JPH0415850B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an excavator used for excavating an underground continuous wall.

In recent years, many civil engineering works, especially water-stop walls and construction of underground structures such as subways, are using the underground continuous wall construction method.
In other words, a construction method is used in which a long trench is excavated underground, a reinforcing cage is erected there, and then concrete is poured to construct a reinforced concrete wall.

Incidentally, in the excavation work according to the above-mentioned construction method, considerable skill is required to operate the excavator, and the current situation is that only a limited number of operators operate the excavator relying on their experience and intuition. Therefore, due to the lack of manpower, operators are getting older, and on the other hand, operators rely on experience and intuition, which causes individual differences in the results of excavated trench construction.

In view of the above circumstances, this invention can be easily operated not only by experienced operators but also by anyone.
The present invention provides a drilling equipment that can ensure sufficient drilling accuracy, has a plurality of detection means for detecting the drilling status, and excavates with a drill body that is suspended so that it can be raised and lowered by a lifting device. , in the drilling equipment in which the excavation deviation is corrected by a deviation correction means installed in the drill body, the detection means includes at least a depth gauge for detecting the depth of the drill body; An inclinometer that detects the inclination, a drill current converter that detects the current value of the drill provided in the drill body, a pump current converter that detects the current value of the pump that discharges muddy water from the drilling hole, and It has a flowmeter for detecting the amount of muddy water, and further includes a setting means used for setting a target value, a speed controller for controlling the lifting speed of the drill body, and a biasing device for controlling the deflection correcting means. a controller, and measured values from at least the drill current converter and the pump current converter;
The target value set by the setting means is compared, and the speed controller is driven and controlled based on the comparison result, and the measured values by the depth meter and the inclinometer are compared with the target value set by the setting means. The present invention is characterized by comprising a control means for comparing the values and driving and controlling the deflection controller based on the comparison result.

Hereinafter, one embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a front view showing the configuration of an excavator in an excavator according to an embodiment of the present invention, and in the figure, reference numeral 1 denotes a dedicated tower that runs on rails with wheels 2. A winch 3 driven by a hydraulic motor is fixed on the lower support base 1a of this exclusive tower 1, and by winding up or lowering the hanging wire rope 4, the winch 3 The drill body 5 suspended from the rope 4 is raised and lowered. in this case,
The hanging wire rope 4 passes through a pulley 6 on the upper support stand 1b of the special tower 1 and extends vertically downward, and after turning back at the movable pulley 7 located at the upper part of the drill body 5, rises to the upper support stand 1b. After passing through the pulley 8 on the upper support stand 1b and extending downward again, its end is attached to a tension gauge 9 fixed on the lower support stand 1a. Then, using this tension meter 9, the hanging wire rope 4
The tension, that is, the load of the drill body 5 suspended on the hanging wire rope 4 is measured. Also, 1
0 and 11 are two-way inclinometers (hereinafter simply referred to as inclinometers), which are respectively attached to both ends of the upper support base 1b. Measuring wires 12 and 13 are attached to each of these inclinometers 10 and 11, and these two measuring wires 12 and 13 connect to a pair of pulleys 1 attached to both sides of the drill body 5.
4, 15, a pair of pulleys 16, 17 mounted on the upper support stand 1b of the dedicated tower 1, and a pair of winding rollers 1 mounted on the lower support stand 1a.
8 and 19 symmetrically. When the drill body 5 is displaced in the direction perpendicular to the plane of the paper (hereinafter referred to as the Y direction) and in the left-right direction of the plane of the paper (hereinafter referred to as the X direction), the measurement wires 12, 1
3 is tilted, and the inclinometers 10 and 11 are accordingly tilted. Then, based on the inclinations of the inclinometers 10 and 11, the inclination angles of the measurement wires 12 and 13 in the X direction and the Y direction are measured. Furthermore, a depth gauge 20 that is activated by the movement of one measuring wire 13 is attached to the upper support stand 1b of the dedicated tower 1, and the excavation distance of the drill body 5 is measured by this depth gauge 20. Ru. In addition, depth meter 2
For example, a rotary encoder is used as the zero.

On the other hand, in the drill body 5, 21, 21...
This is a drill bit that excavates the ground by rotating, and is rotationally driven by an underwater motor (not shown) installed inside the drill body 5. Further, 22, 22, . . . are deviation correction plates, and a total of eight plates, four plates each, are attached to the front and rear surfaces of the drill body 5. These deviation correction plates 22, 22...
is driven by a hydraulic pump (not shown) installed inside the drill body 5.
It is designed to protrude vertically from the front and rear surfaces of the In this case, eight deviation correction plates 22, 22
... can be driven separately. Further, a reverse suction port (not shown) is opened at the center of the bottom of the drill body 5, and this reverse suction port is connected to a pipe 23 that passes through the center of the drill body 5 and reaches the dedicated tower 1, and a pipe. It communicates with the suction port of a drainage pump 25 via a hose 24 connected to the upper end of the drain pump 23 . The drainage pump 25 sucks up the water that is constantly supplied during excavation from the upper part of the excavation hole together with the excavated soil from the reverse suction port and discharges it to the ground via the piping 23 and hose 24. It's summery. In this case, the piping 23 can be freely added according to the excavation depth of the drill body 5. Further, 26 is a flowmeter, and this flowmeter 26
The flow rate of muddy water drained by the drain pump 25 is measured.

Next, the configuration of a control section that controls the excavator shown in FIG. 1 will be explained using FIG. 2.

In Figure 2, 20, 10, 11, 26, 9
are a depth clock, an inclinometer, a flow meter, respectively shown in Fig. 1,
It is a tension meter. 30 is a drill current converter that measures the current value of the underwater motor (drill current value) attached to the drill body 5, and 31 is a drill current converter that measures the current value of the motor used to drive the drainage pump 25 (pump current value). This is a pump current converter that performs measurements. Further, 32 is a parameter setting device consisting of a plurality of potentiometers. These depth gauges 20, inclinometers 10 and 11, and drill current converter 3
0, the measured values by the flowmeter 26, the pump current converter 31, and the tension meter 9, as well as the values set by the parameter setting device 32, are processed by the interface unit (hereinafter referred to as I/F) 34. After A/D (analog/digital) conversion,
It is input to the computer 33. A speed controller 35 controls the speed of hoisting/lowering the winch, and is driven manually or by a control signal outputted from the computer 33 via the I/F 34. 36 is a deviation controller that controls the protrusion or retraction of each deviation correction plate 22, 22, etc. during excavation, and like the speed controller 35, it can be controlled manually or from the computer 33 via I/F 34. It is driven by a control signal output from the
Further, 37 is a mode selection switch, and by operating this mode selection switch 37, the operator can arbitrarily select one of four modes of operation of the drilling equipment. . Here, 4 in the operation of the drilling rig
The two modes and the processing contents in each mode are as follows.

Mode 0: Manual operation Deflection amount calculation display/recording processing Mode 1: Deflection amount calculation display/recording processing Winch lowering speed control Automatic emergency processing Automatic constant depth processing Mode 2: Deflection amount calculation display/recording processing Deviation correction Control automatic emergency processing automatic constant depth processing mode 3: deviation amount calculation display/record processing winch lowering speed control deviation correction control automatic emergency processing automatic constant depth processing And speed controller 35, deviation controller 36, mode changeover switch 37 A console is constituted by a buzzer (not shown) that sounds in response to an instruction from the computer 33. Further, a manual switch for starting or stopping the drain pump driving motor, submersible motor, etc. is provided near the console.

Next, 38 is a keyboard, which is used to input instructions to the computer 33 or to set various target values before excavation work. Also 39
is a floppy disk, 40 is a CRT (cathode ray tube display), and 41 is a printer.

The operation of the excavation rig having the above configuration will be explained. First, the operator uses the keyboard 38 to set various target values. In this case, the target values set include those determined in advance according to the construction specifications, such as the target depth and allowable deviation range in the X and Y directions, as well as past data such as pump current values and drill current values. Alternatively, it may be determined based on the results of a ground survey. In addition, the operator
The parameter setter 32 is used to set the minimum limit value of the drainage flow rate, etc. Next, when the settings for all items are completed, the operator operates a switch provided near the console to start water supply and also start the drain pump drive motor and submersible motor. Next, the mode selection switch 37 selects an operation mode. For example, if mode 3 is selected, this switch information is input to the computer 33 via the I/F 34. The computer 33 detects that mode 3 has been selected based on the input switch information, and outputs an instruction to lower the winch 3 to the speed controller 35. As a result, the drill body 5 begins to descend, and the drill bits 21, 21
When the drill body 5 reaches the ground, excavation is started due to the weight of the drill body 5. From then on, computer 33
Depth meter 20, inclinometer 1 via I/F 34
The detection results of each detection means such as 0, 11, drill current converter 30, etc. are input. Then, the computer 33 performs the following processes based on each input detection result.

(1) Calculation of deviation amount For example, as shown in Figure 3, measurement wire 1
2 and 13 are tilted by an angle θ in the Y direction. l If _R and h ₁ are large, the excavation distance measured by the depth gauge 20, and the height from the ground surface to the inclinometers 10 and 11, then the excavation depth is
h ₂ is expressed as: h ₂ =l _R COSθ (1) Also, the amount of deviation in the Y direction, _ly , is as follows: _ly = Htanθ = (h ₁ +l _R COSθ) tanθ (2).

Therefore, the computer 33
and the measured values by the inclinometers 10 and 11, and the above
Based on equations (1) and (2), the drilling depth of the drill body 5,
The amount of deviation in the direction and the amount of deviation in the Y direction are calculated.

Incidentally, the inclination angle θ of the drill body 5 is measured via measurement wires 12 and 13 by inclinometers 10 and 11 attached to a dedicated tower 1 installed above ground. By configuring the inclinometers 10 and 11 in this manner, there are the following advantages. The inclinometers 10 and 11 not only detect the inclination state of the drill body 5, but also directly indicate whether the excavation course is correct or not. That is, since the inclinometers 10 and 11 are installed on the ground separately from the drill body 5, even if the drill body 5 is oriented vertically, if the excavation path deviates from the predetermined path, the wire 12 ，
13 is tilted, and it is directly detected that the drill body 5 is deviated from the normal drilling line. This means that the inclinometer 10,
11, the drill body 5 can be controlled to a normal state by simply controlling the direction of the drill body 5 so that the inclinometers 10 and 11 do not tilt, and no complicated conversion calculation is required.
This means that reliable direction control with few errors can be easily performed.

(2) Display/record processing The computer 33 receives the detection results of each detection means input via the I/F 34, the excavation depth of the drill body 5 calculated by the above-mentioned formulas (1) and (2), and The status of changes in the amount of deviation in the X and Y directions is displayed numerically on the CRT 40, and
These detection results and the like are printed out from the printer 41 at each constant depth set in advance using the keyboard 38. Further, the computer 33
The detection results displayed on the CRT 40 are recorded on the floppy disk 39 at regular intervals. The data recorded on this floppy disk 39 will be stored as a record of detailed data of the excavation work, and will be used in the future.
This will serve as reference material when carrying out similar construction work.

(3) Winch lowering speed control The computer 33 compares the target values of the drill current and pump current set in advance using the keyboard 38 with the measured values by the drill current converter 30 and the pump current converter 31. The lowering speed of the winch 3 is controlled based on the comparison result. That is, drill current converter 3
If the measured value of 0 is larger than the preset target value, it means that a load greater than predicted is acting on the drill bits 21, 21, . . . . Therefore, in this case, computer 3
3 outputs an instruction to the speed controller 35 to lower the lowering speed. As a result, the lowering speed of the winch 3 decreases, and the drill bit 2
The load acting on 1, 21, . . . is reduced. Conversely, if the measured value by the drill current converter 30 is smaller than the target value, the computer 3
3 outputs an instruction to increase the lowering speed to the speed controller 35 in order to increase operating efficiency. This increases the lowering speed of the winch 3.

On the other hand, if the value measured by the pump current converter 31 is larger than the preset target value, it means that the amount of excavated soil exceeds the processing capacity of the drainage pump 25, and the drainage pump 25
may cause blockage. Therefore, in this case, the computer 33 controls the speed controller 35.
outputs an instruction to reduce the hoisting speed.
As a result, the lowering speed of the winch 3 is reduced, and the amount of excavated earth and sand is reduced. Conversely, if the measured value by the pump current converter 31 is smaller than the target value, the computer 33 outputs an instruction to increase the lowering speed to the speed controller 35 in order to increase operating efficiency.

As described above, the lowering speed of the winch 3 is controlled. However, depending on the ground, there may be a conflict between the judgment based on the measured value by the drill current converter 30 and the judgment based on the measured value by the pump current converter 31. For example, if the load acting on the drill bits 21, 21, . According to the comparison result with the target value, the lowering speed of the winch 3 must be reduced; Speed must be increased.
Further, even if the drill bits 21, 21, . . . reach extremely soft ground, there may be a contradiction in the above-mentioned judgment. That is, there is a large amount of excavated earth and sand, but the load acting on the drill bits 21, 21, . . . is light. computer 33
In the event of a discrepancy in judgment as described above, the drill bits 21, 21, etc. should be checked to prevent excessive wear and damage to the motor.
In order to prevent the drainage pump 25 from clogging, the target value set in advance from the keyboard 38 is changed to an optimal target value according to the excavation situation.

(4) Deflection correction control When a deviation of the drill body 5 in the Y direction is detected, the computer 33 controls the deviation controller 36 to project the deviation correction plates 22, 22, etc. on the side where the deviation occurred. Outputs control instructions. As a result, the instructed deviation correction plates 22, 22...
protrudes, and these protruding deviation correction plates 22, 2
2 strongly presses the excavation wall, thereby changing the excavation direction of the drill body 5.

Note that the drill body 5 does not have a deviation correcting means for deviation in the X direction. Therefore, deviations in the X direction cannot be corrected, but deviations in the X direction do not pose a problem in the construction of continuous walls unless they are significant.

(5) Automatic emergency processing This processing is performed when the drainage pump 25 becomes clogged, that is, when the measured value by the flowmeter 25 falls below the minimum limit value of the drainage volume set in the parameter setting device 32. This is a process performed by the computer 33 when the amount of deviation of the drill body 5 in the X direction and the Y direction exceeds the allowable deviation range in the X direction and the Y direction set in advance from the keyboard 38. In this case, the computer 33 first
A lowering stop instruction is output to the speed controller 35, and an instruction to pull in all the deflection correction plates 21, 21, . . . is output to the deflection controller 36. As a result, the descent of the drill body 5 is stopped, and the protruding deviation correction plate 21 is retracted. Next, the computer 33 outputs an instruction to hoist the winch 3 to the speed controller 35. As a result, the drill body 5 begins to rise. Then, when the drill body 5 rises by a distance preset from the keyboard 38, the computer 33 outputs an instruction to the speed controller 35 to stop hoisting the winch 3 at that point. After the drill body 5 has stopped, the keyboard 38 is
After a certain period of time set by
6, it is detected whether the measuring meter or the amount of deviation of the drill body 5 has returned to the operable state. That is, the computer 33 detects that the flowmeter 26 is
whether the measured value exceeds the minimum limit value of the displacement set in the parameter setting device 32, or whether the measured value by
It is detected whether the deviation in the direction falls within a preset allowable deviation range, and if these conditions are met, the speed controller 35
In response, an instruction to lower the winch 3 is output.
As a result, excavation is started again from the position where the drill body 5 is stopped. However, if the above-mentioned conditions are not met, the computer 33 switches the operation mode to mode 0 after sounding the buzzer on the console. As a result, the speed controller 35 and the deflection controller 36 are then manually operated.

(6) Automatic fixed depth processing This processing is performed when the drill body reaches a depth that requires the addition of piping 23, or when the drill body 5 reaches the final target depth set in advance using the keyboard 38. This is the processing of the computer 33 in this case. In this case, the computer 33 first outputs an instruction to the speed controller 35 to stop lowering the winch 3, and also outputs an instruction to the deviation controller 36 to pull in all the deviation correction plates 21, 21... . As a result, the descent of the drill body 5 is stopped, and the protruding deviation correction plate 21 is retracted. Next, the computer 33 switches the operation mode to mode 0 after sounding the buzzer on the operation desk. After confirming that the excavator has stopped, the operator operates a switch located near the control console to stop the drainage pump drive motor and submersible motor, and then confirms that the excavator has reached the final target depth. If so, manually operate the speed controller 35,
Hoist winch 3. Further, if the depth for adding the pipe 23 has been reached, the work for adding the pipe 23 is performed. When the work of adding the pipe 23 is completed, the operator starts the drive motor of the drainage pump and the submersible motor, and then operates the mode selection switch to select mode 3. Excavation continues below.

The above is the operation content of each process performed by the computer 33.

By the way, depending on the ground, there may be cases where there is no previous experience of excavation, and it may not be possible to conduct a sufficient investigation of the ground in advance. In such a case, it is not possible to set all necessary target values (for example, drill current value) using the keyboard 38 before drilling, so mode 3 is selected.
This makes it impossible to drive. Therefore, in such cases, trial digging is performed by a skilled operator. Trial digging is
The process is started when the operator selects Mode 0 to Mode 2 according to a target value that cannot be set based on his/her own judgment. Then, the operator operates the speed controller 35, the deflection controller 36, or both of these controllers based on the detection results displayed on the CRT 40 to perform excavation. Then, the operator determines the optimum excavation speed at which the operation of the excavator seems to be stable, that is, the optimum excavation speed at which the operator can keep the amount of deviation of the drill body 5 within the preset allowable deviation range. When the operator determines that the mode selection switch 37
Operate to select mode 3. When the mode selection switch 37 is operated, the switch information is
It is input to the computer 33 via F34.
When the computer 33 detects that mode 3 has been selected based on the input switch information, the computer 33 selects the mode selection switch 37 for an unset target value, for example, if the target value of the drill current has not been set. The value measured by the drill current converter 30 at the time when is operated is set as the target value that would normally be set in advance using the keyboard 38. This makes it possible to continue excavation in mode 3 from now on. In this case, mode 3 was selected when the operator determined that the optimum excavation speed could be obtained.
Even if the optimum excavation speed cannot be obtained, if the operator can grasp the optimum excavation speed, once the excavator has stopped, the operator can set the unset target value again using the keyboard 38. Good too.

As explained above, according to the present invention, the excavator can be automatically controlled according to changes in excavation conditions, and therefore can be easily operated by not only skilled operators but also anyone. The burden on the operator can be reduced. Further, according to the present invention, it is possible to obtain the effect of ensuring high excavation accuracy. For example, it will be possible to excavate to a depth of 100m and ensure accuracy of 1/1000 or more. In particular, since the control means uses at least the measured values of both the drill current and the pump current as comparison data when driving and controlling the speed controller, it is possible to prevent blockage of the drainage pump, burnout of the drill motor, etc. This has excellent effects such as being able to efficiently carry out optimal excavation depending on the excavated ground conditions while preventing the excavation.

Furthermore, with the configuration described in claim 2, the inclinometer directly indicates whether the drilling path of the drill body is correct or not. It has the advantage of being able to control the drill body to its normal state just by controlling it, eliminating complicated conversion calculations, and easily performing reliable direction control with few errors.

[Brief explanation of drawings]

FIG. 1 is a front view showing the configuration of an excavator in an excavator according to an embodiment of the present invention, and FIG.
A block diagram showing the configuration of a control section that controls the excavator shown in FIG. 1, and FIG. 3 are explanatory diagrams for explaining the process of determining the excavation depth and deviation amount of the drill body 5. 3...Winch (lifting device), 9...Tension meter (detection means), 10, 11...Two-way inclinometer (detection means), 12, 13...Measurement wire (wire),
20...depth meter (detection means), 22...deviation correction plate (deviation correction means), 26...flow meter (detection means), 30...drill current converter (detection means), 3
1... Pump current exchanger (detection means), 32...
Parameter setting device (setting means), 33... Computer (control means), 35... Speed controller,
36...Deflection controller.

Claims (1)

[Claims] 1. Having a plurality of detection means for detecting excavation conditions,
In a drilling device that performs drilling with a drill body suspended movably up and down by a lifting device, and corrects the excavation deviation by a deviation correction means installed in the drill body, the detection means includes at least one of the following: , a depth meter that detects the depth of the drill body, an inclinometer that detects the inclination of the drill body with respect to the vertical direction, a drill current converter that detects the current value of the drill provided in the drill body, and a drain current converter that discharges muddy water from the drill hole. It consists of a pump current converter that detects the current value of the pump, and a flowmeter that detects the amount of mud water discharged from the borehole,
Further, (a) a setting device used to set a target value, (b) a speed controller that controls the vertical speed of the drill body, and (c) a deviation controller that controls the deviation correction device. (d) Compare the measured values by at least the drill current converter and the pump current converter with the target value set by the setting means, drive and control the speed controller based on this result, and and control means for comparing the measured value by the inclination meter and the inclinometer with the target value set by the setting means, and driving and controlling the deflection controller based on the result. Device. 2. The inclinometer according to claim 1, wherein the inclinometer is installed on the ground and connected to the drill body via a wire, and the inclination of the drill body is detected by the inclination of the wire. drilling rig.