JPH04238917A - Automatic excavator for ground in caisson - Google Patents
Automatic excavator for ground in caissonInfo
- Publication number
- JPH04238917A JPH04238917A JP1159691A JP1159691A JPH04238917A JP H04238917 A JPH04238917 A JP H04238917A JP 1159691 A JP1159691 A JP 1159691A JP 1159691 A JP1159691 A JP 1159691A JP H04238917 A JPH04238917 A JP H04238917A
- Authority
- JP
- Japan
- Prior art keywords
- excavation
- excavator
- caisson
- bucket
- ground
- 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.)
- Granted
Links
- 238000009412 basement excavation Methods 0.000 claims abstract description 49
- 238000010586 diagram Methods 0.000 description 4
- 239000002689 soil Substances 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000005553 drilling Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
Abstract
Description
【０００１】0001
【産業上の利用分野】本発明は、ケーソン内部地盤を自
動的に掘削する装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for automatically excavating the ground inside a caisson.
【０００２】0002
【従来の技術】特公昭６０−２２１３２号公報に示すよ
うに、ケーソン躯体の下部内壁に周方向に向うレールを
設け、このレールに沿ってバケット式の掘削機を移動自
在に設けて、その掘削機によってケーソンの内部地盤を
順次掘削する装置が知られている。[Prior Art] As shown in Japanese Patent Publication No. 60-22132, a circumferentially extending rail is provided on the inner wall of the lower part of the caisson frame, and a bucket type excavator is movably provided along the rail to perform excavation. A device is known that sequentially excavates the internal ground of a caisson using a machine.
【０００３】0003
【発明が解決しようとする課題】ケーソン内部には水が
発生することがあるばかりか、ケーソン内部地盤が地表
から離れているので、前述の掘削装置によりケーソン内
部地盤を掘削する際に掘削部分が地表より見えず掘削機
を地表より動作制御することが困難である。なお、ケー
ソン内部において作業者が掘削機を動作制御することも
考えられるが、前述のようにケーソン内部に水が発生す
るので作業者がケーソン内部に入ることは危険であるし
、大変な苦渋作業となる。[Problems to be Solved by the Invention] Not only does water sometimes occur inside the caisson, but also the ground inside the caisson is far from the ground surface, so when the ground inside the caisson is excavated by the above-mentioned excavation device, the excavated part is It is difficult to control the operation of the excavator from the ground surface because it cannot be seen from the ground surface. It is also possible for a worker to control the operation of the excavator inside the caisson, but as mentioned above, water is generated inside the caisson, so it is dangerous for the worker to go inside the caisson, and the work is extremely arduous. becomes.
【０００４】そこで、本発明は前述の課題を解決できる
ようにしたケーソン内部地盤の自動掘削装置を提供する
ことを目的とする。SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide an automatic excavation device for excavating the ground inside a caisson, which can solve the above-mentioned problems.
【０００５】[0005]
【課題を解決するための手段】ケーソン躯体１の内壁２
に沿って周方向に走行可能な走行体４と、この走行体４
に設けたバケット式掘削機Ａと、このバケット式掘削機
Ａの各シリンダに圧油を供給する操作弁と、バケット式
掘削機Ａの位置を検出する検出器と、この検出器の信号
に基づいてバケット式掘削機Ａの位置、姿勢を表示する
表示部と、予じめ設定した掘削パターンに基づいて各操
作弁を切換える信号を出力する自動掘削モードと、手動
操作器３０からの信号に基づいて各操作弁を切換える信
号を出力する手動掘削モードと、手動掘削した掘削パタ
ーンを記憶して再現するティーチングプレイバックモー
ドを有する作業機制御装置２１を備え、バケット式掘削
機Ａで予じめ設定した掘削パターンに基づく自動掘削、
表示部を見ながらの手動掘削、記憶した実際の掘削パタ
ーンに基づくティーチングプレイバックによる自動掘削
ができるし、どのような土質にも対応でき、しかも地表
から掘削制御できて苦渋作業となることがないようにし
たものである。[Means for solving the problem] Inner wall 2 of caisson frame 1
A running body 4 that can run circumferentially along the
A bucket excavator A installed in the bucket excavator A, an operating valve that supplies pressure oil to each cylinder of the bucket excavator A, a detector that detects the position of the bucket excavator A, and a display unit that displays the position and attitude of the bucket excavator A; an automatic excavation mode that outputs signals to switch each operation valve based on a preset excavation pattern; The machine is equipped with a work machine control device 21 having a manual excavation mode in which a signal is output to switch each operation valve, and a teaching playback mode in which a manual excavation pattern is memorized and reproduced. Automatic drilling based on the drilling pattern
Manual excavation while looking at the display or automatic excavation using teaching playback based on the actual memorized excavation pattern is possible. It can handle any type of soil, and excavation can be controlled from the ground surface, making the work less tedious. This is how it was done.
【０００６】[0006]
【実施例】図１に示すように、ケーソン躯体１の内壁２
に環状レール３が設けられ、この環状レール３に沿って
走行体４が走行可能に設けてあり、その走行体４には走
行用モータ５が設けてあると共に、走行体４にバケット
式掘削機Ａが取付けてある。 該バケット式掘削機Ａ
は走行体４に上下揺動自在に支承したブーム６、ブーム
６に上下揺動自在に支承したアーム７、アーム７に上下
揺動自在に支承したバケット８、ブームシリンダ９、ア
ームシリンダ１０、バケットシリンダ１１より成り、前
記走行用モータ５及び各シリンダには走行体４に設けた
ブーム操作弁１２、アーム操作弁１３、バケット操作弁
１４、走行操作弁１５より圧油が供給される。[Example] As shown in FIG. 1, the inner wall 2 of the caisson frame 1
An annular rail 3 is provided on the annular rail 3, and a traveling body 4 is provided so as to be able to run along this annular rail 3. The traveling body 4 is provided with a traveling motor 5, and a bucket type excavator is attached to the traveling body 4. A is installed. The bucket excavator A
A boom 6 is supported on the traveling body 4 so as to be vertically swingable, an arm 7 is supported on the boom 6 so as to be vertically swingable, a bucket 8 is supported on the arm 7 so as to be vertically swingable, a boom cylinder 9, an arm cylinder 10, and a bucket. It consists of a cylinder 11, and pressurized oil is supplied to the traveling motor 5 and each cylinder from a boom operating valve 12, an arm operating valve 13, a bucket operating valve 14, and a traveling operating valve 15 provided on the traveling body 4.
【０００７】前記走行体４にはロータリエンコーダなど
の位置検出器１６が設けてあり、走行体４とブーム６の
回転支点にはポテンションメータ等のブーム角度検出器
１７が設けてあり、ブーム６とアーム７の回転支点には
ポテンションメータ等のアーム角度検出器１８が設けら
れ、アーム７とバケット８の回転支点にはポテンション
メータ等のバケット角度検出器１９が設けてあり、この
各検出器の信号は各シリンダの圧力センサ（図示せず）
よりの圧力とともにコントロールユニット２０の作業機
制御装置２１にそれぞれ入力されている。The traveling body 4 is provided with a position detector 16 such as a rotary encoder, and a boom angle detector 17 such as a potentiometer is provided at the rotation fulcrum of the traveling body 4 and the boom 6. An arm angle detector 18 such as a potentiometer is provided at the rotational fulcrum of the arm 7 and the arm 7, and a bucket angle detector 19 such as a potentiometer is provided at the rotational fulcrum of the arm 7 and the bucket 8. The signal of the device is transmitted from each cylinder's pressure sensor (not shown).
Both pressures are input to the work machine control device 21 of the control unit 20.
【０００８】前記各操作弁は図２に示すように常時中立
位置Ｂに保持され、第１受圧部２２に供給されるパイロ
ット圧油で第１供給位置Ｃとなり、第２受圧部２３に供
給されるパイロット圧油で第２供給位置Ｄとなるパイロ
ット作動式の３位置切換弁となり、補助油圧ポンプ２４
の吐出圧油を電磁比例減圧弁２５で受圧部に供給されて
主油圧ポンプ２６の吐出圧油を各シリンダ、走行用モー
タ５に供給するようにしてあり、各電磁比例減圧弁２５
のソレノイド２７に前記作業機制御装置２１より電気信
号を出力するようにしてある。As shown in FIG. 2, each of the operating valves is always held at the neutral position B, and is brought to the first supply position C by the pilot pressure oil supplied to the first pressure receiving section 22, and is then supplied to the second pressure receiving section 23. It becomes a pilot-operated three-position switching valve that moves to the second supply position D with pilot pressure oil, and the auxiliary hydraulic pump 24
The discharge pressure oil of the main hydraulic pump 26 is supplied to the pressure receiving part by the electromagnetic proportional pressure reducing valve 25, and the discharge pressure oil of the main hydraulic pump 26 is supplied to each cylinder and the traveling motor 5.
The working machine control device 21 outputs an electric signal to the solenoid 27 of the working machine.
【０００９】前記作業機制御装置２１は自動掘削制御モ
ードと手動掘削制御モードを有し、自動掘削制御モード
の場合にはケーソン内部地盤の土質に合せて最も効率良
く掘削できる掘削パターンを複数備え、その掘削パター
ンに基づいて各電磁比例減圧弁２５のソレイノド２７に
電気信号を出力して各シリンダを動かし、各角度検出器
で検出した信号に基づいて実際に動いている位置と設定
した位置を比較し、その偏差がなくなるようにソレノイ
ド２７に電気信号を送りつづけ、設定した掘削パターン
が終了したら走行体４を環状レール３に沿って走行して
再び掘削し、この動作を繰り返してケーソン内部地盤を
全域に亘って掘削する。The work machine control device 21 has an automatic excavation control mode and a manual excavation control mode, and in the case of the automatic excavation control mode, it has a plurality of excavation patterns that allow for the most efficient excavation depending on the soil quality of the ground inside the caisson, Based on the excavation pattern, an electric signal is output to the solenoid 27 of each electromagnetic proportional pressure reducing valve 25 to move each cylinder, and the actual moving position and set position are compared based on the signal detected by each angle detector. Then, an electric signal is continuously sent to the solenoid 27 so that the deviation disappears, and when the set excavation pattern is completed, the traveling body 4 runs along the annular rail 3 and excavates again, and repeats this operation to remove the ground inside the caisson. Excavation will be carried out over the entire area.
【００１０】この掘削作業時に作業機制御装置２１は各
検出器からの信号に基づいて掘削状況を第１・第２表示
器３１，３２に表示して自動掘削が正確に行なわれてい
るかを監視する。前記第１表示器３１は位置検出器１６
からの信号でバケット式掘削機Ａの水平方向位置を表示
し、第２表示器３２は各角度検出器からの角度信号に基
づいてブーム６、アーム７、バケット８の姿勢を表示す
る。During this excavation work, the work machine control device 21 displays the excavation status on the first and second displays 31 and 32 based on the signals from each detector, and monitors whether automatic excavation is being performed accurately. do. The first indicator 31 is the position detector 16
The horizontal position of the bucket-type excavator A is displayed based on the signal from the angle detector, and the second display 32 displays the posture of the boom 6, arm 7, and bucket 8 based on the angle signal from each angle detector.
【００１１】前記作業機制御装置２１が手動掘削モード
の場合には、手動操作部３０よりの電気信号を受けて各
電磁比例減圧弁２５のソレノイド２７に電気信号を送っ
てバケット式掘削機Ａを動作して掘削する。この時バケ
ット式掘削機Ａの位置、姿勢を第１・第２表示器３１，
３２の画面で確認しながら前述の操作を行なう。なお、
コントロールユニット２０にテレビモニタ３３を設け、
走行体４にテレビカメラ３４を設けて、このテレビモニ
タ３３でバケット式掘削機Ａの位置、姿勢を確認するよ
うにしても良い。When the work machine control device 21 is in the manual excavation mode, it receives an electric signal from the manual operation section 30 and sends an electric signal to the solenoid 27 of each electromagnetic proportional pressure reducing valve 25 to operate the bucket type excavator A. Work and drill. At this time, the position and attitude of the bucket excavator A are indicated by the first and second indicators 31,
Perform the above operations while checking the screen at 32. In addition,
A television monitor 33 is provided in the control unit 20,
A television camera 34 may be provided on the traveling body 4, and the position and attitude of the bucket excavator A may be confirmed on the television monitor 33.
【００１２】前述の手動掘削は次の場合に行われる。水
の中又は大深度で掘削対象が未知であって前述の自動掘
削で対処できない土質に出あった場合、例えば急に硬岩
が出現して掘削をパターン化できない場合などである。The manual excavation described above is performed in the following cases. When the excavation target is unknown in water or at a great depth and the soil quality cannot be handled by the above-mentioned automatic excavation, for example, when hard rock suddenly appears and the excavation cannot be patterned.
【００１３】前記コントロールユニット２０にはティー
チングプレイバック装置３５が設けられ、このティーチ
ングプレイバック装置３５には前述の手動掘削の際に最
も多い掘削パターン又は最も効率良い掘削パターンがあ
った場合にそれを記憶し、作業機制御装置２１をティー
チングプレイバックモードとした場合にその記憶した掘
削パターンに基づいて自動掘削する。[0013] The control unit 20 is provided with a teaching playback device 35, and the teaching playback device 35 is configured to play the most frequent excavation pattern or the most efficient excavation pattern during the above-mentioned manual excavation. The excavation pattern is memorized, and when the work machine control device 21 is set to teaching playback mode, automatic excavation is performed based on the memorized excavation pattern.
【００１４】前述の自動掘削制御をブロック図で示すと
図３のようになり、動作選定部４０よりの電気信号が比
較演算部４１で各座標と比較演算されて座標変換演算回
路４２に送られて位置を角度に変換し、それに基づいて
各電磁比例減圧弁のソレノイドに電圧を送って各シリン
ダを伸縮作動し、それにより各検出器からの電圧を座標
変換演算回路４３に送って角度を位置に変換してバケッ
ト刃先Ｘ座標、バケット刃先Ｙ座標、バケット刃先角度
（バケットと水平面との角度）とする。The above-mentioned automatic excavation control is shown in a block diagram as shown in FIG. 3, in which the electric signal from the operation selection section 40 is compared with each coordinate in the comparison calculation section 41 and sent to the coordinate conversion calculation circuit 42. Based on this, voltage is sent to the solenoid of each electromagnetic proportional pressure reducing valve to expand and contract each cylinder, and the voltage from each detector is then sent to the coordinate conversion calculation circuit 43 to convert the angle into position. are converted into the X coordinate of the bucket cutting edge, the Y coordinate of the bucket cutting edge, and the angle of the bucket cutting edge (the angle between the bucket and the horizontal plane).
【００１５】[0015]
【発明の効果】バケット式掘削機Ａで予じめ設定した掘
削パターンに基づく自動掘削、表示部を見ながらの手動
掘削、記憶した実際の掘削パターンに基づくティーチン
グプレイバックによる自動掘削ができるから、水中や大
深度のケーソン内部地盤を効率良く掘削できるし、どの
ような土質にも対応でき、しかも地表から掘削制御でき
て苦渋作業となることがない。Effects of the Invention: The bucket excavator A can perform automatic excavation based on a preset excavation pattern, manual excavation while looking at the display, and automatic excavation using teaching playback based on the memorized actual excavation pattern. It can efficiently excavate the ground inside a caisson underwater or at great depths, and can be used on any type of soil.Moreover, excavation can be controlled from the ground surface, so the work is not arduous.
【図１】ケーソン内部地盤の自動掘削装置の全体構成説
明図である。FIG. 1 is an explanatory diagram of the overall configuration of an automatic excavation device for ground inside a caisson.
【図２】バケット式掘削機、走行体の制御用油圧回路図
である。FIG. 2 is a hydraulic circuit diagram for controlling the bucket excavator and the traveling body.
【図３】自動掘削部ブロック図である。FIG. 3 is a block diagram of an automatic excavation section.
１ ケーソン躯体、２ 内壁、４ 走行体、２１
作業機制御装置、３０ 手動操作部、３１ 第
１表示部、３２ 第２表示部、３５ ティーチング
プレイバック装置、Ａ バケット式掘削機。1 Caisson frame, 2 Inner wall, 4 Running body, 21
Work machine control device, 30 manual operation section, 31 first display section, 32 second display section, 35 teaching playback device, A bucket excavator.
Claims (1)
向に走行可能な走行体４と、この走行体４に設けたバケ
ット式掘削機Ａと、このバケット式掘削機Ａの各シリン
ダに圧油を供給する操作弁と、バケット式掘削機Ａの位
置を検出する検出器と、この検出器の信号に基づいてバ
ケット式掘削機Ａの位置、姿勢を表示する表示部と、予
じめ設定した掘削パターンに基づいて各操作弁を切換え
る信号を出力する自動掘削モードと、手動操作器３０か
らの信号に基づいて各操作弁を切換える信号を出力する
手動掘削モードと、手動掘削した掘削パターンを記憶し
て再現するティーチングプレイバックモードを有する作
業機制御装置２１より成るケーソン内部地盤の自動掘削
装置。Claim 1: A traveling body 4 that can travel in the circumferential direction along an inner wall 2 of a caisson frame 1, a bucket type excavator A installed on this traveling body 4, and a pressure applied to each cylinder of this bucket type excavator A. An operating valve that supplies oil, a detector that detects the position of the bucket excavator A, a display section that displays the position and attitude of the bucket excavator A based on the signal from this detector, and a preset An automatic excavation mode that outputs a signal to switch each operation valve based on the excavation pattern that has been excavated, a manual excavation mode that outputs a signal that switches each operation valve based on the signal from the manual operation device 30, and an excavation pattern that is manually excavated. An automatic excavation device for ground inside a caisson, comprising a work machine control device 21 having a teaching playback mode for storing and reproducing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1159691A JP2943082B2 (en) | 1991-01-08 | 1991-01-08 | Automatic excavator for caisson internal ground |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1159691A JP2943082B2 (en) | 1991-01-08 | 1991-01-08 | Automatic excavator for caisson internal ground |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH04238917A true JPH04238917A (en) | 1992-08-26 |
| JP2943082B2 JP2943082B2 (en) | 1999-08-30 |
Family
ID=11782289
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1159691A Expired - Fee Related JP2943082B2 (en) | 1991-01-08 | 1991-01-08 | Automatic excavator for caisson internal ground |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2943082B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07113237A (en) * | 1993-10-15 | 1995-05-02 | Daiho Constr Co Ltd | Posture indication method of pneumatic caisson excavator |
-
1991
- 1991-01-08 JP JP1159691A patent/JP2943082B2/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07113237A (en) * | 1993-10-15 | 1995-05-02 | Daiho Constr Co Ltd | Posture indication method of pneumatic caisson excavator |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2943082B2 (en) | 1999-08-30 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |