JPH0610398B2 - Grooving method and device using liquid jet - Google Patents

Description

TECHNICAL FIELD The present invention relates to a groove excavating method and apparatus using a liquid jet.

(B) Conventional Technology As a conventional groove excavation method using a liquid jet, there is a method of moving the liquid jet nozzle along an excavation surface while ejecting the liquid jet from the liquid jet nozzle. The liquid jet nozzle is attached to the tip of a robot arm, for example. As described above, a groove corresponding to the shape of a tunnel is formed on the excavation surface, and then the portion surrounded by the groove is destroyed to excavate a tunnel or the like.

(C) Problems to be Solved by the Invention However, the conventional groove digging method and apparatus using a liquid jet as described above have a problem that a deep groove cannot be digged. For example, when the excavation surface is concrete, only a groove having a depth of about 50 cm can be excavated. Therefore, the excavable depth is about 50 cm in one cycle of work, and the work efficiency is low. The present invention aims to solve such problems.

(D) Means for Solving the Problems The present invention solves the above problems by swinging the liquid jet nozzle and advancing it. That is, a groove excavation method using a liquid jet according to the present invention is characterized in that a groove for forming a groove is formed in an excavated portion by swinging a nozzle for ejecting the liquid jet in one plane and advancing in the liquid jet ejection direction. .

In addition, a groove excavating device using a liquid jet according to the present invention includes a frame (10) that can be moved and fixed at a predetermined position, a tool body (16) that can be moved on the frame by a forward / backward movement device, and a tool. A nozzle head (28) swingably connected to the tip of the body, a liquid jet nozzle (30, 32) provided in the nozzle head, and a drive device (34, 36) provided on the tool body for swinging the nozzle head. , 40, 44, 46, 50),
have. The reference numerals in parentheses indicate the corresponding members in the embodiments described later.

(E) Action A liquid jet nozzle is directed toward the excavation surface such as a tunnel to eject a liquid jet. At the same time, the liquid jet nozzle is swung within a predetermined swing angle range. As a result, an elongated groove is formed on the excavation surface in the liquid jet nozzle swing direction. The groove gradually becomes deeper, and accordingly, the liquid jet nozzle is advanced toward the excavation surface side. This makes the groove deeper. A liquid jet nozzle is introduced into the formed groove to finally form a groove having a predetermined depth. Thereby, for example, even in the case of concrete, it is possible to form a groove reaching a depth of 1 m.

When one trench excavation work is completed, a new trench excavation work is started next. In that case, the liquid jet nozzle is installed so that one end of the groove to be newly formed is located at one end of the groove already formed. By doing so, the grooves can be successively connected to form a continuous groove having a predetermined length, and by further sequentially changing the swing angle direction, a predetermined polygonal continuous groove can be formed.

(F) Example FIGS. 1 and 2 show a groove excavating device using a liquid jet. A movable table 12 is provided on the frame 10 so as to be movable in the left and right directions in FIGS. The frame 10
The robot itself is attached to the tip of a robot arm (not shown) and can be moved to a desired position and stopped. The moving table 12 is a belt 1 provided on the frame 10.
Driven by. The position of the belt 14 is controlled by a motor (forward / backward movement device) not shown. Mobile stand 12
Is provided with a tool body 16. Tool body 1
Reference numeral 6 is a flat hollow elongated structure. However, the support portion of the tool body 16 for the movable table 12 is constituted by a member 18 having a circular outer peripheral shape, which is rotatably supported by the movable table 12. Therefore, the tool body 16
Is rotatable about an axis in the left-right direction in FIG. Adjustment of the position of the tool body 16 in the rotation direction is as follows.
It is adjusted by the motor 20, the gear 22 driven by the motor 20, and the gear 24 on the member 18 side that meshes with the motor 20. That is, these motors 20 and the like constitute an angle adjusting device. The fitting between the member 18 and the tool body 16 is a loose fitting, and the tool body 16 can move in the longitudinal direction with respect to the member 18. Load sensors 64 and 66 using load cells are arranged between the convex portions 60 and 62 of the tool body 16 and the member 18. A nozzle head 28 that can swing about a pin 26 as a fulcrum is provided on the tip side (right end side in FIG. 1) of the tool body 16.
Is provided. Two liquid jet nozzles 30 and 32 are provided at the tip of the nozzle head 28. The structure of the nozzle head 28 will be described later with reference to FIG. A pin 34 is provided at a position eccentric from the pin 26 of the nozzle head 28, and the pin 34 is connected to a link 36. The other end of the link 36 is connected to one end of a connecting rod 40 by a pin 38, and the other end of the connecting rod 40 is connected to a lik 44 by a pin 42. The other end of the link 44 is connected to a pin 48 eccentrically arranged on the disc 46. Disk 46 and link 44
Constitutes a crank mechanism, and when the disc 46 rotates, the connecting rod 40 reciprocates. The disk 46 is rotationally driven by a motor 50 via gears 52 and 54. Inside the tool body 16, a high-pressure water hose 56 for sending high-pressure water to the nozzle head 28 and an abrasive hose 58 for sending high-pressure water to the abrasive nozzle head 28 are provided.

The nozzle head 28 is shown in detail in FIG. A mixing chamber 70 is provided inside the nozzle head 28, and an abrasive hose 58 is connected to the mixing chamber 70. A high-pressure water pipe 72 connected to the high-pressure water hose 56 has entered the mixing chamber 70, and a high-pressure water nozzle head 74 is attached to the tip of the high-pressure water pipe 72. The high pressure water nozzle head 74 has two high pressure water nozzles 76 and 78. The high pressure water nozzles 76 and 78 are arranged concentrically with the liquid jet nozzles 30 and 32 described above. The nozzle head 2
The outer corner of No. 8 has a radius of curvature of 5 mm as shown in FIG.
The above is a rounded shape.

Next, the operation of this embodiment will be described. First, the tool body 16 is retracted with respect to the frame 10 (that is, the tool body 16 is moved to the leftmost direction with respect to the frame 10 in FIG. 1), and the position of the frame 10 is adjusted to adjust the nozzle head 28. To face the excavation surface 90. Next, the motor 20 is operated to rotate the tool body 16 about its axis, and the swing direction of the nozzle head 28 is determined. In this state, circulation of the liquid jet is started. That is, the high-pressure water and the abrasive hose 58 are supplied to the nozzle head 28 through the high-pressure water hose 56 and the abrasive hose 58, respectively, and the two are mixed in the mixing chamber 70 so that the liquid jet containing the abrasive is supplied to the liquid jet nozzles 30 and 32. To squirt from. The liquid jets ejected from the liquid jet nozzles 30 and 32 cut concrete, rocks and the like by the kinetic energy of the high pressure water and the abrasive. At the same time when the ejection of the liquid jet is started, the motor 50 operates and the disc 46
To rotate. The connecting rod 40 reciprocates by a crank mechanism constituted by the disk 46, the pin 48 and the link 44. The reciprocating motion of the connecting rod 40 is transmitted to the nozzle head 28 by the link 36, and the nozzle head 28 makes a swing motion. As a result, the groove 92 having a predetermined length corresponding to the swing angle is formed. As the groove 92 becomes deeper, the moving twelfth portion is advanced. This moving stand 1
The forward speed of 2 is equal to the drilling speed by the liquid jet nozzles 30 and 32. That is, the distance between the tips of the liquid jet nozzles 30 and 32 and the excavated portion at the back of the groove 92 is always kept substantially constant. This distance is set to a distance at which machining with a liquid jet is most efficiently performed. Groove 9
As the depth of 2 becomes deeper, the nozzle head 28 enters the groove 92. When the groove 92 reaches a predetermined depth, the supply of the high-pressure water and the abrasive is stopped (the supply of these need not necessarily be stopped), the tool body 16 is retracted, and the tool body 16 is pulled out of the groove 92. This completes one excavation. After the excavation of the groove 92 once, the frame 10 is moved in the length direction of the groove 92 (for example, upward in FIG. 1) by the length of the groove 92, and the same excavation work is performed. This allows the grooves to be sequentially connected and lengthened. Groove 91 shown in FIG. 1 is groove 9.
It was formed before the excavation of No. 2. Also, frame 1
When 0 is moved as described above and the tool body 16 is rotated about its axis to change the swinging direction of the nozzle head 28, the groove formed is extended in a polygonal line shape. Thereby, for example, a continuous groove 94 corresponding to the tunnel shape as shown in FIG. 5 can be formed. By destroying the area surrounded by the continuous groove 94 by another device, the tunnel can be dug by the depth of the continuous groove 94.

It should be noted that the two liquid jet nozzles 30 and 32 are angled in the opposite directions by α / 2 with respect to the center line of the tool body 16 as shown in FIG. 2, so that they form an angle α. α is, for example, 8 degrees. This allows the groove 92 to be slightly wider than the tool body 16.
Can be formed. The liquid jet nozzles 30 and 32 are parallel to each other in FIG.

If the advancing speed of the tool body 16 is too high during the formation of the groove 92 as described above, the liquid jet nozzles 30 and 3
The distance between the tip of 2 and the impingement portion of the liquid jet becomes smaller. When this size is reduced, the spread of the liquid jet is reduced, and thus the width dimension of the groove 92 formed is reduced. Therefore, the tool body 16 may collide with the narrow portion of the groove 92. When such a collision occurs and an external force above a certain level acts on the tool body 16, this is detected by the load sensors 64 and 66. In this case, the tool body 16 is once retracted and then advanced again. At that time, the excavation time of the collision portion is lengthened. This prevents the tool body 16 from colliding again. As shown in FIG. 4, since the corners of the nozzle head 28 have a rounded shape, even if the nozzle head 28 comes into contact with a convex portion of the groove 92 during movement, it can easily escape.

As described above, in this embodiment, since the nozzle head 28 is moved forward while swinging, the nozzle head 28
The groove 92 can be inserted into the groove 92, and the groove 92 having a large depth dimension can be excavated. Further, by successively connecting the grooves 92 formed by one operation, a continuous deep groove can be excavated. Also,
Since the tool body 16 has a flat shape, the groove 9
The width dimension of 2 can be reduced. During the work, the frame 10 is stationary, and the groove 92 can be excavated by moving the moving table 12 forward, which simplifies the control. Further, since the load sensors 64 and 66 detect the external force acting on the tool body 16, the nozzle head 28 and the tool body 1
It is possible to prevent damage such as 6 and enable automatic operation.

Although one embodiment of the present invention has been described above, the embodiment can be modified as follows.

Although the swing angle of the nozzle head 28 is symmetrical with respect to the axis of the tool body 16 in the above embodiment, it may be asymmetric.

Although the motor 50 and the crank mechanism are used as the mechanism for swinging the nozzle head 28, they may be directly moved by using a pneumatic cylinder, a hydraulic cylinder or the like.

In the above-described embodiment, the tool body 16 enters the groove 92 together with the nozzle head 28. However, the dimension of the nozzle head 28 is lengthened so that only the nozzle head 28 has the groove 92.
It is also possible to enter inside.

Two liquid jet nozzles 30 are provided, but this may be one or three or more.

Although the swinging stroke of the nozzle head 28 is constant, the swinging stroke can be changed by, for example, changing the eccentric amount of the pin 48 (by changing the stroke of the cylinder when a hydraulic cylinder or the like is used). Can also be

The high-pressure water hose 56 and the abrasive hose 58 can be changed to a structure in which they are connected using a swivel joint.

Although load cells were used as the load sensors 64 and 66, any other type of sensor may be used as long as it can detect the load.

(G) Effect of the Invention As described above, according to the present invention, since the nozzle head is moved forward while swinging, it is possible to move the nozzle head forward into the groove for excavation, resulting in deeper depth. It becomes possible to form a groove. This improves the efficiency of excavation work such as tunnels. Further, by sequentially connecting the grooves formed by one operation, it is possible to form a continuous groove having a large depth and a desired length or a desired polygonal line.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a front view of a groove excavating device using a liquid jet which is an embodiment of the present invention, and FIG.
A plan view of a groove excavator using the liquid jet shown in the figure,
FIG. 3 is an enlarged view of the nozzle head, and FIG. 4 is a third view.
FIG. 5 is a sectional view taken along the line IV-IV in FIG. 5, and FIG. 5 is a view showing the formed continuous groove. 10 ... frame, 12 ... moving table, 16 ... tool body, 28 ... nozzle head, 30, 32 ... liquid jet nozzle.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Koji Oshinoya 1-6-1, Funakoshi Minami, Aki-ku, Hiroshima City, Hiroshima Prefecture Japan Steel Works (72) Inventor Yoshiharu Miyanaga 6-15, Ginza, Chuo-ku, Tokyo No. 1 power source development Co., Ltd. (72) Inventor Yasunari Mukai 1-6-1, Funakoshi Minami, Aki-ku, Hiroshima City, Hiroshima Prefecture Japan Steel Works, Ltd. (72) Inventor Yasuhiro Kawabata Funakoshi-minami, Aki-ku, Hiroshima City, Hiroshima Prefecture 1-6-1 Japan Steel Works, Ltd. (72) Inventor Yasushi Yasumura 1-1-6 Funakoshi-minami, Aki-ku, Hiroshima City, Hiroshima Prefecture Japan Steel Works, Ltd.

Claims (4)

[Claims] 1. A method for excavating a groove using a liquid jet that forms an elongated deep groove in an excavation portion, by excavating a nozzle for injecting the liquid jet in a plane and advancing in the liquid jet ejection direction. A method for excavating a groove using a liquid jet, which is characterized in that a groove is formed in the section. 2. A method for excavating a groove using a liquid jet, wherein a continuous groove having a desired length and shape is formed by sequentially connecting the grooves formed by the method for excavating a groove using a liquid jet according to claim 1. 3. A frame that can be moved and fixed to a predetermined position, a tool body that can be moved on the frame by a forward / backward movement device, and a nozzle head that is swingably connected to the tip of the tool body. A groove excavating device using a liquid jet having a liquid jet nozzle provided on a nozzle head and a drive device provided on a tool body for rocking the nozzle head. 4. A groove excavating device using a liquid jet according to claim 3, further comprising an angle adjusting device capable of adjusting the rotational position of the tool body about the longitudinal axis.