JPH0639788B2 - Excavator recovery device for pneumatic caisson - Google Patents

Description

The present invention relates to a recovery device for a pneumatic caisson excavator.

(Prior Art) Conventionally, the operation of the excavator in the pneumatic work chamber of the pneumatic caisson has been performed by an operator boarding and operating, but in recent years an example of excavation work by remote control along with large-depth caisson work Has come to be seen many.

That is, for example, a traveling rail is provided on the ceiling of a work room, an excavator is attached to this traveling rail, and the excavator is operated by performing remote control from the ground, and unmanned excavation is performed in the pneumatic working chamber.

(Problems to be Solved by the Invention) However, according to the above-described conventional example, after the excavation work is completed, the worker has to enter the working chamber to recover the excavator, and disassemble and pull up the machine. It was In this case, since the work is performed under high pressure, there is a problem that the work efficiency is reduced and the worker is physically and mentally distressed.

The present invention has been made to solve such a problem, and an object thereof is to promptly collect an excavator and perform inspection, repair, etc. without an operator entering the pneumatic working chamber. An object of the present invention is to provide a recovering device for a pneumatic caisson excavator.

(Means for Solving the Problem) In order to achieve the above object, the present invention provides an excavator 1 that is installed on a ceiling of a work chamber and is movable along a rail that is partially separable, and the rail. And a bouncing device for bouncing the excavator 1 suspended on the lower hatch container 12 side, a work robot 3 which is remotely controlled based on image information displayed by a television camera 8 provided in the work chamber, A hoisting device for hoisting the excavator 1 upward, and the hoisting device rotates the rail mounting bracket 17 provided with a part of the rail or one end of the rail itself as a fulcrum, In addition, it has a device for pulling to the lower hatch container 12 side.

(Operation) According to the present invention, the excavator, which has completed the excavation work in the pneumatic work chamber, travels along the rail by itself and travels to a position immediately below the flip-up device to stop, and then the work robot. Is remotely operated based on the image information displayed by the surveillance camera in the work chamber, and the work robot disconnects the connection connector for supplying power to the excavator.

Next, the other end of the rail is unfixed and the flip-up device is operated to flip up the rail and the excavator toward the lower hatch container side around the fulcrum on one end side of the rail. In this way, the rail is set up in a substantially vertical state, and further, the wire is hooked on the excavator by the pulling device and suspended.

As described above, the excavator is pulled up to the upper atmospheric pressure, and the operator can quickly recover the excavator without entering the pneumatic working chamber.

(Examples) Hereinafter, preferred examples of the present invention will be described with reference to the drawings.

FIG. 1 shows the entire structure of a recovery device for a pneumatic caisson excavator according to the present invention.

Here, the features of the present invention include an excavator that is movable along a rail installed on the ceiling of a work chamber, and the rail is rotated around a pivot fulcrum so that the excavator and the excavator jump up to the lower hatch container side. It is provided with a flip-up device, a work robot that is remotely controlled based on image information displayed by a surveillance camera provided in the work chamber, and a pulling device that pulls the excavator upward.

That is, in the present embodiment, first, FIG. 2 shows a working state by the excavator 1, and the excavator 1 moves along the rail 2 installed on the ceiling of the working chamber in the front and back direction of the drawing via the roller 11. It is possible to drive by itself. The rail 2
Has a structure in which it is suspended via wheels 18 from a rail mounting bracket 17 that is horizontally installed in the opening of the slab A. This wheel
The rail 18 is movable along the longitudinal direction of the rail mounting bracket 17, but can be positioned and fixed by a wheel fixture 19.

The flip-up device includes a rail mounting bracket 17, a fixing pin 6 that pivotally attaches one end of the rail mounting bracket 17 to a slab A, and a rail mounting bracket 17 and the like with the fixing pin 6 as a center. The pulling device includes a winding device 5 that winds the film via 23 and rotates it to the lower hatch container 12 side.

As described above, one end of the rail mounting bracket 17 is rotatably attached to the wall surface of the slab A by the fixing pin 6.
The other end side is fixed to a support base 16 attached to the lower surface of the slab A by a rail fixture 20. The rail fixture 20 can be fixed / released by remote control.

Further, a rotary drum 22a is provided integrally with the rail mounting bracket 17 at a substantially middle portion in the longitudinal direction of the rail mounting bracket 17, and the rotary drum 22a and the same shape mounted on the wall surface of the lower hatch container 12 are provided. A wire 23 is suspended between the rotary drum 22b and the rotary drum 22b, and the wire 23 is wound by the winder 5.

On the other hand, a work robot 3 which is remotely controlled based on image information projected by a television camera 8 provided in the work chamber is arranged in the pneumatic work chamber, and the work robot 3 is excavated from a control unit (not shown). It has a function of attaching and detaching a connector 9 for supplying electric power and control signals to the machine 1.

In FIG. 1, a wire 24 having a hook 7a at its tip is hung from above in the lower hatch container 12, and the hook 7a is connected to the connecting tool 7 on the excavator 1 side.
The excavator 1 is hung up and down by being hooked on b. The connection auxiliary robot 21 is remotely controlled based on the image information displayed on the TV camera 10 mounted on the wall surface of the lower hatch container 12, and serves to assist the hooking operation between the hook 7a and the connecting tool 7b.

FIGS. 3 (a) and 3 (b) show an embodiment of the work robot 3, and the above-mentioned connecting auxiliary robot 21 uses a part of its configuration.

In FIG. 3 (a), the work robot 3 comprises a casing 25, a boom 27, and a link mechanism at the tip of the boom 27, and the casing 25 is fixed to a bracket 28 attached to the inner wall of the storage container 37 in a substantially vertical state. ing. A slide cylinder 26 is accommodated in the casing 25, and the boom 27 can be slid vertically in the drawing by the slide cylinder 26. A swivel seat 29 is provided at the lower end of the boom 27, and an arm 30 is attached to this swivel seat 29. The arm 30 is connected to another arm 32 which is laid down by a cylinder 31. Further, another arm 34 which is laid down by a cylinder 33 is connected to the arm 32, and a slide chuck 36 is attached to a tip end portion of the arm 34 via a rotary node 35.

The work robot 3 is configured as described above and is controlled remotely from the atmospheric pressure position above. Reference numeral 38 is a hydraulic hose and a control line, and reference numerals 39 and 40 are compressed air supply / exhaust valves.

The work robot 3 is housed in the storage container 37 as shown in FIG. 3B by contracting the slide cylinder 26 and the other cylinders 31 and 33.

Next, the recovery operation of the excavator according to this embodiment will be specifically described.

As shown in FIG. 2, electric power and control signals are supplied to the excavator 1 side via the connector 9.
The field of view around is captured by the television camera 8 and displayed on a monitor (not shown). Therefore, if the work robot 3 is remotely controlled while monitoring this monitor, the connector 9
Can be separated from the excavator 1.

Then, the rail fixture 20 is released by remote control, and the wheel fixture 19 is released in the same manner. This allows the wheels
18 is in a state where it can run freely along the rail mounting bracket 17.

Further, when the winding machine 5 is operated to wind up the wire 23, the rail mounting bracket 17 and the excavator 1 rotate about the fixing pin 6 toward the lower hatch container 12 side, as shown by the solid line in FIG. It becomes almost vertical. The fixed pawl 4 is the rail 2
Is a stopper for fixing the to the lower limit position.

Next, the wire 24 is lowered from above and the auxiliary robot is continuously installed.
21 is operated remotely, and the hook 7a at the tip of the wire is the excavator 1.
It is hooked on the side connecting tool 7b. At this time, the periphery of the hook 7a and the connecting tool 7b is displayed on a monitor by the television camera 10, and the connecting auxiliary robot is seen while watching this monitor.
21 is operated.

When the wire 24 is pulled up, the rail 2 and the excavator 1 move along the rail mounting bracket 17, and when the wire 24 is further pulled up, the rail 2 and the excavator 1 separate from the rail mounting bracket 17 and rise through the inside of the storage shaft 13. If you close and decompress,
The excavator 1 will be recovered under atmospheric pressure.

In addition, in order to return the recovered excavator 1 to the pneumatic working chamber, the operation reverse to the above may be performed.

FIG. 4 shows another embodiment of the present invention.

In this embodiment, the movable rail 2 installed on the ceiling of the work room
The structure is such that the excavator 1 can travel in the lateral direction of the drawing by itself along a. One end of the movable rail 2a is rotatably attached to the wall surface of the slab A by a fixed pin 6. Further, a rail connecting device 14 is provided on the other end side, and the rail connecting device 14 and the fixed rail 15 attached to the lower surface of the slab A are provided so as to be laterally mounted on the movable rail 2a and the opening of the slab A. It has become.

The rest of the configuration is the same as that of the above-described embodiment, and the same or corresponding members as those in FIGS. 1 to 3 are designated by the same reference numerals and the description thereof is omitted.

According to this embodiment, when the movable rail 2a is wound up by the winder 5, the excavator 1 and the fixed pin 6 are also wound together with the movable rail 2a.
Is rotated to the side of the lower hatch container 12 and becomes substantially vertical as shown by the solid line in FIG. Then, the excavator 1 can be recovered to atmospheric pressure in the same manner as in the above-described embodiment.

FIG. 5 shows an embodiment of a flip-up device utilizing hydraulic pressure.

In this embodiment, one end of the rail mounting bracket 17 'has a pin 6'.
The lower part of the slab A is axially attached to the upper part of the slab A via the links 41 and 42, and one end of the middle part is connected to the connecting point 43 of the two links 41 and 42. It is composed of a pulling device in which an operating rod 44a of a hydraulic cylinder 44 fixed to the inner wall of the hatch container 12 is connected.

In the above, when the operating rod 44a is contracted, the rail mounting bracket 17 'rotates counterclockwise around the pin 6', and the links 41, 42 bend to face each other, so that the rail mounting bracket 17 ' It becomes almost vertical to the original position and stops.

(Effects of the Invention) As described above, the present invention provides an excavator that is movable along a rail installed on the ceiling of a work chamber, and the excavator that rotates the rail around a pivot point on the lower hatch container side together with the excavator. By having a hoisting device that hoists up, a work robot that is remotely controlled based on image information displayed by a surveillance camera provided in the work room, and a hoisting device that hoists the excavator upwards, Workers can quickly recover the excavator to the atmospheric pressure side for repairs and inspections without entering the work room under high atmospheric pressure, thus improving work efficiency.

Further, there is an advantage that factors such as decompression sickness of workers are eliminated, and it is extremely effective in terms of safety and hygiene.

[Brief description of drawings]

FIG. 1 is a diagram showing an overall configuration of a recovery device for a pneumatic caisson excavator according to the present invention, FIG. 2 is a diagram showing a working state by the excavator, and FIG. 3 (a) is a schematic configuration of a work robot. FIG. 3, FIG. 3 (b) is a diagram showing a stored state of the work robot, FIG. 4 is a diagram showing an entire configuration of a recovery device according to another embodiment of the present invention, and FIG. 5 is a flip-up using hydraulic pressure. It is a figure which shows the Example of an apparatus. 1 …… Excavator 2 …… Rail 2a …… Movable rail 3 …… Work robot 5 …… Winding machine 6 …… Fixing pin 7a …… Hook 8,10 …… TV camera 9 …… Connector 23,24 …… Wire

 ─────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-50-149105 (JP, A) JP-A-1-187228 (JP, A) Actual development Sho-60-172896 (JP, U)

Claims (1)

[Claims] 1. An excavator 1 which is installed on a ceiling of a work room and is movable along a rail that is partially separable, and the excavator 1 suspended on the rail and the rail, and a lower hatch container 12 for the excavator 1. A flip-up device that is flipped up to the side, a work robot 3 that is remotely controlled based on image information displayed by a television camera 8 provided in the work room, and a pull-up device that pulls the excavator 1 upward. The flip-up device includes a device for rotating the rail mounting bracket 17 provided with a part of the rail or a part of the rail itself as a fulcrum, and pulling it toward the lower hatch container 12 side. An excavator recovery device for pneumatic caisson, which is characterized by