JPH083180B2 - Control method of ground excavator in caisson - Google Patents

Description

TECHNICAL FIELD The present invention relates to a method for controlling an excavating device for excavating the ground inside a caisson with an excavator.

[Conventional technology]

As shown in Japanese Examined Patent Publication No. 60-22132, an excavator is provided movably in the circumferential direction along the caisson internal wall, and the caisson inner ground is sequentially excavated while moving the excavator. An excavation device is known, and in order to control the excavation device, an operator operates the remote control while watching the excavation state from the ground surface.

[Problems to be Solved by the Invention]

Spring water may accumulate in the ground inside the caisson, and the excavator may be submerged in the water.Therefore, with the control method of remotely controlling while watching the excavator from the surface of the ground, the excavator submerged in the water from the surface of the ground I can't steer because I can't see it, and I can't excavate the ground inside the caisson.

Therefore, it is an object of the present invention to provide a method for controlling a ground excavation device in a caisson that can solve the above-mentioned problems.

[Means and Actions for Solving the Problems]

(1) The excavator main body 6 of the first excavator 4 and the excavator main body 7 of the second excavator 5 are attached to the inner wall 2 of the caisson frame 1 so as to be movable in the circumferential direction, and the first excavator 4 is A boom 8 and an arm 9 are provided on the excavator body 6 so as to be vertically swingable by a boom cylinder 10 and an arm cylinder 11, and an excavating blade 12 is provided at the tip of the arm 9 as a cylinder.
It is assumed that 13 is provided so that it can swing up and down, and that the excavating blade 12 can excavate the ground A ₁ in the central portion. The second excavator 5 has a plurality of arms attached to the excavator body 7 and a plurality of arm cylinders that swing vertically. Freely attach the bucket 20 to the tip of the most advanced arm with the bucket cylinder 21 so that it can swing up and down, and then attach the bucket 20 to the caisson body 1
The ground excavator in the caisson, which is capable of swinging from the side toward the central part, thereby excavating the ground A ₂ at the caisson frame blade opening part and transporting it to the central part, Boom 8 and arm 9 swing upward and the excavation blade 12 is above the ground in a basic position. Boom 8 and arm 9 swing downward and the excavation blade 12 is at the center of the ground.
When A ₁ and opposing drilling start position, a first pattern for horizontal movement to penetrate a predetermined location in the ground A ₁ of the central part and moves down the digging edge 12 from the drilling start position, digging edge 12 is moved to a predetermined position The second pattern for returning to the excavation start position, the third pattern for the excavation blade 12 to move a predetermined stroke along the inner wall 2 of the caisson frame 1 as the excavation start position, is set in advance, and the first pattern is generated by the excavation start signal. The excavator 4 is moved from the basic posture to the excavation start position by detecting the actual posture of the first excavator 4, and then the first pattern, the second pattern, and the third pattern are sequentially repeated to the center. Excavating the ground A ₁ of a certain part to a predetermined depth, and when the work is completed, the control operation of the first excavator 4 having the first excavator 4 as a basic posture, each arm of the second excavator 5 is moved upward. Swing to move bucket 20 above the ground Along with the inner wall 2 of the caisson skeleton body 1 with the second digging machine 5 as the basic stance, and the ground pattern A ₂ at the blade end of the caisson skeleton is excavated by the bucket 20 A pattern for moving a predetermined distance is set in advance, the second excavator 5 is detected by the excavation start signal, the actual posture of the second excavator 5 is detected, and the excavation pattern repeats from the basic posture to repeat the caisson body blade. There is a control operation of the second excavator 5 that excavates the ground A ₂ at the mouth to a predetermined depth and takes a basic posture when the work is finished. The control operation of the first excavator 4 and the second excavator A method for controlling a ground excavation device in a caisson for excavating the ground in a caisson by alternately repeating the control operation of 5.

As a result, the first excavator 4 is automatically controlled to perform a preset excavation operation, excavates the ground A ₁ in the central portion, and the second excavator 5 is preset to an excavation operation. By excavating the ground A ₂ at the caisson body edge part by automatic control, even if the operator does not see the first excavator 4 and the second excavator 5, the ground part A _{1 at the} center part and the caisson body edge part Ground A ₂ can be excavated automatically.

(2) The excavator body 6 of the first excavator 4 and the excavator body 7 of the second excavator 5 are attached to the inner wall 2 of the caisson frame 1 so as to be movable in the circumferential direction, and the first excavator 4 is The boom 8 and the arm 9 are provided on the excavator main body 6 so as to be vertically swingable by the boom cylinder 10 and the arm cylinder 11, and the arm 9 is provided at the tip of the excavating blade 12 by the cylinder 13 so as to be vertically swingable. In the central ground
A ₁ can be excavated, the second excavator 5 is attached to the excavator main body 7 with a plurality of arms swingably up and down, and a bucket 20 is attached to the tip of the most advanced arm with a bucket cylinder 21. By attaching it so that it can swing up and down, the bucket 20 can be swung from the side of the caisson skeleton 1 toward the center, which allows excavation of the ground A ₂ at the blade end of the caisson skeleton and transportation to the center. In the caisson in-ground excavator, while watching the posture of the first excavator 4 and the caisson frame 1 displayed on the monitor 25, the boom 8 and the arm 9 of the first excavator 4 swing upward. The boom 8 and the arm 9 swing downwards from the basic posture in which the excavation blade 12 is above the ground, and the excavation blade 12 is at the excavation start position facing the ground A _{1 at the} center. 12 down to the central land It penetrates into the board A ₁ and horizontally moves to a predetermined position, and when the excavating blade 12 moves to a predetermined position, it returns to the excavation start position,
Inner wall 2 of caisson frame 1 with drilling blade 12 as the drilling disclosure position
When the work is completed by excavating the ground A _{1 in the} central portion by a predetermined depth by repeating the operation of moving the predetermined excavator along a predetermined direction, the control operation of the first excavator 4 which is in the basic posture of the first excavator 4, While looking at the posture of the second excavator 5 and the caisson frame 1 displayed on the monitor 25, each arm of the second excavator 5 swings upward so that the bucket 20 is above the ground. The bucket 20 excavates the ground A ₂ at the blade end of the caisson body, excavates the soil in the center, and moves the caisson body 2 a predetermined distance along the inner wall 2 of the caisson body 1 with the second excavator 5 as a basic posture. There is a control operation of the second excavator 5 that excavates the ground A ₂ of the body blade mouth to a predetermined depth and takes a basic posture when the work is finished. Excavate the ground inside the caisson by repeating the control operation of the excavator 5 alternately. The method caisson in ground excavation device.

As a result, the ground A1 in the central portion is excavated while observing the posture of the first excavator 4 by the monitor 25, and the ground of the caisson body edge portion is observed while observing the posture of the second excavator 5 by the motor 25.
Excavating the A ₂ are an operator first excavator 4, the second
It is possible to excavate the ground A _{1 at the} center and the ground A ₂ at the blade end of the caisson body without directly looking at the excavator 5.

〔Example〕

1 and 2 show a caisson internal ground excavation device, in which a pair of upper and lower rails 3 are continuously installed in parallel in the circumferential direction on an inner wall 2 of a caisson frame 1, and along the pair of rails 3 The excavator main bodies 6 and 7 of the first and second excavators 4 and 5 are movably provided.

The first excavator 4 is provided with a boom 8 and an arm 9 of the excavator body 6 so as to be vertically swingable by a boom cylinder 10 and an arm cylinder 11, and an excavating blade 12 is vertically swingable by a cylinder 13 at the tip of the arm 9. It is provided so that the excavating blade 12 can excavate the ground A ₁ in the central portion.

The second excavator 5 has the excavator body 7 with the first, second and third excavators.
Arms 14,15,16 with 1st, 2nd, 3rd arm cylinder 1
7,18,19 swingable up and down, the bucket 20 at the tip of the third arm 16 swingably mounted by the bucket cylinder 21, swinging the bucket 20 from the caisson frame 1 side toward the center. By doing so, it is possible to excavate the ground A ₂ at the blade end of the caisson body and transport it to the center.

The first excavator 4 has a posture detecting means 8a for the boom 8, a posture detecting means 9a for the arm 9, and a posture detecting means 12 for the excavating blade 12.
a, for example, a rotation sensor that detects a rotation angle of a boom, an arm, and an excavating blade with respect to a pivot shaft, and a slurok sensor party that detects a stroke of each cylinder are provided. Attitude detection means for the third arms 14, 15, 16
14a, 15a, 16a and the attitude detection means 20a of the bucket 20, for example, each arm with respect to the pivot axis, a rotation sensor for detecting the rotation angle of the bucket, a stall sensor for detecting the stroke of each cylinder, etc. are provided, and further excavation is performed. First to detect the horizontal position of the excavator across the machine body 6, 7 and the rail 3
Second horizontal position detecting means 22, 23, for example, a sensor for detecting the number of rotations of the drive wheels are provided.

The detection signals of the posture detecting means 8a, 9a, 12a, 14a, 15a, 16a, 20a and the detection signals of the first and second horizontal position detecting means 22, 23 are sent to the arithmetic circuit 24 and are sent to the first and second The present posture and excavation locus, horizontal posture and excavation area of the excavators 4 and 5 are calculated and displayed on the first and second display units 25 ₁ and 25 ₂ of the monitor 25.

For example, the size of each arm, boom, excavating blade, and bucket and the standard posture are set in advance, and the displacement from the standard posture is detected by the input posture signal, and the current posture and excavation trajectory of the excavator are detected. It is calculated and displayed on the first display section 25 ₁ of the monitor 25, the reference water level position is input in advance, the current horizontal position and the excavation area are calculated by the input horizontal position signal, and the second position of the monitor 25 is calculated. Displayed on the display unit 25 ₂ .

Display examples on the monitor 25 are shown in FIGS. 4 (a) and (b) and FIGS. 5 (a) and (b).

Fig. 4 (a) shows the current posture of the first excavator 4 and the excavation locus X as viewed from the vertical direction, and Fig. 4 (b).
Indicates the horizontal position of the first excavator 4 and the horizontal excavation area Y.

FIG. 5B shows the current posture of the second excavator 5 and the excavation locus X as viewed from the vertical direction, and FIG.
Indicates the horizontal position of the second excavator 5 and the horizontal excavation area Y.

FIG. 6 shows a hydraulic circuit of each cylinder. The hydraulic oil discharged from the pump 30 is controlled to be supplied to each cylinder by an electromagnetically operated valve 31, each electromagnetically operated valve 31 is switched by a controller 32, and the controller 32 starts excavation. Position, earth removal position,
The excavation pitch and the excavation depth are input by an input numerical method or a position storage method using a key-in or a dial, and each calculation result is input from the controller 24.

Both controllers 24 and 32 may be the same.

 Next, an example of the control method will be described.

An excavation control method by the first excavator 4.

When the excavation start signal is input to the controller 32, each operating valve
31 is switched to bring the first excavator 4 into the basic posture shown by the alternate long and short dash line in FIG.

After this, the digging blade 12 is moved to the pre-entered digging start position, the position of FIG. 7 (a), and penetrates to a predetermined depth S ₁ to show the digging blade 12 in FIG. 7 (b). Move horizontally to the position. During this horizontal movement, a preset horizontal movement pattern is set in the controller 32, the electromagnetically operated valve 31 is switched based on the pattern to move the excavating blade 12 horizontally, and its stroke is stored in advance.

The digging blade 12 moves to a predetermined position or lifts the digging blade 12 to move to the digging start position again, and further penetrates and horizontally moves.

By repeating this operation a plurality of times, the central portion A _{1 of the} ground inside the caisson is ripped by the predetermined distance L _{1 and the} predetermined depth S ₂ .

When the ripping operation is completed, the digging blade 12 is set as the digging start position (a) and the first excavator 4 is moved along the rail 3 in the circumferential direction by a predetermined stroke to perform the ripping operation.

Thereafter, this operation is sequentially repeated in the circumferential direction to rip the central portion A _{1 of the} ground inside the caisson by a predetermined range L _{2 with a} predetermined depth S ₂ , and when the work is completed, the first excavator 4 is set to the basic posture. .

The above excavation operation is preset in the controller 32,
The current position and horizontal position detected by the controller 24 are fed back to perform the next operation.

The movement of the first excavator 4 during excavation described above is displayed on the monitor 25 as shown in FIGS. 4 (a) and 4 (b).

A method of controlling excavation by the second excavator 5.

When the excavation start signal is input to the controller 32, the second excavator 5 is set to the basic posture shown by the alternate long and short dash line in FIG.

After that, the second excavator 5 is set in an excavation posture in which the third arm 16 is substantially horizontal, and the bucket 20 is set to the first excavation start position point (c) in FIG.

The bucket 20 swings toward the center of the caisson to descend while excavating, and then the second excavator 5 is moved to the earth discharging position indicated by the two-dot chain line to swing the bucket 20 upward to excavate the earth and sand. Is discharged to the center of the ground inside the caisson.

After that, excavation and earth removal are repeated in the same manner to excavate to the designated excavation depth.

After that, the second excavator 5 is set in the excavation posture, and the bucket 20 is moved by one pitch in the caisson direction by one pitch to make
The above-mentioned operation is repeated at the excavation start position of FIG.

Thereafter, similarly, the bucket 20 is moved by one pitch and the excavation mark is excavated so as to be substantially horizontal.

When the bucket 20 is sequentially excavated in this manner and the bucket 20 moves to the off-limits area, it is determined that the excavation is completed and the second excavator 5 is moved to the basic posture.

Here, the non-accessible area is an area where the tip of the bucket 20 interferes with the inner wall 2 of the caisson frame 1 and is an area shaded in FIG. 8, and it is determined that the bucket 20 has moved to the non-accessible area. Is performed as follows.

In other words, since the length l from the drive shaft 20b to the tip 20c of the bucket 20 is constant, the pivot 20b is the caisson frame 1
A straight line Z connecting a position distant from the inner wall 2 by the bucket rotation radius (the length 1) is a boundary line of the no-entry area, and the lengths and postures of the first, second and third arms 14, 15, 16 The position of the pivot shaft 20b is calculated by a signal, and when the position of the several shafts 20b exceeds the preset straight line Z, it is determined that the bucket 20 has moved to the off-limit area.

As described above, when the second excavator 5 moves to the basic posture, it moves along the rail 3 in the circumferential direction for a predetermined distance, and then the excavation operation is performed in the same manner as described above.

The above excavation operation is shown in a flowchart in FIG.

The above-described excavation operation is set in the advance controller 32, and the current position of the bucket 20 detected by the controller 24 is fed back to perform the next operation.

The movement of the first excavator 5 during the above excavation is displayed on the monitor 25 as shown in FIGS. 5 (a) and 5 (b).

In the above embodiment, the first and second excavators 4 and 5 were automatically controlled to perform a predetermined excavation operation, but the operator displayed the first and second excavators on the monitor 25. Operate each electric motor control valve 3 manually while watching the current positions of the machines 4 and 5.
The excavation control may be performed by switching 1.

〔The invention's effect〕

(1) The first excavator 4 is automatically controlled to perform a preset excavation operation to excavate the ground A ₁ in the central portion, and the second excavator 5 is preset to an excavation operation. Automatically excavates the ground A ₂ at the caisson frame edge, so the operator does not have to look at the first excavator 4 and the second excavator 5 at the center A ₁ and the ground at the caisson body edge a ₂ can automatically drilling, the caisson in soil can be efficiently excavated by the first and second excavator submerged.

(2) While excavating the ground A _{1 in the} central portion while observing the posture of the first excavator 4 by the monitor 25, and observing the posture of the second excavator 5 by the monitor 25, the ground A _{2 at the} caisson frame edge portion Since the operator excavates the ground, the operator can excavate the ground A _{1 at the} center and the ground A ₂ at the caisson body blade without directly looking at the first and second excavators 4 and 5, and the first submerged The ground inside the caisson can also be efficiently excavated by the second excavator.

[Brief description of drawings]

1 and 2 are a longitudinal sectional view and a plan view of the excavator, FIG. 3 is a monitor display circuit diagram, and FIGS. 4 (a) and 4 (b) and FIGS. 5 (a) and 5 (b) are monitors. 6 is an excavator control circuit diagram, FIGS. 7 and 8 are excavation operation explanatory diagrams, and FIG. 9 is a flowchart. 1 is a caisson frame, 2 is an inner wall, 4 and 5 are first and second excavators, and 25 is a monitor.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Sadamasa Kodaira 2-3-6 Akasaka, Minato-ku, Tokyo Komatsu Ltd. (72) Inventor Kaoru Tanaka 2-3-6 Akasaka, Minato-ku, Tokyo Komatsu Ltd. In-house examiner Noriko Suzuki (56) Reference JP 57-89025 (JP, A) JP 1-137017 (JP, A) JP 1-146025 (JP, A) JP Flat 1-165823 (JP, A)

Claims (2)

[Claims] 1. A first excavator 4 on an inner wall 2 of a caisson frame 1.
The excavator main body 6 and the excavator main body 7 of the second excavator 5 are movably mounted in the circumferential direction, and the first excavator 4 is mounted on the excavator main body 6 with a boom 8, the arm 9 is a boom cylinder 10, and the arm is an arm. A cylinder 11 is provided so that it can swing up and down, and a drilling blade 12 is attached to the tip of the arm 9 of the cylinder.
It is provided so that it can be swung up and down with 13 and with the excavating blade 12 the ground at the center A ₁
The second excavator 5 is attached to the excavator body 7 so as to be vertically swingable by a plurality of arm cylinders, and the bucket 20 is vertically moved by a bucket cylinder 21 at the tip of the most advanced arm. The bucket 20 can be swingably attached so that the bucket 20 can be swung from the side of the caisson body 1 toward the central portion, whereby the ground A ₂ at the blade end of the caisson body can be excavated and transported to the central portion. In the ground excavator in a caisson, the boom 8 and the arm 9 of the first excavator 4 swing upward, and the excavation blade 12 is above the ground. The boom 8 and the arm 9 swing downward. Digging blade 12 is in the center of the ground
When A ₁ and opposing drilling start position, a first pattern for horizontal movement to penetrate a predetermined location in the ground A ₁ of the central part and moves down the digging edge 12 from the drilling start position, digging edge 12 is moved to a predetermined position A second pattern for returning to the excavation start position, a third pattern for moving a predetermined stroke along the inner wall 2 of the caisson frame 1 with the excavation blade 12 as the excavation start position, is set in advance, and the first pattern is generated by the excavation start signal. The excavator 4 is moved from the basic posture to the excavation start position by detecting the actual posture of the first excavator 4, and then the first pattern, the second pattern,
The third pattern is sequentially repeated to excavate the ground A _{1 in the} central portion to a predetermined depth, and when the work is completed, the first excavator 4
Control operation of the first excavator 4 having a basic posture, the arms of the second excavator 5 are swung upward, and the bucket is moved.
The basic posture in which 20 is above the ground, the excavation pattern for excavating the ground A ₂ at the blade end of the caisson body by the bucket 20 and discharging the soil to the center, the second excavator 5 as the basic posture A pattern for moving a predetermined distance along the inner wall 2 is set in advance, the second excavator 5 is detected by the excavation start signal, the actual posture of the second excavator 5 is detected, and the excavation pattern and the pattern are determined from the basic posture. The excavation of the ground A ₂ of the caisson frame blade portion to a predetermined depth is repeated, and the control operation of the second excavator 5 is set to be the basic posture when the work is finished, and the control operation of the first excavator 4 is performed. And a control method of the second excavator 5 are alternately repeated to excavate the ground in the caisson. 2. A first excavator 4 on an inner wall 2 of a caisson frame 1.
The excavator main body 6 and the excavator main body 7 of the second excavator 5 are movably mounted in the circumferential direction, and the first excavator 4 is mounted on the excavator main body 6 with a boom 8, the arm 9 is a boom cylinder 10, and the arm is an arm. A cylinder 11 is provided so that it can swing up and down, and its arm 9 is at the tip and the drilling blade 12 is at the cylinder.
It is provided so that it can be swung up and down with 13 and with the excavating blade 12 the ground at the center A ₁
The second excavator 5 is attached to the excavator body 7 so as to be vertically swingable by a plurality of arm cylinders, and the bucket 20 is vertically moved by a bucket cylinder 21 at the tip of the most advanced arm. The bucket 20 can be swingably attached so that the bucket 20 can be swung from the side of the caisson body 1 toward the central portion, whereby the ground A ₂ at the blade end of the caisson body can be excavated and transported to the central portion. In the ground excavator in the caisson, while watching the posture of the first excavator 4 and the caisson frame 1 displayed on the monitor 25, the first excavator 4 is moved to the boom 8 thereof.
From the basic posture in which the arm 9 swings upward and the excavating blade 12 is above the ground, the boom 8 and the arm 9 swing downward and the excavating blade 12 faces the central ground A ₁ to start excavation. Position, the excavation blade 12 descends from this excavation start position, penetrates the ground A ₁ at the center and horizontally moves to a predetermined position, and when the excavation blade 12 moves to the predetermined position, returns to the excavation start position and moves to the excavation blade. When the excavation start position is 12 and the predetermined stroke is moved along the inner wall 2 of the caisson skeleton 1, the central ground A ₁ is excavated to a predetermined depth, and when the work is completed, the first excavator 4 is moved. Each arm of the second excavator 5 swings upward while observing the control operation of the first excavator 4 in the basic posture and the posture of the second excavator 5 and the caisson frame 1 displayed on the monitor 25. The bucket 20 from the basic position above the ground. Caisson precursor blades by repeating the operation of predetermined distance along a second excavator 5 earth removal in central drilled the ground A ₂ caisson skeleton cutting edge portion on the inner wall 2 of the caisson building frame 1 as a basic attitude 20 There is a control operation of the second excavator 5 that excavates the ground A ₂ at the mouth to a predetermined depth and takes a basic posture when the work is finished. The control operation of the first excavator 4 and the second excavator 6. A method of controlling a ground excavation device in a caisson for excavating a ground in a caisson by alternately repeating the control operation of 5.