WO2023233765A1 - 建設機械 - Google Patents

建設機械 Download PDF

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Publication number
WO2023233765A1
WO2023233765A1 PCT/JP2023/010872 JP2023010872W WO2023233765A1 WO 2023233765 A1 WO2023233765 A1 WO 2023233765A1 JP 2023010872 W JP2023010872 W JP 2023010872W WO 2023233765 A1 WO2023233765 A1 WO 2023233765A1
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WO
WIPO (PCT)
Prior art keywords
traveling
peeling
construction machine
control device
machine according
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2023/010872
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English (en)
French (fr)
Japanese (ja)
Inventor
朝倉健夫
関口政一
小幡博志
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JDC Corp
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JDC Corp
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Priority to JP2024524186A priority Critical patent/JPWO2023233765A1/ja
Publication of WO2023233765A1 publication Critical patent/WO2023233765A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries

Definitions

  • the present invention relates to construction machinery.
  • Patent Document 1 discloses that approximately 1/3 to 1/2 of the thickness of existing concrete is removed using a drum cutter provided on a movable support. .
  • an object of the present invention is to provide a construction machine that can shorten the time required for construction (particularly repair work) inside a tunnel.
  • a construction machine includes a traveling device that causes a main body device provided above to travel, a movable part that is connected to the main body device and moves, and a processing unit that is connected to the movable part and performs processing.
  • the vehicle includes a processing device, and a control device that performs processing by the processing device while the traveling device is traveling.
  • the processing device since the processing device performs processing while the traveling device is traveling, it is possible to realize a construction machine that can shorten the construction period.
  • FIG. 1 is a schematic diagram of a construction machine representing a first embodiment of the present invention, in which FIG. 1(a) is a top view, FIG. 1(b) is a front view, and FIG. 1(c) is a side view.
  • FIG. 2 is a block diagram of main parts of the first embodiment.
  • 3(a) is a diagram showing the state before the stripping work according to the first embodiment, and FIG. 3(b) shows the state in which the upper part of the tunnel is being stripped. It is a diagram. It is a flowchart executed by the heavy equipment control device of the first embodiment.
  • FIG. 5(a) is a diagram schematically showing a region to be peeled off, and FIG.
  • FIG. 5(a) is a case where the traveling speed of the traveling device is high
  • FIG. 5(b) is a diagram showing a case where the traveling speed of the traveling device is medium speed
  • FIG. 5(c) shows a case where the traveling speed of the traveling device is low
  • 6(a) is a diagram showing a modification of the first embodiment
  • FIG. 6(a) shows how the turning device turns clockwise
  • FIG. 6(b) shows a reset operation and turning clockwise
  • FIG. 6(c) is a diagram showing the reset operation.
  • 7(a) is a diagram schematically showing a region to be peeled off
  • FIG. 7(a) is a case where the traveling speed of the traveling device is high
  • FIG. 7(b) is a diagram when the traveling speed of the traveling device is medium speed.
  • FIG. 8A is a schematic diagram of a construction machine representing the second embodiment; FIG. 8A shows a state in which the actuator is retracted, and FIG. 8B shows a state in which the actuator is extended.
  • FIG. 1 is a schematic diagram showing a peeling system 1 representing the first embodiment, in which FIG. 1(a) is a top view, FIG. 1(b) is a front view, and FIG. 1(c) is a side view. It is.
  • FIG. 2 is a block diagram of the main parts of the first embodiment.
  • FIG. 3 is a diagram showing the state of the stripping work according to the first embodiment, FIG. 3(a) is a diagram showing the state before the stripping work, and FIG. 3(b) is a diagram showing the state before the stripping work is performed.
  • FIG. 3 shows only half (one side) of the tunnel.
  • the vertical direction is referred to as the Z direction
  • the two axial directions perpendicular to each other in the horizontal plane are referred to as the X direction and the Y direction.
  • the peeling system 1 of this embodiment is of an automatic operation type without a driver's seat.
  • the peeling system 1 may run automatically at construction sites, and may be transported on public roads by being placed on a trailer.
  • the peeling system 1 may be operated automatically or remotely at a remote location away from the construction site.
  • the peeling system 1 may be of a manned type with a driver's seat.
  • the base machine is a backhoe type, and includes a drive system 10 (see FIG. 2), a traveling device 20, a turning device 30, a main device 40, and a working device 60. have.
  • the drive system 10 includes an engine 11, a fuel tank 12, and a generator 13.
  • the engine 11 is an internal combustion engine, and in this embodiment, a diesel engine is used.
  • the engine 11 burns fuel supplied from a fuel tank 12 to drive a generator 13.
  • the fuel tank 12 stores liquid ammonia (NH3), and is provided with a fuel gauge (not shown) inside. Ammonia in a liquid state is vaporized by a vaporizer (not shown), and the vaporized ammonia is combusted by the engine 11 together with air.
  • a plurality of fuel tanks 12 may be provided to serve as an ammonia storage tank and a light oil storage tank.
  • the engine 11 may be a co-combustion type engine that co-combusts ammonia and light oil.
  • the generator 13 is connected to the output shaft of the engine 11 and generates electricity using the rotational driving force of the output shaft of the engine 11.
  • the electric power generated by the generator 13 is supplied to various cylinders, various motors, etc. as shown in the block diagram of FIG.
  • the traveling device 20 includes a pair of crawler belts 23 around which an idler wheel 21 and a driving wheel 22 are wrapped, and a traveling motor (not shown) that drives the driving wheel 22, and the pair of crawler belts 23 are driven by the driving wheel 22.
  • the travel motor 24 is driven by electric power supplied from the generator 13, and in this embodiment, an in-wheel motor installed coaxially with the drive wheel 22 or the hub of the drive wheel 22 is used. . Note that a hydraulic motor may be used as the travel motor 24.
  • the turning device 30 is disposed between the traveling device 20 and the main device 40.
  • the swing device 30 includes a bearing (not shown) and a swing motor 31 to which electric power is supplied from the generator 13, and swings the main body device 40 and the working device 60. Note that the rotation of the main body device 40 and the working device 60 by the rotation device 30 may be performed by a hydraulic motor using oil pressure instead of the rotation motor 31.
  • the main body device 40 has a cylindrical shape, and a groove portion 41, which is a groove for avoiding interference with the working device 60, is formed on the top surface.
  • the area and depth of the groove may be appropriately set according to the movable range of the working device 60.
  • the upper surface of the main body device 40 has a flat shape except for the groove portion 41.
  • the shape of the main body device 40 is not limited to a cylindrical shape, but can be any shape.
  • the main body device 40 houses therein an engine 11, a fuel tank 12, a generator 13, and a counter mass (not shown).
  • the main device 40 is connected to a working device 60 via a connecting portion 42 .
  • the connecting portion 42 includes a base portion 42a connected to the main device 40, a pair of holding portions 42b that hold a boom 53 and a boom cylinder 54 (described later), and a fixing member such as a pin.
  • a position detection device 45 Inside the main device 40, in addition to the engine 11, fuel tank 12, and generator 13 described above, as shown in the block diagram of FIG. 2, there is a position detection device 45 and a global positioning system.
  • a first GNSS 47 Global Navigation Satellite System
  • a first communication device 48 a first communication device 48
  • a first memory 49 a first memory 49
  • a heavy equipment control device 50 that controls the entire stripping system 1 are provided.
  • the position detection device 45 detects the position of the peeling system 1 within the tunnel 100.
  • Wireless access points are provided in the tunnel 100 at predetermined intervals, and beacon signals indicating the location of the access points are transmitted from the access points.
  • the position detecting device 45 includes a receiving section that receives this beacon signal and a detecting section that detects the radio field intensity of the beacon signal, and detects the position of the stripping system 1 in the tunnel 100 from the received beacon signal.
  • the position detection device 45 may transmit the reception result of the receiving section and the detection result of the detection section to the heavy machinery control device 50, and the heavy machinery control device 50 may calculate the position of the stripping system 1.
  • the heavy equipment control device 50 can calculate the position of the peeling system 1 with higher accuracy by calculating the position of the peeling system 1 based on the moving speed of the peeling system 1.
  • the position detection of the stripping system 1 in the tunnel 100 by the position detection device 45 is not limited to the beacon signal method, and may be any other method as long as the position of the stripping system 1 in the tunnel 100 can be detected. You can also use
  • the first GNSS 47 measures the position of the separation system 1 using an artificial satellite.
  • the heavy equipment control device 50 detects the position of the separation system 1 based on the positioning result of the first GNSS 47, and the separation system 1 detects the position of the separation system 1 based on the positioning result of the first GNSS 47.
  • the signal from the artificial satellite cannot be received (when the separation system 1 is inside the tunnel 100)
  • the position of the separation system 1 is detected based on the detection result of the position detection device 45.
  • the first GNSS 47 and the position detection device 45 may be omitted.
  • the first communication device 48 is a wireless communication unit that includes a transmitter, a receiver, various circuits, an antenna (not shown), and accesses the above-mentioned access point and a wide area network such as the Internet. In the first embodiment, the first communication device 48 communicates with a host computer located away from the construction site. Note that if a plurality of stripping systems 1 exist within the tunnel 100, the first communication device 48 may communicate with the other stripping systems 1.
  • the first memory 49 is a nonvolatile memory (for example, a flash memory), and stores various data and programs for driving the peeling system 1 and automatically operating the peeling system 1. Further, the first memory 49 stores data regarding the shape of the tunnel 100, position data for performing stripping work within the tunnel 100, and the like.
  • the heavy equipment control device 50 is equipped with a CPU and is a control device that controls the entire peeling system 1.
  • the heavy machinery control device 50 controls the peeling operation of the work device 60, the turning operation, the position detection of the peeling system 1, and the movement control. etc. are controlled.
  • the working device 60 is connected to the main body device 40 via the connecting portion 42.
  • the working device 60 includes a boom 53 , a boom cylinder 54 , an arm 55 , an arm cylinder 56 , a peeling cylinder 58 , and a peeling device 65 .
  • the boom 53 is a rotating L-shaped component connected to the main unit 40 via the connecting portion 42 and is rotated by a boom cylinder 54.
  • the boom cylinder 54 is a cylinder that is extended and contracted by electric power supplied from the generator 13 and drives the boom 53 .
  • the arm 55 is connected to the tip of the boom 53 and is rotated by an arm cylinder 56.
  • the arm cylinder 56 is a cylinder that is extended and contracted by electric power supplied from the generator 13 and drives the arm 55 .
  • the peeling cylinder 58 is a cylinder that expands and contracts with electric power supplied from the generator 13 and drives the peeling device 65.
  • the boom cylinder 54, arm cylinder 56, and peeling cylinder 58 are driven by electric power from the generator 13, but these cylinders may be driven using hydraulic pressure.
  • the peeling device 65 is connected to the tip of the arm 55, rotated by the peeling cylinder 58, and peels off the concrete on the surface of the tunnel 100 and the reinforcing sheet (for example, carbon fiber sheet) adhered to the surface of the concrete. It is.
  • the peeling device 65 includes a telescopic damper 66, a peeling motor 67, a peeling section 68, and a distance sensor 69.
  • the telescopic damper 66 has one end connected to the arm 55 and the peeling cylinder 58, and the other end connected to the peeling section 68 via a peeling motor 67.
  • an oil damper is used as the telescopic damper 66, and the piston rod is configured to expand and contract.
  • the telescopic damper 66 adjusts the distance between the peeling part 68 and the surface of the tunnel 100, and is driven so that the peeling part 68 comes into contact with the surface of the tunnel 100 when peeling the surface of the tunnel 100.
  • the peeling motor 67 is provided between the telescopic damper 66 and the peeling part 68, and is a motor that rotates the peeling part 68 around the X axis in the case of FIG. 1(b).
  • the peeling section 68 has a cutting function, and can employ, for example, a button bit or a drum cutter.
  • the peeling unit 68 peels off deteriorated concrete and deteriorated reinforcing sheets due to rotation by the peeling motor 67 and pressure from the expansion damper 66.
  • the peeling device 65 is rotated from the bottom to the top of the tunnel 100 by the boom cylinder 54 and moved in the Y direction by the traveling device 20, so that the surface of the tunnel 100 can be continuously peeled. .
  • the position of the peeling device 65 can be controlled by rotating the arm cylinder 56 and the peeling cylinder 58 as necessary. I can do it.
  • the peeling section 68 may use a cutting member other than a button bit or a drum cutter. Furthermore, the peeling section 68 may be replaced depending on the hardness of the concrete or reinforcing sheet on the surface of the tunnel 100. Further, a plurality of peeling parts 68 may be provided, and one for rough cutting with a large amount of peeling and one for finishing with a small amount of peeling.
  • the distance sensor 69 is provided above the peeling motor 67, and is a non-contact sensor that detects the distance to the surface of the tunnel 100 in the X direction prior to peeling off the peeling part 68.
  • the distance sensor 69 an ultrasonic sensor or a laser distance sensor can be used.
  • the distance sensor 69 be provided inside a cover (not shown) that has an opening/closing function.
  • FIG. 4 is a flowchart executed by the heavy equipment control device 50 of this embodiment. This flowchart is assumed to be executed when the peeling system 1 arrives near the entrance of the tunnel 100.
  • the heavy equipment control device 50 detects the position within the tunnel 100 using the position detection device 45 (step S1).
  • the heavy equipment control device 50 detects the position of the stripping system 1 by communicating with an access point provided near the entrance of the tunnel 100, recognizes the starting position of the stripping work, and carries out stripping to the starting position of the stripping work. Move system 1.
  • the heavy equipment control device 50 determines whether calibration is necessary before starting the stripping work (step S2).
  • the heavy equipment control device 50 determines whether calibration is necessary when performing stripping work, depending on the presence or absence of data on the radius of curvature of the tunnel 100. Note that even if data on the radius of curvature of the tunnel 100 is known, calibration can be performed when it is desired to check what the radius of curvature actually is, or when the tunnel 100 is not semicircular. Here, it is assumed that calibration is required, and the determination in step S2 is Yes, and the process proceeds to step S3.
  • the heavy equipment control device 50 performs calibration to confirm the inner shape (for example, radius of curvature) of the tunnel 100 using the work device 60 (step S3).
  • the heavy equipment control device 50 drives the working device 60 so that the peeling section 68 approaches the inside of the tunnel 100, as shown in FIG. 3(a).
  • the heavy equipment control device 50 measures the distance to the inside of the tunnel 100 using the distance sensor 69.
  • the heavy equipment control device 50 fixes the X and Y coordinate positions of the distance sensor 69, moves the distance sensor 69 in the Z direction, and measures the distance to the inside of the tunnel 100 using the distance sensor 69.
  • the heavy equipment control device 50 can recognize the shape of the inside of the tunnel 100 by measuring the distance to the inside of the tunnel 100 multiple times while changing the position of the distance sensor 69 in the Z direction.
  • the distance sensor 69 may be moved in the Z direction without fixing the X coordinate of the distance sensor 69.
  • the heavy equipment control device 50 confirms the change in the position of the X coordinate of the distance sensor 69 from the outputs of encoders (not shown) provided in the boom cylinder 54, the arm cylinder 56, and the peeling cylinder 58, respectively. The value detected by the distance sensor 69 may be corrected.
  • step S4 After confirming the shape of the inside of the tunnel 100, the heavy equipment control device 50 proceeds to step S4. Although it is preferable that the calibration in step S3 be performed with the traveling device 20 stopped, it may be performed while the traveling device 20 is moving in the Y direction.
  • the heavy equipment control device 50 sets construction conditions (step S4).
  • setting the construction conditions includes setting the traveling speed of the traveling device 20, setting the working speed of the working device 60, etc. based on the construction area of the tunnel 100.
  • the tunnel construction area can be stored in the first memory 49 or derived from the calibration result in step S3.
  • the round trip time required for the working device 60 to reciprocate is 0.24 min.
  • FIG. 5 is a diagram schematically showing the area to be peeled off, and FIG. 5(a) shows the case where the traveling speed of the traveling device 20 is high (8 m/min), and FIG. 5(b) shows the case where the traveling device 20 5C shows a case where the traveling speed of the traveling device 20 is medium speed (6 m/min), and FIG. 5(c) shows a case where the traveling speed of the traveling device 20 is low speed (4 m/min). is 1 m (radius 0.5 m).
  • the traveling speed of the traveling device 20 is high (8 m/min)
  • the area A11 and the area A12 can be separated, and the area where the area A11 and the area A12 overlap OL1 can be peeled off twice.
  • the moving distance L1 of the peeling system 1 by the traveling device 20 is 1.92 m.
  • the traveling speed of the traveling device 20 when the traveling speed of the traveling device 20 is medium speed (6 m/min), the area A21 and the area A22 can be separated, and the area A21 and the area A22 overlap.
  • Region OL2 can be peeled off twice. Further, the area OL2 is larger than the area OL1.
  • the region B21 that is not peeled off is smaller than the region B11 that is not peeled off, but it still exists.
  • the moving distance L1 of the peeling system 1 by the traveling device 20 is 1.44 m.
  • the traveling speed of the traveling device 20 when the traveling speed of the traveling device 20 is low (4 m/min), the area A21 and the area A22 can be separated, and the area where the area A21 and the area A22 overlap OL3 can be peeled off twice. Further, the area OL3 is larger than the area OL2. Note that there is no area that is not peeled off. Moreover, since the round trip time is 0.24 min, the moving distance L1 of the peeling system 1 by the traveling device 20 is 0.96 m, which is smaller than the peeling width W.
  • the heavy equipment control device 50 sets the traveling speed of the traveling device 20 to 4 m/min, which is slower than the moving speed of the working device 60, 6 m/min, so that there is no area that is not peeled off.
  • the heavy equipment control device 50 sets the traveling speed of the traveling device 20 based on the required reciprocating time, which is the cycle time of the working device 60, and the peeling width W of the peeling section 68.
  • the heavy equipment control device 50 can set the amount by which the telescopic damper 66 is extended (pressure amount), the rotational speed of the peeling motor 67, etc., depending on the material of the inner wall of the tunnel 100. In addition, in step S3, the heavy equipment control device 50 peels off a part of the inner wall of the tunnel 100, and sets the amount of extension (pressure amount) of the telescopic damper 66, the rotation speed of the peeling motor 67, etc. based on the peeling result. You can do it like this.
  • settings such as the amount by which the telescopic damper 66 is extended (pressure amount) and the rotational speed of the peeling motor 67 may be set by the host computer by transmitting the imaging results of an imaging device (not shown) to the host computer, or by the operator. may go.
  • the heavy equipment control device 50 proceeds to step S5.
  • the heavy equipment control device 50 causes the peeling unit 68 to peel off the inner surface of the tunnel 100 by rotating the peeling motor 67 and pressing the telescopic damper 66 while moving the peeling system 1 in the Y direction using the traveling device 20 (step S5). At this time, the heavy equipment control device 50 repeats rotation of the peeling device 65 by the boom cylinder 54. Thereby, the heavy equipment control device 50 can continuously peel off the inner surface of the tunnel 100.
  • the peeling device 65 After the peeling device 65 is rotated by the boom cylinder 54 along the shape of the tunnel 100, for example, from the lower side (see FIG. 3(a)) to the upper side (see FIG. 3(b)), The peeling may be performed from the upper side to the lower side, or the peeling may be performed when the peeling device 65 is returned to the lower side and then rotated upward. Further, on the contrary, the peeling device 65 may be rotated from the upper side to the lower side.
  • the heavy equipment control device 50 communicates with the access point in the tunnel 100 using the position detection device 45, detects the position of the stripping system 1, and detects whether the stripping work has reached the end position (step S6).
  • the heavy equipment control device 50 determines whether the stripping work has been completed based on the detection result in step S6 (step S7). If the end position of the stripping work has not been reached, the heavy equipment control device 50 advances to step S5 and continues the stripping work. On the other hand, if the heavy equipment control device 50 has reached the end position of the stripping work, it ends the stripping work and ends this flowchart.
  • peeling is performed by the peeling device 65 while the peeling system 1 is moved in the Y direction by the traveling device 20, so that the construction period for the peeling work can be shortened.
  • the stripping system 1 reduces exhaust gas emissions and fuel consumption. This makes it possible to realize stripping work with excellent environmental performance.
  • step S5 of the flowchart of FIG. 4 the operation of rotating the working device 60 using the rotating device 30 is performed.
  • the peeled region (for example, region A11) has an inclined rectangular shape as shown in FIG.
  • the heavy equipment control device 50 rotates the swing device 30 and controls the position of the working device 60 so as to offset the amount of movement in the Y direction by the traveling device 20.
  • the heavy equipment control device 50 has a peeled shape having a rectangular shape with almost no slope.
  • FIG. 6 is a diagram showing a modification of the first embodiment, and shows how one peeling system 1 is moving in the Y direction while rotating the turning device 30.
  • FIG. 6(a) shows how the turning device 30 turns clockwise
  • FIG. 6(b) shows the reset operation and turning clockwise
  • FIG. 6(c) shows the reset operation.
  • FIG. 6 is drawn to make the explanation easier to understand, and there are some parts that differ from the actual movement of the peeling system 1 over time.
  • the enclosed area A42 is actually adjacent to the area A42.
  • the heavy equipment control device 50 starts rotating the peeling device 65 from the lower side (see FIG. 3(a)) to the upper side (see FIG. 3(b)) using the boom cylinder 54, and Start rotating the device 30 clockwise.
  • the heavy equipment control device 50 causes the turning device 30 to continue turning clockwise so as to offset the amount of movement in the Y direction by the traveling device 20.
  • the position of the working device 60 is controlled to peel off the area A41 surrounded by the dotted line.
  • the heavy equipment control device 50 starts rotating the peeling device 65 from the upper side to the lower side using the boom cylinder 54, and starts rotating the swing device 30 clockwise.
  • the heavy equipment control device 50 causes the turning device 30 to continue turning clockwise so as to offset the amount of movement in the Y direction by the traveling device 20.
  • the position of the working device 60 is controlled to peel off the area A42 surrounded by the dotted line.
  • FIG. 7 is a diagram schematically showing the area to be peeled off, and FIG. 7(a) shows the case where the traveling speed of the traveling device 20 is high (8 m/min), and FIG. 7(b) shows the case where the traveling device 20 This is a case where the traveling speed of No. 20 is medium speed (6 m/min).
  • the peeling width W of the peeling section 68 is 1 m
  • the peeling length P is 7.85 m
  • the time required to peel the inner wall of the tunnel 100 from the ground to the top is 0. .12 min
  • the time required to peel from the top of the inner wall of the tunnel 100 to the ground is 0.12 min.
  • the traveling device 20 moves 2.56 m in 0.32 min at high speed (8 m/min). Therefore, as shown in FIG. 7A, there is a region B41 that is not peeled off between the region A41 and the area A42 where the peeling is performed.
  • the traveling device 20 moves 1.92 m in 0.32 min at medium speed (6 m/min). Therefore, as shown in FIG. 7B, an overlapping region OL where the regions A41 and A42 overlap is formed between the region A41 and the region A42 where peeling is performed, and there is no region that is not peeled off.
  • the heavy equipment control device 50 can set the traveling speed of the traveling device 20 to 6 m/min, which is faster than in the first embodiment. That is, by turning the working device 60 using the turning device 30 as in this modification, the traveling speed of the traveling device 20 can be increased more than in the first embodiment.
  • the drive speed of the boom cylinder 54 is increased so that the time required to peel from the top of the inner wall of the tunnel 100 to the ground becomes from 0.12 min to 0.09 min. This is because it is easier to increase the driving speed by driving the boom cylinder 54 from above to below than by driving the boom cylinder 54 from below to above.
  • the heavy equipment control device 50 can set the traveling speed of the traveling device 20 to 8 m/min.
  • the heavy equipment control device 50 can set the traveling speed of the traveling device 20 to 4.7 m/min, thereby increasing the traveling speed.
  • the heavy equipment control device 50 turns the swing device 30 so as to offset the amount of movement in the Y direction by the traveling device 20, so the peeling shape is made into a rectangular shape with almost no slope.
  • the traveling speed of the traveling device 20 can be increased.
  • the driving speed for driving the boom cylinder 54 from above to below is faster than the driving speed for driving the boom cylinder 54 from below to above, the time required for one cycle can be shortened, and the time required for the traveling device 20 can be reduced. You can increase your running speed.
  • a swing mechanism that rotates the working device 60 around the Z-axis may be adopted instead of the swing device 30, a swing mechanism that rotates the working device 60 around the Z-axis. Even when a swing mechanism is adopted, if the swing mechanism is rotated so as to offset the amount of movement in the Y direction by the traveling device 20, the peeling shape can be made into a rectangular shape with almost no inclination, and the traveling device 20 can be moved in the Y direction. You can increase your running speed.
  • FIG. 8 is a schematic diagram of a stripping system 1 representing an example of a construction machine representing the second embodiment, in which FIG. 8(a) shows a state in which the actuator 18b is contracted, and FIG. 8(b) shows a state in which the actuator 18b is contracted.
  • FIG. 3 is a diagram showing a stretched state.
  • the base machine is a trolley type, and the turning device 30 of the first embodiment is omitted.
  • the traveling device 20 is driven by four tires 14, and may be a four-wheel drive.
  • the traveling device 20 has two wheels each having one starting wheel and two rolling wheels inside a triangular crawler track, as disclosed in Japanese Patent Application Laid-open No. 2017-218105. Alternatively, four may be provided.
  • the four tires 14 are connected to the central frame 16 via a pair of side frames 17 and a pair of link mechanisms 18.
  • the central frame 16 is a frame located between two drive wheels 22 spaced apart in the Y direction, and is connected to a pair of side frames 17 via a pair of link mechanisms 18.
  • the central frame 16 is connected to the main body device 40.
  • the pair of side frames 17 are frames connected to the four tires 14 via bearings (not shown).
  • the pair of link mechanisms 18 have a Z-shape or an inverted Z-shape, and have one end connected to the pair of side frames 17, the other end connected to the central frame 16, and a pair of connecting members 18a, and one end connected to the pair of side frames 17. It has an actuator 18b connected to a connecting member 18a on the side of the central frame 16 and whose other end is connected to the connecting member 18a on the side frame 17 side. Note that two of the pair of connecting members 18a are provided apart from each other in the Z direction.
  • the actuator 18b is provided to be inclined, and drives the pair of side frames 17 in the Z direction and the Y direction by expanding and contracting.
  • the heavy equipment control device 50 changes the state in which the actuator 18b is contracted as shown in FIG. 8(a) to the state in which the actuator 18b is extended as shown in FIG. 8(b). be able to.
  • the heavy equipment control device 50 drives the actuator 18b so that the actuator 18b is in an extended state as shown in FIG. 8(b). By doing so, it becomes possible to make the peeling part 68 reach near the top.
  • the actuator 18b by driving the actuator 18b, the width of the two tires 14 in the Y direction becomes narrower from W1 to W2, and the four tires 14 do not protrude from the main unit 40 in the Y direction, so that the peeling system 1 can be used even in a narrow place. becomes easier to enter.
  • the actuator 18b may be of a type that does not drive in the Y direction.
  • a hydraulic jack or an electric jack can be used, but the present invention is not limited thereto.
  • a swinging device 30 for swinging the main body device 40 may be provided, and a swing mechanism for rotating the working device 60 around the Z-axis may be provided.
  • the peeling shape can be made into a rectangular shape with almost no slope, and the traveling speed of the traveling device 20 can be changed to a rectangular shape with almost no slope. can be made faster.
  • the peeling system 1 may be driven using hydrogen and a fuel cell instead of the internal combustion engine.
  • high-pressure hydrogen gas may be stored in the fuel tank 12 and the hydrogen gas may be supplied to the fuel cell. If a driving system 10 that emits less greenhouse gases is used, a more environmentally friendly peeling system 1 can be realized.

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  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)
PCT/JP2023/010872 2022-06-03 2023-03-20 建設機械 Ceased WO2023233765A1 (ja)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002332191A (ja) * 2001-05-10 2002-11-22 Sumitomo Heavy Industries Construction Crane Co Ltd 運転室昇降機構を備えた作業機械
JP2020026697A (ja) * 2018-08-15 2020-02-20 鹿島建設株式会社 トンネル施工システム及びトンネル施工の支援方法
JP2020026670A (ja) * 2018-08-10 2020-02-20 コベルコ建機株式会社 作業機械の速度制御装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002332191A (ja) * 2001-05-10 2002-11-22 Sumitomo Heavy Industries Construction Crane Co Ltd 運転室昇降機構を備えた作業機械
JP2020026670A (ja) * 2018-08-10 2020-02-20 コベルコ建機株式会社 作業機械の速度制御装置
JP2020026697A (ja) * 2018-08-15 2020-02-20 鹿島建設株式会社 トンネル施工システム及びトンネル施工の支援方法

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