JPH0733754B2 - 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. In the present specification, the term “liquid jet” includes a so-called abrasive water jet in which an abrasive is turbid in the liquid.

(B) Conventional technology Fig. 10 shows a conventional groove excavator using a liquid jet. A liquid jet nozzle (hereinafter, simply referred to as a nozzle in the present specification) 100 is attached to a tip portion of a rotating tool 102 at a predetermined angle θ with respect to an axis, and the liquid is jetted while rotating the tool 102. By ejecting a jet, a hole having a diameter larger than that of the tool 102 is excavated in the object 104 to be excavated, and a groove 106 is formed while the tool 102 is moved along the excavation surface. By doing so, when the tool 102 moves in the groove 106, it is prevented that the tool 102 comes into contact with the wall surface and is damaged. By changing the amount of movement of the tool 102 in the axial direction, the depth of the groove 106 can be changed. High-pressure water for jetting the liquid jet of the tool 102 is introduced into the rotating tool 102 via a high-pressure swivel joint.

(C) Problems to be Solved by the Invention However, according to the conventional groove excavation method and apparatus using a liquid jet as described above, it is necessary to use an expensive high-pressure swivel joint. The present invention aims to solve such problems.

(D) Means for Solving the Problems The present invention is achieved by causing the nozzle to oscillate in one plane while repeatedly performing motion including a motion component in a direction orthogonal to this plane and sequentially advancing to the excavation surface side. The above problems are solved. That is, in the groove excavation method using the liquid jet according to the present invention, the nozzle that injects the liquid jet is swung in one plane, and the repetitive motion including the motion component in the direction orthogonal to this plane is performed to sequentially excavate the surface. The gist is to form a groove in the excavation part by advancing to the side. The repetitive motion may be decelerated or temporarily stopped near the turning point of the repetitive motion.

Further, the groove excavating device using the liquid jet according to the present invention is moved by a frame (2) that can be moved to a predetermined position and fixed, and is moved on the frame (2) by the forward and backward movement devices (6, 7 and 8). Possible mobile platform (4) and mobile platform (4)
A rocking device (10) mounted on the slab and capable of oscillating the lever (20) at the tip end in one plane, and a head (16) at the tip end mounted on the moving table (4) on the same plane. It has a repetitive motion device (12) capable of repetitive motion including orthogonal motion components, and a nozzle (18) attached to a nozzle attachment member (16) and capable of ejecting a liquid jet. The mounting member (16) is a lever (20).
It is supported for repeated exercise. The reference numerals in parentheses indicate the corresponding members in the embodiments described later.

(E) Action The liquid jet nozzle is directed toward the excavation surface such as a tunnel to eject the liquid jet. At the same time, the nozzle oscillates within one plane within a predetermined oscillating angle range about one axis as a fulcrum, and repeatedly moves including a motion component in a direction orthogonal to this, for example, makes a circular motion across the oscillating plane about one point. . As a result, an elongated groove in the nozzle swing direction is formed on the excavation surface. The width of the groove can be changed by changing the amplitude of repetitive motion. The groove gradually becomes deeper, and accordingly the nozzle is advanced to the excavation surface side. This makes the groove deeper. A nozzle is inserted into the formed groove to finally form a groove having a predetermined depth. As a result, 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 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 sequentially connected to form a continuous groove having a predetermined length.
At this time, by decelerating or temporarily stopping the repetitive motion near the turning point of the repetitive motion (the point at which the nozzle is most swung in the groove width direction), it is possible to lengthen the excavation time on the wall surface and reduce the amount of excavation residue. The shape can be obtained.

(F) Example (First Example) FIGS. 1 and 2 show a groove excavating device using a liquid jet. A movable table 4 is provided on the frame 2 so as to be movable in the left and right directions in FIGS. The frame 2 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 4 is driven by a motor 6 (a forward / backward moving device) provided on the frame 2 via a pulley 7 and a belt 8 to control the position. A connection member 5 fixed to the belt 8 is attached to the bottom surface of the moving table 4. The moving table 4 is provided with a rocking device 10 and a repeating motion device 12. The rocking device 10 and the repetitive motion device 12 will be described below.

(Oscillating Device 10) The oscillating device 10 includes a Y-shaped lever 20 having forked portions 20a and 20b, one end side 24a of which is fitted to a slot at the tip of the forked portion 20a, and a pin 22 for turning. A link 24 that is movably supported and has a connecting hole on the other end side 24b and one end side 2
An arm 2 in which 8a rotatably supports the bifurcated portion 20b with a pin 26 and a projecting portion 28b is provided on the other end side.
8, a link 34 supported by one end side 24a of the link 24 and one end side 28a of the arm 28 with pins 30 and 32, respectively,
A drive device 36 for swinging the link 24 in the left-right direction in FIG. 1 with the pin 32 as a fulcrum is provided. By swinging the link 24 in the left-right direction, the lever 20 is moved with the pin 26 as a fulcrum. In FIG. 1, a plane parallel to the plane of the drawing can be swung vertically. It should be noted that the lever 20 has a hole for mounting a fork 56 of the repetitive motion device 12 described later.
20c and a bearing portion 20d that rotatably supports a shaft portion of an eccentric cam 60 described later are also provided. Drive 36
Is a cylindrical case 37 having a swing bearing 37a at its end.
A screw shaft 38, one end of which is connected to the swing bearing portion 37a and the other end of which is connected to the link 24 and the arm 28 by the pin 30, a rod-shaped nut 40 which is screwed to the screw shaft 38, and the nut 40 integrally A gear 42 that is attached and rotatably supported by a bearing 50 in the case 37, and a gear 44 that meshes with the gear 42.
And a motor mounted in the case 37 to drive the gear 44
46 and. A speed reducer 52 and a positioning encoder 54 are attached to the motor 46. The swing bearing portion 37a of the case 37 is swingably supported by a trunnion mechanism 48 fixed to the moving table 4. This links
24 moves to the left and right in the figure with pin 32 as a fulcrum, and arm 28
Even if the distance between the shaft and the
By swinging in the vertical direction in the figure using the 48 trunnion shaft as a fulcrum, it is possible to follow changes in the inter-axis distance. The drive device 36 is designed so that the rotation direction is reversed at a preset cycle, which causes + β in FIG.
It is possible to swing the lever 20 in a predetermined cycle within the angle range from -β.

(Repetitive exercising device 12) The repeating exercising device 12 includes the hole 20c of the lever 20 of the rocking device 10.
A fork 56 having a shaft portion 56a to be fitted to and having a slot provided on one end side, and an intermediate portion fitted to the slot to be rotatably supported by a pin 58 and having a nozzle mounting portion 16a at one end. A head 16 having a spherical surface receiving portion 16b at the other end, and one end side of the shaft portion being eccentric, and a spherical end portion 60a at the tip end portion.
Has an eccentric cam 60 that is fitted to the spherical surface receiving portion 16b and has a joint portion 60b formed at the other end, and a joint portion 62a that is combined with the joint portion 60b of the eccentric cam 60 at one end. It has a universal joint 62 having a joint portion 62b at its end, a rotary joint 64 combined with the joint portion 62b, and a rotary drive device 66 for rotating the rotary joint 64. The shaft portion of the eccentric cam 60 is rotatably supported by the bearing portion 20d of the lever 20 of the rocking device 10. The universal joint 62 has a spline hole portion 68 in an intermediate portion and a spline shaft portion 70 that is fitted in the spline hole portion 68 so as to be movable in the axial direction, and can be expanded and contracted in the axial direction. The rotary drive device 66 includes a speed reducer 72,
A clutch / brake mechanism 74 and a motor 76 are attached. By rotationally driving the rotary joint 64 by the rotary drive device 66, the spherical end portion 60a of the eccentric cam 60 can be repeatedly moved in a circular motion. That is,
The head 16 is capable of repetitive motion including a motion component in a direction orthogonal to the paper surface of FIG. 1 with the shaft portion 56a of the fork 56 and the pin 58 as a fulcrum. Proximity sensors 78a and 78b are attached to the moving table 4 so as to generate a signal by detecting passage of the detectors 79a and 79b attached by shifting the attachment angle by 180 degrees in the radial direction of the rotary joint 64. It has become. That is, the proximity sensors 78a and 78b are
It is possible to alternately generate a signal for each 180 ° rotation of the rotary joint 64. The clutch / brake mechanism 74 can be operated by the control signal of the control device 73 that receives this signal to decelerate or temporarily stop the rotation of the motor 76.

A nozzle 18 for ejecting a liquid jet is attached to the nozzle attachment portion 16a of the head 16. Head 16
A high pressure water hose 82 and an abrasive hose 84 are attached to the nozzle 18, and the high pressure water from the high pressure water hose 82 and the abrasive from the abrasive hose 84 are mixed inside the nozzle 18
Is provided with a mixing chamber 80. High pressure water hose
82 is supplied with high-pressure water from a high-pressure water pump (not shown),
Further, the abrasive material hose 84 is supplied with the abrasive material from an abrasive material supply pump (not shown). Nozzle 18
Can spray the grinding fluid, which is a mixture of high-pressure water and the abrasive in the mixing chamber 80, as a liquid jet onto the excavation surface 86.

A cover 88 is provided so as to separate the movable table 4 side and the jet injection unit 14 side. Cover 88 is link 24, arm 2
8 Above two hoses 82, 84 and universal joint 62
Are provided so as to penetrate therethrough, whereby it is possible to prevent the contamination of the equipment provided on the movable table 4 side due to the scattering of the liquid jet.

Next, the operation of the first embodiment will be described. First, the frame 2 is positioned and fixed by a robot arm (not shown). The movable table 4 is retracted to the left of the position shown in FIGS. 1 and 2 so that the nozzle 18 faces the excavation surface 86. At this time, the nozzle 18 is at one end of the swing (for example, the m position in FIG. 1), and the detectors 79a and 7 for the proximity sensor are provided.
The mounting position of the 9b with respect to the rotary joint 64 is adjusted so that the proximity sensors 78a and 78b are displaced from each other by 90 degrees and 180 degrees apart from each other. In this state, jet ejection is started. That is, the high pressure water and the abrasive are supplied to the head 16 through the high pressure water hose 82 and the abrasive hose 84, respectively, and the two are mixed in the mixing chamber 80, and the jet containing the abrasive is ejected from the nozzle 18. The jet ejected from the nozzle 18 cuts concrete, rock, etc. by high-pressure water and the kinetic energy of the abrasive. At the same time, the rotary drive device 66 is driven to rotate the rotary joint 64. As a result, the universal joint 62 rotates to rotate the eccentric cam 60. This makes head 16
Is a circular hole having a depth of H, which is a circular motion repetitive motion within the angular range shown by + α to −α in FIG. 2 with the shaft center of the shaft portion 56a of the fork 56 and the shaft center of the pin 58 as fulcrums. Is excavated. On the other hand, the motor 46 of the drive device 36 is driven to rotate the gear 44 via the speed reducer 52. As a result, the gear 42 and the nut 40 are rotated, and the screw shaft 38 moves in the axial direction. The link 24 swings in the left-right direction (for example, right direction) in FIG. 1 around the pin 32 as a fulcrum, and accordingly, the lever 20
With pin 26 as the fulcrum (for example, from m to n) +
In the range indicated by β to −β, it swings in a plane parallel to the paper surface. That is, the nozzle 18 swings in the lateral direction for excavation while repeatedly performing circular motion as shown in FIG. At this time, the proximity sensors 78a and 78b alternately generate signals at the turn-around points of the repetitive movement, that is, the vertical positions shown by points a and b in FIG. 2, and are input to the control device 73. . The control device 73 controls the clutch / brake mechanism 74 to decelerate or temporarily stop the motor 76 near the points a and b. As a result, the sixth
It is possible to excavate a groove having a desired sectional shape as shown in the figure.

The principle of this motion will be described below. In FIG. 3, point a
When the movement of the nozzle 18 during one round passing from the direction from b to b is projected on a plane orthogonal to the paper surface and orthogonal to the swing plane,
It is expressed as a reciprocating motion on a line segment ab connecting points a and b. When this movement is plotted on the vertical axis and the horizontal axis is plotted on the time axis to plot the time at each point, a curve as shown in FIG. 4 is drawn. The curve A indicated by the broken line does not decelerate or pause during one amplitude (starting from point a, passing through point b, and returning to point a), that is, the nozzle 18 is repeatedly moved circularly at a constant speed. If you get it. The C-curve shown by the one-dot chain line is obtained when stopped at points a and b for a relatively long time. The B curve shown by the solid line is obtained for intermediate stop times. When the nozzle 18 is repeatedly moved by such a time distribution, first, when the nozzle 18 is continuously and repeatedly moved, the central portion as shown in FIG. It has a groove cross section with many grooves. This shows that the excavation time applied to the vertical wall portion in FIG. 5 is too short. If the time of temporary stop in the vicinity of points a and b is longer than a predetermined value, the vertical wall surface is deeply excavated as shown in FIG. 7C, and the groove cross-sectional shape has an excavation residue in the central portion. When the stop time is set to be almost ideal, the groove cross section shown in FIG. 6B is obtained. In the above description, the repetitive motion is temporarily stopped, but it may be decelerated without being stopped.

According to the experiment, when the repetitive motion angle α = ± 5 °, the time ratio near the center of the repetitive motion was reduced to 2/3 of A, and the remaining 1/3 was moved by points a and b. Then, a cross-sectional shape as shown in FIG. 6B was obtained.

(Second Embodiment) FIG. 7 shows a second embodiment of the present invention. The difference from the first embodiment is that the head 140 includes a shaft portion 140a and a shaft portion 140a on the end side facing the spherical surface portion 60a of the repetitive motion device 12.
Has a hole 140b provided in a direction orthogonal to the axial center of the shaft portion 140a, the shaft portion 140a is fitted in the hole 20c of the lever 20, and the pin 144 fitted in the hole 140b and the pin 140 of the shaft 140 by the pin 144. That is, it has a link 142 whose one end side is supported so as to be rotatable around an axis orthogonal to the axis. Link 1
A spherical hole 142a is provided on the other end side of 42, and the spherical surface portion 60a of the eccentric cam 60 is rotatably fitted in this hole. The fork 56 and the pin 58 used in the first embodiment are not used in this embodiment. The head 140 is not provided with a spherical hole (reference numeral 60a in the first embodiment).

Next, the operation of the second embodiment will be described. Rotary drive 66
When the universal joint 62 is rotated by, the eccentric cam 60 also rotates, and the eccentric spherical portion 60 makes a circular motion with a radius e. This circular movement causes the head 140 to move the shaft 140
It swings in the direction orthogonal to the plane of the drawing with a as the fulcrum. That is, in this embodiment, the repetitive motion is a rocking motion, and the motion combined with the rocking motion by the rocking device 10 is as shown in FIG. It should be noted that the same figure shows a case where the reciprocating motion is repeated in the up and down direction while being rocked in the left and right direction in the figure, and the repetitive motion is temporarily stopped at the upper and lower ends a and b. Further, as shown in FIG. 9, the motion of the rocking device 10 is stopped during the repetitive motion, and the rocking device 10 is stopped while the repetitive motion is temporarily stopped.
May be moved in one direction by a predetermined angle, and the rocking device 10 may be moved in a reverse direction by a predetermined angle while the next repetitive motion is temporarily stopped.

(G) Effect of the Invention As described above, according to the present invention, while the head is rocked, the head is repeatedly moved including a motion component in a direction orthogonal to the head, and is advanced to the excavation surface side. Since the head and the nozzle only oscillate and repeat and do not rotate, there is no need to use an expensive high-pressure water swivel joint. Further, by temporarily stopping or decelerating the motion during the repeated motion, it is possible to reduce the amount of excavation residue in the width direction of the groove, which improves the efficiency of excavation work such as a tunnel.

[Brief description of drawings]

FIG. 1 is a front view of a groove excavating device using a liquid jet according to a first embodiment of the present invention, FIG. 2 is a plan view of the groove excavating device using a liquid jet shown in FIG. 1, and FIG. FIG. 4 is a diagram for explaining the trajectory of the nozzle in the first embodiment, FIG. 4 is a curve diagram showing the time distribution with respect to the amplitude position of repetitive movement, FIGS. 5 and 6 are diagrams showing the cross section of the formed groove, and FIG. Second Embodiment A partial front view of a groove excavator using a liquid jet according to the second embodiment of the present invention, FIGS. 8 and 9 are diagrams for explaining a trajectory of a nozzle in the second embodiment, and FIG. 10 is a conventional liquid jet. It is a figure explaining the excavation condition by the used groove excavation device. 2 ... frame, 4 ... moving base, 6 ... motor, 7 ...
Pulley, 8 ... Belt, 10 ... Oscillating device, 12 ... Repeating movement device, 16 ... Head, 18 ... Nozzle, 20 ... Lever.

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Koji Oshinoya 1-6-1, Funakoshi Minami, Aki-ku, Hiroshima City, Hiroshima Prefecture Japan Steel Works, Ltd. (72) Inventor Yoshiharu Miyanaga 6-15, Ginza, Chuo-ku, Tokyo No. 1 power supply development company

Claims (3)

[Claims] 1. A method of excavating a groove using a liquid jet for forming a deep groove in an excavation portion, wherein a motion component in a direction orthogonal to the one plane is oscillated while oscillating a nozzle for ejecting the liquid jet. A method for excavating a groove using a liquid jet, characterized in that a groove is formed in an excavation portion by repeatedly performing a repeated motion including the steps of advancing toward the excavation surface side. 2. The method for excavating a groove using a liquid jet according to claim 1, wherein the repetitive motion is decelerated or temporarily stopped in the vicinity of the turning point of the repetitive motion. 3. A frame (2) which can be moved and fixed to a predetermined position, a movable table (4) movable on the frame (2) by a forward and backward movement device (6), and a movable table (4). ), A swinging device (10) capable of swinging the lever (20) at the tip end in one plane, and a moving table (4).
And a liquid jet mounted on the nozzle mounting member (16) and a repetitive motion device (12) mounted on the nozzle and capable of repetitively moving the nozzle mounting member (16) at the tip end including a motion component orthogonal to the one plane. And a nozzle (18) capable of injecting
6) is a groove excavator using a liquid jet that is supported by a lever (20) so that it can be repeatedly moved.