JPS63217095A - Remote excavator for foundation hole - 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 "Field of Industrial Application" The present invention is directed to [Prior art and its problems] for digging foundation holes for buildings such as power transmission line towers using heavy excavating machinery. Since loads such as the tension acting on the installed power lines and the tower's own weight are applied to the transmission line towers, it is necessary to install the tower foundations in order to prevent the towers from tilting or collapsing due to these loads. It is necessary to bury the parts underground, and especially the
In the case of a large transmission line tower of the 00 KV class, it is necessary to dig earth and sand to a depth of about 20 m or more for the foundation hole.

Conventionally, such foundation hole excavation was carried out as shown in Figure 4.
A digging tool 5 such as a grab supported by an arm 4 is lowered from a heavy excavating machine 3 such as a hydraulic talam shell packet placed on the ground surface 1 to dig into the earth and sand, and at the same time, it is dug into the inner wall of the excavated hole 2. A shielding device 6 such as a litchi plate is applied to prevent landslides due to lateral pressure of the earth and sand. In such excavation work, in order to satisfy the excavation depth, the arm 4 must be of sufficient length, but when working in remote areas such as mountainous areas, Z, '7 is leF? 1.7 1"7'KochudakeTaikenA theory, 41 dimensions.It is extremely disadvantageous in handling workability such as transportation and storage.

The shape of the hole 2 to be excavated is set by, for example, determining the center position by hanging a weight attached to a string from the ground surface 1, and excavating the lower edge of the hole 2 while measuring the radius around this center position. However, these operations would require the worker to enter the hole 2 that has been excavated. Furthermore, when a foundation hole with a depth exceeding the capacity of heavy excavation equipment is required, when the shielding device 6 is installed on the inner wall of the excavated hole 2, when excavated earth and sand is to be carried out, etc. Since it is necessary for a worker to enter the hole and carry out the work, if the hole 2 to be excavated becomes deep (for example, the depth reaches 20 m or more), the opening diameter at the top of the hole [
Even if ■ is about 4 meters, it will only look small to the workers at the bottom of hole 2, which will increase the worker's sense of anxiety and increase the risk of landslides. Safety may be compromised as there is a risk of malfunctions.

The present invention effectively solves the above-mentioned problems. In other words, the operator can drill into the same hole by simply remotely controlling the drilling equipment while viewing the image on the image receiver while on the ground. This makes it possible to dig deeper.

"Means for solving the problem" The present invention is an excavation device for excavating earth and sand by remote control to dig a foundation hole for a building, which is equipped with an excavator mounted on a traveling device. Heavy equipment for excavation, an imaging device placed near the opening of the excavation hole to visualize the underlined shape of the excavation hole and transmit it to the control position, and display the image taken by the imaging device as well as a reference for the hole. In comparison with the shape, it consists of an image receiver for remotely controlling the heavy excavation equipment.

``Embodiment'' Hereinafter, an embodiment of a remote drilling device for foundation holes according to the present invention will be described with reference to FIGS. 1 to 3.

FIG. 1 is an explanatory diagram showing the usage status of the excavation equipment according to the present invention, and FIGS. 2 and 3 show an example of an image pickup device and a receiver. The work part, reference numeral B, is the control part for remote control, reference numeral C.
The reference symbol is a power and signal transmission system consisting of power cables and signal cables for connecting the two, the symbol E is an image pickup device for setting excavation standards, and the symbol E is an image receiver incorporated in the control unit B. showing the machine.

The work part A includes a heavy excavating machine 10 mainly for excavating the hole 2, a power source unit 11 for driving the heavy excavating machine 10, and a manipulator 12 mainly for carrying out operations other than excavating. , a working imager 13 for monitoring various types of work inside the hole, and a lighting device 14.

The heavy machinery IO for excavation includes a running section 1 equipped with a crawler (endless track) operated by a hydraulic motor, for example.
5, it has the function of running in reverse and changing direction freely, and the rotating section I6, which uses hydraulic pressure as the driving force, is equipped with a power shovel, Talam Ciel HTR Komagari Hi 1, Yakka 1. Eba white light 1 (11 traveling surface has been turned. Also, digging tools 1
For example, the actuator 7 may be freely driven by a 3- to 4-axis hydraulic actuator.

The power source unit 11 operates a hydraulic pump using electric power sent from the ground via a power and signal transmission system C to generate pressure oil, and also generates compressed air by operating a compressor. It is provided in the running section 15 of the heavy machinery 3.

The manipulators I2 are, for example, slave manipulators, and usually two or more of them are removably attached to the rotating part 16 with bolts or the like, and any flexible manipulator with at least six degrees of freedom is applicable. In addition, a position sensor near each axis, a servo system that follows the position according to the command from the control unit B, a self-weight compensation function, and at least three force (torque sensor) feedback functions,
It is configured to include a holding function that is symmetrical to all axes, and is operated based on the remote control of the control section B.

The work imager I3 is composed of a video camera, an image transmitting device to the ground, a photographing control device, etc., and is controlled by wire from the ground via a power and signal transmission system C to operate the video camera. A device that has a function of changing direction in at least two directions and that visualizes the excavation status of the heavy excavation machine 10 or the working status of the manipulator 12 and transmits it to the ground is applied, and is removably attached to the rotating part 16 with bolts or the like. attached.

The control unit B includes a heavy machinery joystick and a camera joystick that are connected to a computer;
The device is equipped with a master manipulator for operating the manipulator 12 of the workpiece A, a force feedback function, a self-weight compensation function, a holding function, and an actuator position sensor. Note that power transmission from the power supply section 18 to the work section A via the power and signal transmission system C is also controlled by the control section B.

The heavy equipment joystick operates the digging tool I7 and the traveling part 15 in the excavating heavy equipment IO by operating it while monitoring the image receiver.
The direction (posture), focus, and zoom ratio of the monitoring wL elephant 13 are adjusted by operating the camera joystick while monitoring the receiver. Also,
The master manipulator has the same degree of freedom as the manipulator 12 of work part A, and rotates around at least three axes (for example, wrist rotation, vertical movement, horizontal movement) by electric power or pneumatics.
applicable.

The imaging device is similar to the working imaging device I3 described above,
It is equipped with a video camera, an image transmitting device, a photographing control device, etc., and in particular, two angle sensors 19 and 20 for setting the photographing center in the vertical direction, as shown in FIG.
And two angle sensors! The upper frame 23, which is constructed above the opening of the hole 2, has two angle setting motors 21 and 22 for adjusting the direction of the camera in response to detection signals from the holes 9 and 20. Hole to be drilled 2
be mounted accurately toward the vertical center of the

The receiver E is provided with at least two monitor televisions so as to be able to display two images obtained from the two imagers D-13. The one corresponding to the machine is drilling hole 2
A superimpose function that displays the lower edge of the workpiece A and the inner workpiece part A, and displays them in an overlapping manner with a circular figure S that models the shape of the lower edge of the base ■, as shown in Figure 3. Those with the following are applicable.

In addition, in the excavated hole 2, an elevator 2 for carrying out earth and sand,
1 is provided, and the elevator 24 has rails 25
A winch 26 for suspending the disassembled liner plate and work part A is provided on the upper frame 23 which is moved along the opening of the hole 2 and is constructed above the opening of the hole 2.

In the drilling equipment having such a configuration, the work part A is positioned at the inner bottom of the hole 2 created by excavating the ground surface 1, and the control part B sends the control signal to the power and signal transmission system C. It can be remotely controlled via .

That is, the excavated hole 2 is photographed with the imaging device set accurately downward, and the image is displayed on the image receiver E as shown in FIG. Displayed in an overlapping state, operate the digging tool 17 in the heavy excavation machine IO to excavate earth and sand near the bottom of the hole 2 until the lower edge shape of the hole 2 overlaps with the circular shape S to lower the opening and expand the diameter. The excavated earth and sand can be removed from the hole 2 by being loaded into the earth and sand transporting elevator 24 using the digging tool 17 and carried out to the ground. Further, the work of connecting the rail 25 downward can be performed sequentially by operating the manipulator 12.

These excavation operations or rail connection operations are
In addition to visualization by the imaging device located above the excavation hole 2, visualization can be performed at any time by directing the monitoring imaging device 13 mounted on the heavy excavation equipment 10 at a required location inside the excavation hole 2. The progress status can be known by monitoring these operations using the receiver E in the control unit B. Therefore, there is no need to enter the hole 2 during the excavation work and rail connection work, and since the work part Ah is always located at the inner bottom of the excavated hole 2, the hole 2 There is also no particular limit on the depth.

Then, when the excavation work of the hole 2 is completed, the heavy excavation machine io located at the inner bottom of the hole 2 can be lifted to the ground by being suspended by the winch 26.

Note that instead of the above embodiment, the following can be used.

(b) If the camera is equipped with a zoom function,
By changing the zoom ratio of an image of an excavated hole, etc., which becomes smaller depending on the excavation depth, the image is made to match the size of a reference circular figure.

(b) If the image changes depending on the excavation depth, set the circular shape based on the size of the image of the heavy excavation equipment taken by the imaging device.

(c) Also, by combining the means of (a) and (b) above,
Keep the image size constant.

(d) Applicable to foundation holes of structures other than power transmission line towers, or to holes other than those in the vertical direction.

"Effects of the Invention" As explained above, the drilling device of the present invention excavates earth and sand by remotely controlling the work part to dig a hole, and is located near the opening of the drilled hole. It is equipped with an imaging device that visualizes the lower edge and a receiver that displays the image taken by the imaging device and remotely controls the heavy excavation equipment. There is no need to enter the hole, and the risk of personal injury due to landslides, gas spouts, lack of oxygen, etc. can be eliminated.

■There is no limit to the depth of the hole because the heavy excavating equipment in the work section runs inside the hole and performs the excavation work.

- Since the shape of the lower edge of the hole being excavated is monitored at appropriate times using images, it is possible to easily form a hole of a predetermined shape.

■Since a large excavator is not required, equipment can be easily transported to the excavation site even if the site is in a mountainous area, such as a power transmission line installation site.

It has the following effects.

[Brief explanation of the drawing]

1 to 3 show an embodiment of an apparatus for excavating a foundation hole for a building according to the present invention, FIG. 1 is a front view for explaining the drilling work, and FIGS. 2 and 3 are images taken FIG. 4 is a front view showing an example of a hole drilling operation using a conventional device. A... Work part, B... Control part, C... Power and signal transmission system, D...
Imager, E... Image receiver, 1... Ground surface, 2... Hole (excavation hole), II... Power source unit, ■2... ... Manipulator, 13 ... Imaging device for work, 14 ... Lighting equipment, 15 ... Traveling section, 16 ... Swivel section, 17. ... Horigu, 18 ... Power supply part, ! 9...Angle sensor, 20...Angle sensor, 21...Angle setting motor, 22...Angle setting motor, 23...・Support frame, 24... Elevator for carrying out earth and sand, 25...
...Rail, 26...Winch.

Claims (1)

[Claims] A heavy excavating machine (1) is an excavating device for excavating earth and sand by remote control to dig a foundation hole for a structure, and is equipped with a digging tool (17) mounted on a traveling device (15).
0), an imaging device (D) placed near the opening of the excavation hole (2) for visualizing the shape of the lower edge of the excavation hole and transmitting it to the control position; A remote excavation device for foundation holes, characterized in that it comprises an image receiver (E) for displaying information and remotely controlling the heavy excavation equipment by comparing the shape with the standard shape of the hole.