JP2943082B2 - Automatic excavator for caisson internal ground - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for automatically excavating caisson internal ground.

[0002]

2. Description of the Related Art As shown in Japanese Patent Publication No. Sho. A device for sequentially excavating the inner ground of a caisson using a machine is known.

[0003]

In the caisson, not only water may be generated, but also the ground inside the caisson is separated from the ground surface. It is difficult to control the operation of the excavator from the ground surface because it cannot be seen from the ground surface. Although it is conceivable that the worker controls the operation of the excavator inside the caisson, it is dangerous for the worker to enter the caisson because water is generated inside the caisson, as described above. Becomes

Accordingly, an object of the present invention is to provide an automatic excavator for caisson internal ground capable of solving the above-mentioned problems.

[0005]

Means for Solving the Problems The inner wall 2 of the caisson frame 1
Traveling body 4 capable of traveling in the circumferential direction along
, A bucket-type excavator A that excavates by expanding and contracting a plurality of cylinders, an operation valve that supplies pressure oil to each cylinder of the bucket-type excavator A, and a position of the bucket-type excavator A. A detector, a display unit for displaying the position and orientation of the bucket type excavator A based on a signal from the detector, and a work machine control device 21 having an automatic excavation mode, a manual excavation mode, and a teaching playback mode,
The automatic excavation mode includes a plurality of excavation patterns that can be most efficiently excavated according to the soil of the caisson internal ground,
Based on the set one excavation pattern, a switching signal is output to each operation valve to cause the bucket type excavator A to perform an excavation operation in accordance with the set excavation pattern. The digging operation is performed in accordance with the set digging pattern, and the manual digging mode outputs a signal for switching each operation valve based on a signal from the manual operation device 30 to dig the bucket type excavator A,
An automatic excavator for caisson internal ground, wherein the excavator travels on the traveling body 4 and performs an excavation operation in accordance with a previously stored excavation pattern at the time of manual excavation. According to the automatic excavator for the ground inside the caisson, automatic excavation based on the excavation pattern set in advance by the bucket type excavator A, manual excavation while watching the display unit, teaching playback based on the stored actual excavation pattern Can excavate underwater or deep caisson ground efficiently, can cope with any type of soil, and can control excavation from the surface of the ground without any troublesome work. The automatic excavation mode includes a plurality of excavation patterns that can be most efficiently excavated in accordance with the soil quality of the caisson internal ground, and outputs a switching signal to each operation valve based on the set one excavation pattern to output a bucket type excavator. Since the excavation operation is performed according to the set excavation pattern, the traveling body 4 is driven after the set excavation pattern is completed, and the excavation operation is performed again according to the set excavation pattern. The ground inside the caisson can be efficiently excavated while traveling along the road.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As shown in FIG.
An annular rail 3 is provided, and a traveling body 4 is provided so as to be able to travel along the annular rail 3. The traveling body 4 is provided with a traveling motor 5, and the traveling body 4 is provided with a bucket type excavator. A is attached. The bucket type excavator A includes a boom 6 supported on a traveling body 4 so as to be vertically swingable, a boom 6
An arm 7, which is supported on the arm 7 so as to be able to swing up and down, a bucket 8, a boom cylinder 9, an arm cylinder 10 and a bucket cylinder 11, which are supported on the arm 7; 4, a boom operation valve 12, an arm operation valve 13, and a bucket operation valve 1
4. Pressure oil is supplied from the traveling operation valve 15.

The traveling body 4 is provided with a position detector 16 such as a rotary encoder. The traveling body 4 and a boom 6 are provided at the rotation fulcrum with a boom angle detector 17 such as a potentiometer. An arm angle detector 18 such as a potentiometer is provided at a rotation fulcrum of the arm 7 and a bucket angle detector 19 such as a potentiometer is provided at a rotation fulcrum of the arm 7 and the bucket 8. Signal from the pressure sensor of each cylinder (not shown)
Are input to the work implement control device 21 of the control unit 20 together with the pressure.

As shown in FIG. 2, each of the operation valves is always held at the neutral position B, becomes the first supply position C by the pilot pressure oil supplied to the first pressure receiving portion 22, and is supplied to the second pressure receiving portion 23. A pilot-operated three-position switching valve that becomes the second supply position D with pilot pressure oil
Of the main hydraulic pump 26 is supplied to each cylinder and the traveling motor 5 by the electromagnetic proportional pressure reducing valve 25.
An electric signal is output from the work implement control device 21 to the solenoid 27.

The work machine control device 21 has an automatic excavation control mode and a manual excavation control mode. In the case of the automatic excavation control mode, a plurality of excavation patterns that can be excavated most efficiently according to the soil of the caisson internal ground are provided. 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 based on the signal detected by each angle detector, the actual moving position is compared with the set position. Then, an electric signal is continuously transmitted to the solenoid 27 so that the deviation disappears. When the set excavation pattern is completed, the traveling body 4 is driven along the annular rail 3 to excavate again, and this operation is repeated to clear the caisson internal ground. Excavate all over.

At the time of this excavation work, the work implement control device 21 displays the excavation status on the first and second indicators 31 and 32 based on signals from the respective detectors and monitors whether the automatic excavation is performed accurately. I do. The first display 31 is a position detector 16
, The horizontal position of the bucket type excavator A is displayed, and the second display 32 displays the postures of the boom 6, the arm 7, and the bucket 8 based on angle signals from the angle detectors.

When the work machine control device 21 is in the manual excavation mode, it receives an electric signal from the manual operation unit 30 and sends an electric signal to the solenoid 27 of each of the electromagnetic proportional pressure reducing valves 25 to operate the bucket type excavator A. Work and excavate. At this time, the position and posture of the bucket type excavator A are indicated by the first and second indicators 31,
The above operation is performed while checking on the screen of No. 32. In addition,
A TV 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 posture of the bucket type excavator A may be confirmed on the television monitor 33.

The aforementioned manual excavation is performed in the following cases. This is a case in which the excavation target is unknown in the water or at a large depth and is on the soil that cannot be dealt with by the aforementioned automatic excavation, for example, a case where hard rock suddenly appears and the excavation cannot be patterned.

The control unit 20 is provided with a teaching playback device 35. The teaching playback device 35 determines whether the most excavation pattern or the most efficient excavation pattern exists during the manual excavation described above. When the work machine control device 21 is set to the teaching playback mode, the work is automatically excavated based on the stored excavation pattern.

FIG. 3 is a block diagram showing the above-mentioned automatic excavation control. The electric signal from the operation selection unit 40 is compared with each coordinate by the comparison operation unit 41 and sent to the coordinate conversion operation circuit 42. The position is converted to an angle, and based on the voltage, a voltage is sent to the solenoid of each electromagnetic proportional pressure reducing valve to expand and contract each cylinder, whereby the voltage from each detector is sent to a coordinate conversion operation circuit 43 to determine the angle. And converted into the bucket blade X coordinate, the bucket blade Y coordinate, and the bucket blade angle (the angle between the bucket and the horizontal plane).

[0015]

The automatic excavation based on the excavation pattern set in advance by the bucket type excavator A, the manual excavation while watching the display unit, and the automatic excavation by the teaching playback based on the stored actual excavation pattern can be performed. It can excavate underwater and deep caisson ground efficiently, can cope with any kind of soil, and can control excavation from the surface of the ground without troublesome work. The automatic excavation mode includes a plurality of excavation patterns that can be most efficiently excavated in accordance with the soil quality of the caisson internal ground, and outputs a switching signal to each operation valve based on the set one excavation pattern to output a bucket type excavator. The excavation operation is performed in accordance with the set excavation pattern, and the traveling body 4 is set after the set excavation pattern is completed.
And the excavation operation is performed in accordance with the set excavation pattern, so that the caisson internal ground can be efficiently excavated while the bucket type excavator A travels along the inner wall 2 of the caisson frame 1.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of the entire configuration of an automatic excavator for caisson internal ground.

FIG. 2 is a hydraulic circuit diagram for controlling a bucket type excavator and a traveling body.

FIG. 3 is a block diagram of an automatic excavation unit.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Caisson frame, 2 inner walls, 4 running bodies, 21 work machine control device, 30 manual operation unit, 31 first display unit, 3
2 Second display unit, 35 teaching playback device, A bucket type excavator.

Claims (1)

(57) [Claims] 1. A circumferential direction along an inner wall 2 of a caisson frame 1
And a plurality of traveling bodies provided on the traveling body 4
Bucket type digging that excavates by expanding and contracting a cylinder
Pressurized oil is applied to the cutting machine A and each cylinder of the bucket type excavator A.
Valve that supplies oil and the position of bucket type excavator A
Detector and bucket type based on the signal of this detector
A display for displaying the position and posture of the excavator A;
Mode, manual excavation mode, teaching playback mode
The automatic excavation mode is provided in accordance with the soil condition of the ground inside the caisson.
Multiple drilling patterns that allow the most efficient drilling
Based on the set one excavation pattern, each operation valve
Excavation by setting a bucket type excavator A by outputting a switching signal
Excavation operation set according to the pattern
Excavation pattern set by running the vehicle 4 after completion
The excavation operation is performed according to the signal from the manual operation device 30.
And output a signal to switch each operation valve,
Along with the drilling operation of the cutting machine A, traveling in the traveling body 4, the teaching playback mode, pre-serial
Excavation movement according to the drilling pattern when manual drilling
Of caisson's inner ground,
Automatic drilling rig.