JP2837124B2 - Drilling control method of submerged drilling rig - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for controlling a submerged excavation apparatus for excavating rocks and earth and sand applied to the development of underground spaces, waterfronts, and the like.

[0002]

Conventionally, submerged excavator as shown in FIG. 4
It has been proposed . The water-immersed excavator, the excavator 040 capable traveling along the water bottom 041 of the underground submerged state, the ladder 04 is horizontal turn and elevation can mounted, ladder 04
Bucket wheel 01 with excavation blade attached to the tip of
In excavated soil and rocks, are crushed in a crusher 03 which is adjacent to the bucket wheel 01 is a mud-like, and is transported to the ground turbid water treatment apparatus 019 through the transfer hose 017 by a pump . Excavator 04
Turning elevation control of the travel control and ladder 04 0 are remotely carried out on the ground of the control center 034, this time, the excavator 040
Is detected by receiving a signal from the transmitter 036
Is performed by the detection means of the command center 034 on the ground .

[0003]

However , as described above,
Conventional excavator excavates rocks and earth and sand with a wide range of compressive strength underwater and continuously carries them out.
Attempting to do so involves the following problems, making it difficult for humans to perform driving operations. (1) In the case of controlling drilling rotational speed to a certain bucket wheel elevation operation of ladder, faster the excavation amount if Hayakere the speed of moving the ladder in compressive strength is low rocks and sediment increases, efficiently drilling However, when the excavated soil and the like are transported as slurry, the slurry becomes muddy water with a high concentration, so that when the slurry is transported by a pump, the rock / mud ratio may be too high and clogged. These problems occur instantaneously, and human operations have a delay in response to judgment and operation.
It is difficult to avoid. In addition, rock with high compressive strength
Sediment it is necessary to strengthen the force to press the bucket wheel by but rotates unevenness generated by the drilling torque excessively to the rotation of Gill and the bucket wheel extinguish with pushing, the bucket with the amount of rock and sediment to lose information from the bucket wheel is increased Stop spinning. (2) drilling by turning operation of the ladder, or even in the drilling by ladder <br/> forth moving drilling, similar to the above problems. (3) In addition, the surrounding circumstances of the excavator under submerged muddy water, monitoring of the drilling situation is not difficult.

The present invention is intended to solve such a problem, and it is difficult to avoid the clogging of the pump or a delay in the response of the judgment and operation by human operation. The above problem is solved by performing a feedback control operation using a computer. In other words, the excavation torque of the bucket wheel, the number of revolutions of the bucket wheel, the turning torque of the rudder, the elevating torque of the rudder and the longitudinal movement force, and the rudder moving speed are detected. Hydraulic pressure of each actuator is controlled by feedback control of data from each sensor and command value so that the rate of rock and mud conveyed by the pump does not exceed the predetermined maximum excavation torque and is below the predetermined maximum concentration and stable. The control valve is controlled to limit the speed of the rudder movement (turning, raising, moving forward and backward).

[0005]

According to the present invention, there is provided an airframe, a front-rear movable table mounted on the airframe so as to be movable in a front-rear direction, and a rotary table mounted on the front-rear movable table so as to be able to turn horizontally. A ladder mounted on the swivel base so as to be able to ascend, a bucket wheel mounted on the tip of the ladder to continuously excavate rock and earth, and the earth and sand excavated by the bucket wheel in slurry with muddy water. Conveying means having a sediment conveying pump device for conveying, a front-rear moving hydraulic cylinder as a moving actuator for the front-rear moving table, a turning hydraulic cylinder as a turning actuator for the turning table, and an actuator for raising the rudder A hydraulic cylinder serving as an actuator for driving the bucket wheel, and a hydraulic motor serving as an actuator for driving the bucket wheel. Means for detecting the number of rotations of the wheel and the excavation torque, means for detecting the turning torque of the rudder, means for detecting the ascending torque of the rudder, the fore-and-aft moving table as the moving force and the moving speed of the rudder in the front-rear direction A submerged excavator equipped with a means for detecting a moving force and a moving speed in the front-rear direction and a means for detecting the muddy water concentration of the slurry in the transport device, the rotation speed and excavating torque of the bucket wheel and the rudder The turning torque, the elevation torque, the moving force and the moving speed in the front-rear direction are detected by the respective detecting means, and the excavating torque of the bucket wheel is predetermined in excavation while the rotation speed of the bucket wheel is kept constant. Do not exceed the predetermined maximum excavation torque within the excavation speed, and In order to solve the problem, the hydraulic control valves of the actuators are controlled based on the detection data from the detection means to control the moving speed of the rudder so that the concentration is equal to or less than a predetermined maximum concentration. .

Further, an airframe, a front and rear movable table mounted on the airframe so as to be movable in the front and rear direction, a rotary table mounted on the front and rear movable table so as to be horizontally rotatable, and a vertically movable base. A ladder attached, a bucket wheel attached to the tip of the ladder for continuously excavating rocks and earth, and a sediment transport pump device for transporting the earth and sand excavated by the bucket wheel together with muddy water in a slurry state. A transporting means provided, a front-rear moving hydraulic cylinder as a moving actuator of the front-rear moving table, a turning hydraulic cylinder as a turning actuator of the turning table, a raising hydraulic cylinder as a raising actuator of the rudder, A hydraulic motor as a bucket wheel drive actuator, and a rotation speed of the bucket wheel. Means for detecting the cutting torque, means for detecting the turning torque of the rudder, means for detecting the ascending torque of the rudder, movement of the rudder in the longitudinal direction as the longitudinal force and speed of movement of the rudder. In a submerged excavator equipped with a means for detecting force and moving speed and a means for detecting the muddy water concentration of the slurry in the conveying means, when excavating while controlling the rotation speed of the bucket wheel to be constant, the ladder In the excavation using the turning of the rudder, the turning speed of the rudder is limited so that the excavating torque of the bucket does not exceed a predetermined maximum excavating torque within a predetermined excavating speed, and the excavation using the elevation of the rudder is performed. In the above, the excavation torque of the bucket does not exceed the predetermined maximum excavation torque within the predetermined excavation speed As described above, the excavation speed of the rudder is limited, and in the excavation by the longitudinal movement of the longitudinal carriage, the excavation torque of the bucket does not exceed a predetermined maximum excavation torque within a prescribed excavation speed. Control to adjust the turning speed of the rudder, the elevating speed of the rudder or the moving speed of the front-rear moving table so that the mud concentration becomes a predetermined mud concentration. This is a means of solving the problem.

[0007]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing an excavation control method for a submerged excavator according to an embodiment of the present invention; FIG. FIG. 3 is a side view, and FIG.

In FIGS. 2 and 3, reference numeral 40 denotes a submerged excavator. The submerged excavator 40 is driven by a hydraulic motor 25 as an actuator via a bevel gear 24 to excavate earth or rock. Bucket wheel 1 that performs
Is provided.

Rocks and earth and sand excavated by the bucket wheel 1 are pulverized by a crusher (not shown), and are sucked by the earth and sand transportation pump device 7 through the earth and sand transportation pipe 3 and the rotary joint 5 in a slurry state together with muddy water. , A flow meter 8, a soil concentration meter 9, a hose twisting universal joint 10, and a soil and sand transfer hose 11, to be conveyed to a place where a muddy water treatment facility is located. Reference numeral 26 denotes a swivel provided on the support 18 on the submerged excavator 40, and the ladder 2 is attached to the swivel 26 via a pin so as to be able to ascend with respect to the swivel 26. . An elevating hydraulic cylinder 4 as an elevating actuator is interposed between the swivel 26 and the rudder 2. The support table 18 is fixed on the front and rear movable table 12 on the submerged excavator 40, and the swivel table 26 is fitted to the front and rear movable table so as to be capable of turning horizontally. The turning operation of the turning table 26 is performed by a turning hydraulic cylinder 6 as a turning actuator.

The forward / backward moving platform 12 is fitted to the body frame 13 of the submerged excavator 40 so as to be movable in the forward / backward direction. A cylinder 19 is provided. A crawler-type traveling device 16 is attached to the body frame 13, and its driving is performed by a hydraulic motor 17 integrated with the traveling device 16. A hydraulic pump device 14 for supplying hydraulic pressure to the actuators of the hydraulic motor 25, the raising hydraulic cylinder 4, the turning hydraulic cylinder 6, and the front-rear moving hydraulic cylinder 19, a hydraulic oil tank 23, and a hydraulic control valve 22 for controlling hydraulic pressure. , And an electric control device 21 for controlling the hydraulic pressure supply to each of the actuators.

Each of the hydraulic cylinders 4, 6, and 19 is provided with a detector for detecting the position of each cylinder stroke. A detector for detecting the relationship with the movement amount and the direction and inclination of the excavator are built in the electric control device 21. As shown in FIG. 2, an ultrasonic transmitter 15 for transmitting the position of the excavator is attached to the body frame 13 of the submerged excavator, and a receiver serving as a reference of the place is fixed in the excavation place. Based on this, the position of the submerged excavator is remotely detected, and a target excavation site can be automatically excavated to a target shape and size. In addition, a measuring device for transmitting and receiving body tilt information and the like is also provided.

In the above construction, the submerged excavator according to this embodiment includes: (1) excavation by turning a rudder. (2) Excavation by raising the rudder. (3) Excavation by moving the back and forth moving table back and forth. Excavation can be performed by the three methods. The above three methods may be implemented alone or in a combination of two or three methods. The hydraulic pump device 14 is driven by an electric motor (not shown), and is provided with a power cable for supplying electric power to the electric motor from outside (on land or from a mother ship).

Next, an excavation control method at the time of excavation by a rudder turning method while keeping the rotation speed of the bucket wheel constant will be described with reference to FIG. Drilling torque T _B of the bucket wheel, Is Toka differential pressure of the hydraulic motor 25 gear 2
It can be obtained from the reduction ratio and mechanical efficiency of 4. That is, the pressure at the outlet of the hydraulic motor P _o, P _i (measured value) the pressure of the motor inlet, the displacement capacity of the hydraulic motor per one D _p,
Assuming that the reduction ratio of the speed reducer and the like is n and the total efficiency of the hydraulic motor and the speed reducer is η, the bucket torque calculator 51 calculates the excavation torque T _s of the bucket wheel by Equation (1).

T _B = D _p × n × η × (P _i −P _o ) / 2π The turning torque T _S is obtained by measuring the pressure of the turning hydraulic cylinder 6 in the turning torque calculator 52 in the same manner. Is required.

That is, the swing torque T _s is determined by the difference between the product of the rod-side sectional area Sr1 of the swing cylinder 6 and the measured oil pressure Pr1, the product of the cylinder-side sectional area Sc1 and the measured oil pressure Pc1, the direction of the cylinder, and the swing center. It is obtained by the product of the vertical distance C1 and the geometric relationship to the point (Equation 2).

T _s = (Sr1 × Pr1−Sc1 × Pc1) × C1 Further, the ascending torque can be obtained by the same calculation as that of the swing cylinder.

Further, the front-rear excavation force F _S is obtained from the geometric relationship with the front-rear movement hydraulic cylinder 19, but in this embodiment, the force (movement force) of the front-rear movement hydraulic cylinder 19 is directly applied as the excavation force. Because of the structure, the rod-side cross-sectional area Sr2 of the front-rear moving hydraulic cylinder and the measured hydraulic pressure Pr
2, the cylinder side sectional area Sc2 and the measured oil pressure Pc2
It is determined by the difference between the products of. That is, when the pressure on the cylinder side is high, assuming that the bucket is pressed against the ground, the front-rear excavation force F _S can be obtained by Expression 3.

## EQU3 ## F _S = Sc2 × Pc2-Sr2 × Pr2

The slurry concentration S _D is calculated by a slurry concentration calculator 5
The calculation is performed based on the value measured by the soil concentration meter 9 in 3. The slurry flow rate _SQ is calculated based on the value measured by the flow meter 8 in the slurry flow rate calculator. Function blocks 55, 56, 57, 58, said bucket torque T _B, the turning torque T _S, a function representing the relationship between the revolving base of the swirl velocity to the value of the slurry concentration S _D and the slurry flow rate S _Q (present value) is there.

[0017] will now be described in the function for each of input simply, the relationship between the drilling torque T _B of the bucket wheel and the turning velocity V _S is among a small drilling torque T _B of the bucket wheel (turning speed V _S is ) is constant at the maximum value, set in a direction to reduce the load drilling torque T _B of increases and the bucket wheel to increase the turning speed V _S. Also, set to a and the turning velocity V _S becomes a certain size or greater drilling torque T _B of the bucket wheel the lowest speed. The relationship between the turning torque T _S and the turning speed V _S is such that while the turning torque T _S is small, the turning speed V _S is the maximum value and is constant, but when the load increases and the turning torque T _S increases, the turning speed V _S increases. Is set to decrease. In addition, it is set so that the turning is stopped when the turning torque T _S becomes large and exceeds a certain value.

The relationship between the slurry concentration S _D and the turning speed V _S is as follows:
Although among the slurry concentration S _D is small turning speed V _S is the maximum value constant, set in a direction to reduce the the turning speed slurry concentration S _D is increased. In addition, it is set so that the turning is stopped when the slurry concentration S _D increases and becomes equal to or more than a certain value. Relationship of the slurry flow rate S _Q and the turning velocity V _S is set to out flow rate of slurry S _Q is small but the ladder turning speed is constant at zero, that the the turning speed flow rate of slurry S _Q increases the maximum flow rate constant I do.

The turning speed of the rudder determined from these four functions is input to a minimum value selection block 59, and the minimum value of the turning speed is output to an integration block 60 and converted into a displacement. The converted displacement is subtracted from the feedback signal of the swing hydraulic cylinder 6 in an addition block 61 to form a displacement command signal.
Drive. By driving the swing cylinder control valve 62, the swing hydraulic cylinder 6 is driven, the rudder 2 is swung and the displacement of the swivel base 26 is detected, and the detected value becomes the above-mentioned feedback signal. In the case of other types of excavation (excavation by raising the rudder, excavation by moving the front-rear moving table back and forth), the control of each hydraulic cylinder (elevating hydraulic cylinder 4 and front-rear moving hydraulic cylinder 19) is also performed by the above-described swing hydraulic pressure. Basically the same as cylinder control.

That is, the swing torque 52 and the swing cylinder control valve 6 in the above description related to the swing cylinder control.
2. Each “swivel” of the swivel cylinder 6 is “elevated”
Alternatively, when the term "forward-backward movement" is read, the same description is for the control of the elevation hydraulic cylinder 4 or the forward-backward movement hydraulic cylinder 19. However, the characteristics from the bucket torque turning speed function 55 to the slurry flow rate vs. turning speed function 58 are different from each other. In this way, it is checked from the operating state of each actuator that these torques and forces are within the specified values, so that the muddy water concentration does not exceed the specified values, and the rudder turning speed, elevating speed, and front-rear moving speed are checked. Feedback control becomes possible.

[0021]

As described above in detail, according to the excavation control method of the submerged excavation device of the present invention, rocks and soils having a wide range of compressive strengths are continuously excavated under water, and are continuously unloaded. In a submerged excavator that can be used, in the case of excavating in each method of rudder turning excavation, elevation excavation, and back and forth moving excavation while controlling the rotation speed of the bucket wheel constant,
Excavation torque, turning torque. The hydraulic control valve is feedback-controlled so that the ladder moving speed is appropriate based on the detected values of the forward and backward movement force and the concentration of the transportation means. The advantage is that the automatic driving operation can be performed.

[Brief description of the drawings]

FIG. 1 is a block diagram of an excavation control method for a submerged excavator as one embodiment of the present invention.

FIG. 2 is a side view of the submerged excavator provided with the control method.

FIG. 3 is a plan view of a submerged excavator provided with the control method.

FIG. 4 is a side view of a conventional submerged excavator in an excavation state.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Bucket wheel 2 Rudder 3 Sediment transport pipe 4 Elevating hydraulic cylinder 5 Rotating universal joint 6 Rotating hydraulic cylinder 7 Sediment transport pump device 8 Flow meter 9 Sediment concentration meter 10 Hose torsion universal joint 11 Sediment transport hose 12 Front and rear movable stand 13 Body frame 14 Hydraulic pump device 15 Ultrasonic wave transmitter 16 Traveling device 17 Hydraulic motor 18 Support base 19 Back and forth moving hydraulic cylinder 21 Electric control device 22 Hydraulic control valve device 23 Hydraulic oil tank 24 Bevel gear 25 Hydraulic motor 26 Swivel table 51 Bucket torque calculator 52 Swirling torque calculator 53 Slurry concentration calculator 54 Slurry flow rate calculator 55 Bucket torque vs. swirl speed function 56 Swirling torque vs. swirl speed function 57 Slurry concentration vs. swirl speed function 58 Slurry flow rate vs. swirl speed function 59 Minimum value selection block 60 Integration 61 Adder 62 Swing cylinder control valve

Continuation of the front page (72) Inventor Akihori Mori 1-1-1, Wadazakicho, Hyogo-ku, Kobe-shi Mitsubishi Heavy Industries, Ltd. Kobe Shipyard (72) Inventor Hiroyuki Uetani 1-1-1, Wadazakicho, Hyogo-ku, Kobe-shi No. 1 Mitsubishi Heavy Industries, Ltd. Kobe Shipyard (58) Fields surveyed (Int. Cl. ⁶ , DB name) E02F 5/00 E02F 3/92

Claims (2)

(57) [Claims] 1. An airframe, a front and rear movable table mounted on the airframe so as to be movable in the front and rear direction, a rotary table mounted on the front and rear movable table so as to be able to turn horizontally, A ladder attached, a bucket wheel attached to the tip of the ladder to continuously excavate rocks and earth, and a sediment transport pump device for transporting the earth and sand excavated by the bucket wheel together with muddy water in a slurry state. A transporting means provided with, a forward / backward moving hydraulic cylinder as a moving actuator of the front / rear moving table, a turning hydraulic cylinder as a turning actuator of the turning table, a raising hydraulic cylinder as a raising actuator of the rudder, A hydraulic motor as a bucket wheel drive actuator, and a rotation speed of the bucket wheel Means for detecting the excavation torque, means for detecting the turning torque of the rudder, means for detecting the ascending torque of the rudder, movement of the rudder in the longitudinal direction as the longitudinal force and speed of the rudder. A submerged digging device having means for detecting force and moving speed, and means for detecting the muddy water concentration of the slurry in the transport device, comprising: a rotating speed and a digging torque of the bucket wheel; a turning torque and a tilting torque of the rudder. The excavation torque of the bucket wheel is controlled within a predetermined excavation speed during the excavation while the rotation speed of the bucket wheel is kept constant by detecting the traveling force and the traveling speed in the front-rear direction by the above-mentioned respective detecting means. Do not exceed the specified maximum excavation torque and make sure that the mud Controlling the moving speed of the rudder by controlling a hydraulic control valve of each of the actuators based on the detection data from each of the detecting means so as to be equal to or less than the maximum concentration determined. An excavation control method for an excavator. 2. An airframe, a front and rear movable table mounted on the airframe so as to be movable in a front and rear direction, a rotary table mounted on the front and rear movable table so as to be capable of turning horizontally, A ladder attached, a bucket wheel attached to the tip of the ladder to continuously excavate rocks and earth, and a sediment transport pump device for transporting the earth and sand excavated by the bucket wheel together with muddy water in a slurry state. A transporting means provided with, a forward / backward moving hydraulic cylinder as a moving actuator of the front / rear moving table, a turning hydraulic cylinder as a turning actuator of the turning table, a raising hydraulic cylinder as a raising actuator of the rudder, A hydraulic motor as a bucket wheel drive actuator, and a rotation speed of the bucket wheel Means for detecting the excavation torque, means for detecting the turning torque of the rudder, means for detecting the ascending torque of the rudder, movement of the rudder in the longitudinal direction as the longitudinal force and speed of the rudder. For a submerged excavator equipped with a means for detecting a force and a moving speed and a means for detecting the muddy water concentration of the slurry in the transporting means, when excavating while controlling the rotation speed of the bucket wheel constant, the ladder In the excavation using the turning of the rudder, the turning speed of the rudder is limited so that the excavating torque of the bucket does not exceed a predetermined maximum excavating torque within a predetermined excavating speed. In the above, the excavation torque of the bucket must not exceed the predetermined maximum excavation torque within the specified excavation speed. The excavation speed of the ladder is limited so that the excavation torque of the bucket does not exceed a predetermined maximum excavation torque within a predetermined excavation speed. Control is performed to limit the forward and backward moving speed of the moving base and adjust the turning speed of the rudder, the elevation speed of the rudder, or the moving speed of the front and rear moving base so that the mud concentration becomes a predetermined mud concentration. An excavation control method for a submerged excavator, wherein the excavation control method is configured as follows.