness of the present invention is not impaired even in curved tunnels.

Furthermore, each coordinate value of the excavation pattern is stored in the memory (ROM - read-only memory) inside the microcomputer.
It is possible to memorize it as an external memory and input it to the microcomputer, and it is possible to easily change the excavation i+turn.

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 be of the form of a mere stationary support stand.

In addition, as the cutting drum (cutter head), it is possible to use various types of cutters such as blades and packet wheels instead of a drum cutter. You may also use

(f) Effects of the invention Since the automatic excavator of the invention has the above-mentioned configuration,
The position of the cutting drum and the attitude of the excavator body are electrically detected, and based on each detected value, the momentary position of the cutting drum is displayed on the screen of the display device with respect to a predetermined reference excavation cross section. Therefore, there is no need to actually visually inspect the cutting drum, and the cutting drum can be easily inspected regardless of the posture of the excavator itself.
Accurate excavation work that is always the same as the standard excavation cross section can be performed.

Furthermore, the automatic excavator of the present invention has the following effects.

■ By automatically moving the cutting drum without operator intervention, it is possible to easily excavate an accurate tunnel cross section without requiring any skill.

The order and coordinates of movement of the folding drum can be set in advance, and the excavation pattern can be selected depending on the rock quality of the tunnel, etc., allowing efficient excavation.

- Not only in straight tunnels but also in curved tunnels, by inputting the deviation amount and inclination of the tunnel axis multiple times using the operation keys, the tunnel cross section can be easily and accurately excavated. This eliminates the need for corrections through surveying, etc.

■ There are few special restrictions on the installation position of the laser beam, and the installation position can be determined freely.

Therefore, it is unlikely that it will be blocked by attached equipment in the rear.

■ High-precision excavation work is possible, reducing the amount of wasteful concrete IJ used to fill in excess excavation, reducing raw material costs, and speeding up excavation work by accurately recognizing the movement of the cutting drum. improved, and as a result,
Construction period is shortened and construction costs are reduced.

■ It reduces driver fatigue and does not require a high degree of skill, reducing labor costs.

[Brief explanation of drawings]

FIG. 1 is a schematic side view of the automatic excavator of the present invention, and FIG. 2 is a schematic side view of the automatic excavator of the present invention, showing the relationship between the front laser target on the cutting boom, the rear laser target on the fuselage, and the inside of the excavation tunnel in the automatic excavator of the present invention. FIG. 3 is a schematic perspective view showing the relationship with a reference laser beam. Figure 3 shows the rear laser targeting device;
The figure is a plan view, the figure (b) is a side view, and the figure (,) is a front view of the target. FIG. 4 is a schematic diagram of the excavation control device installed in the automatic excavator of the present invention. 5 to 9 are explanatory diagrams for explaining examples of calculations etc. performed within the excavation control device; FIG. 5 is a perspective diagram, and FIGS. 6 and 7 are planar diagrams. , FIG. 8 is a side view, and FIG. 9 is a rear view. 1... Excavator body 2... Traveling device 3... Driver's seat 4... Rogue (loading device) 5...
Hydraulic cylinder device 6...Soot discharge belt conveyor 7...Swivel table 8...Hydraulic cylinder device 9
...Support shaft 10...Cutting boom 11...
- Rear laser target 12...Cutting drum (drum cutter/cutter head) 13...Table rotation angle detector 14...Boom elevation angle detector 15...Boom extension/contraction amount detector 15m...Rack par 15b ...Rotary encoder 16...Anteroposterior tilt angle detector 17...Left and right tilt angle detector 18...Front laser target (target for excavation direction reference beam)
Cutting boom target) 19... Rade light generator (laser beam projector, laser beam projector) 20... Target arm 21... Target arm elevation angle detector 22...
Target arm rotation angle detector 23...display device
24...° operation key 25...external storage device 26...hydraulic cylinder device 27...excavation control device 2B...control device unit (microcomputer main body) 29...elevation electromagnetic device Valve 30...Swivel solenoid valve 31.
... Telescopic solenoid valve 32 ... Gear transmission 33.34
...Hydraulic cylinder device 35...Swivel table agent Tsune Teru Arakaki Fig. 1 Fig. 2 Fig. 3 Fig. 4 Fig. 7 Fig. 5 Fig. 8

Claims (1)

[Claims] Mounted on the cutting boom, it can be used to elevate, swivel, and
A front laser target that can be freely extended and retracted, a rear laser target that is attached to the rear of the machine and can be freely tilted and rotated with respect to the machine, a detector that detects the elevation, rotation angle, and amount of expansion and contraction of the cutting boom; Equipped with a detector that detects the angle, a detector that detects the elevation and rotation angle of the rear laser target, and a microcomputer and microcomputer that calculates the position of the cutting drum and the position of the machine relative to the tunnel axis from the detection values of each detector. A computer and an external storage device store movement coordinates of the cutting drum, and a solenoid valve that moves the cutting boom according to the coordinates and a display device that displays the position of the cutting drum with respect to the tunnel reference cross section. Automatic excavator.