JPH0523628Y2 - - Google Patents

Description

[Detailed description of the invention] (Field of industrial application) The present invention relates to an underwater rubble leveling device for leveling rubble thrown into the bottom of the water.

(Prior art) Various construction methods and devices have been proposed and put into practice for leveling rubble underwater, but the two main methods are floating methods in which a leveling machine is suspended from a work boat and operated directly. There are two types: underwater type, in which a self-propelled leveling machine is placed on top of the rubble layer and remotely controlled.

Among these, the typical floating system is:
A vibrating type in which the tamper is connected to a vibrating machine installed on or in the water as a leveling weight, and the whole thing is suspended on a crane for leveling.The heavy blade is suspended on the crane and the work boat is moved to remove the blade. There are blade methods that level the surface using the weight of the work boat and the thrust of the work boat.On the other hand, a typical underwater method uses a bulldozer placed on the rubble layer,
There are submersible bulldozer type, which uses a blade attached to the front surface to level the surface, and screw type, which places a screw device on top of the rubble layer and uses a screw installed on the bottom surface to level the surface.

(Problem to be solved by the invention) However, in leveling rubble using each of the above-mentioned devices, although the vibrating type, for example, has good leveling efficiency, it is difficult to push the rubble by applying vertical pressing force with a tamper. Depending on the condition of the rubble, it may be difficult to move the rubble horizontally, and rough leveling by a diver may be necessary. However, it is difficult to level large rubble that protrudes on the leveling surface, and rough leveling by divers is also required.On the other hand, the underwater bulldozer method has good leveling efficiency but has large unevenness. Not only does this make it difficult to drive, requiring a diver to create a standard top, but the drive section must also be watertight, which requires a great deal of cost to build the bulldozer itself. Although they are highly efficient, they each have their own merits and demerits, such as the high construction cost similar to the bulldozer described above, and furthermore, it is difficult to take measures against rubble getting stuck in the screw.

The present invention was devised in view of the above-mentioned conventional problems, and its purpose is an underwater rubble leveling device with a simple structure that can efficiently level the rubble regardless of the condition of the rubble. Our goal is to provide the following.

(Means for solving the problem) Therefore, the present invention provides a leveling machine having a multi-jointed arm and a leveling claw attached to the tip of the arm on a work boat having an opening. A frame mounted so as to be movable along the opening and extending across the opening is disposed on a work boat so as to be horizontally movable in a direction intersecting the transverse direction, and a plurality of echo sounders are mounted on the frame. installation, further providing a posture detection device for detecting the posture of the arm of the leveling machine, and processing signals from the posture detection device and the water depth detection device to see how the arm including the leveling claw operates; The present invention is characterized in that it is configured to include a display device that displays an image of the tip locus of the leveling nail and the surface shape of the rubble layer.

(Function) In the underwater rubble leveling device with the above configuration, the leveling machine having a multi-joint arm pushes and pushes the rubble.
Since pressure can be applied in both directions, leveling work can be easily performed regardless of the surface condition of the rubble layer. Moreover, since the operation of the leveling machine's arm, the trajectory of the tip of the leveling claw, and the surface shape of the rubble layer can be confirmed on the screen, it is easy to set targets and perform leveling work efficiently. Furthermore, by mounting the leveling machine on the work boat, there is no need for a special watertight structure, allowing for a simple device configuration.

(Example) Hereinafter, an example of the present invention will be described based on the accompanying drawings.

In FIGS. 1 and 2, reference numeral 1 denotes a work boat having an opening 2 in the center, and a self-propelled leveling machine is mounted on the work boat 1 so as to be able to run along the opening 2. 3 is installed. This leveling machine 3 has a leveling claw 5, which will be described later, attached to the tip of a multi-jointed arm 4, and has an arm length R sufficient to reach the rubble layer 7 thrown into the water bottom 6.
have. 8 is a water depth detection device movably disposed facing the opening 2;
It consists of a frame 9 that extends across the area and is disposed so as to be horizontally movable in a direction intersecting the traverse direction, and a plurality of echo sounders 10 that are attached to the frame 9 so as to face downward. This water depth detection device 8 plays the role of detecting the water depth (surface shape) of the rubble layer 7, and while transmitting sound waves from the echo sounder 10, it travels along the frame 9 as shown by the arrow in FIG. During this period, the surface shape of the rubble layer 7 can be detected over a wide range.

On the work boat 1, there is also a crawler crane 11 on the opposite side of the leveling machine 3 with the opening 2 in between.
is installed. This crawler crane 11
scoops up the stones 12 accumulated in one corner of the work boat 1 and replenishes the rubble layer 7 in an appropriate amount, and at the same time
Its role is to remove excess rubble. Note that 13 is a spud for fixing the work boat 1, 14 is a winch for the spud, and 15 is an operating winch.

As shown in detail in FIGS. 3 and 4, the leveling claw 5 has a plurality of claw bodies 17, 17, .
It is made by attaching. This leveling claw 5 is similar to a so-called ripper, but has a major feature in that the claw body 17 is formed in a straight line. As a result, pressure can be applied to the rubble in both pushing and pulling directions, and the leveling of the rubble can be easily performed regardless of the state of the rubble.

The water depth data obtained by the water depth detection device 8 is sent to a display device 18, as shown in FIG. The display device 18 has an interface 19 into which the signal from the water depth detection device 8 is input, and determines the surface shape of the rubble layer 7 based on the signal from the interface 19.
CPU20 and CPT that displays the surface shape on the screen
21. The display device 18 also shows each joint (3 in this case) of the arm 4 of the leveling machine 3.
Angle signals are input from rotary encoders (posture detection devices) 22a, 22b, and 22c attached to the points (points). In this case, the display device 18 inputs the angle signal to the CPU 20 via the interface 19, calculates the operating state of the arm 4 including the leveling claw 5, and displays the operating state of the arm 4 on the CRT 21 in real time. At the same time, the trajectory of the tip of the leveling claw 5 of the arm 4 is also displayed.
FIG. 6 shows an example of the display screen of the CRT 21, and shows the surface shape B of the rubble layer 7 with respect to the target depth A, the operating state C of the arm 4 of the leveling machine 3, and the trajectory D of the leveling claw 5. It is displayed in correlation with horizontal distance (horizontal axis) and water depth (vertical axis). Here,
The surface shape of the rubble layer 7 can be displayed cross-sectionally as shown in B above, or in a planar manner by assigning depth-based colors F to the grid-like sections E, as shown in FIG. As shown in the figure, by capturing it three-dimensionally, it is displayed as a three-dimensional image G, which is displayed on a separate screen or
It is saved as the back screen of CRT21.

With this configuration, the work boat 1 is towed and positioned above the target rubble layer 7, and the spud 13
is lowered and the work boat 1 is fixed. First, the water depth detection device 8 is moved to detect the water depth of the rubble layer 7 at the leveling target point. This result is the 6th
The surface shape of the rubble layer 7 is displayed on the CRT screen shown in the figure or in FIGS. 7 and 8.

Next, the operator operates the leveling machine 3 and moves the leveling claw 5 at the tip of the arm 4 onto the rubble layer 7. At this time, the operating state C of the arm 4 including the leveling claw 5 is as described above.
It is displayed on the CRT screen in real time,
The operator swings the arm 4 in the front and back direction while observing the operating state C of the arm, the tip trajectory D of the leveling claw 5, and the surface shape B of the rubble layer 7, and executes the leveling work. Since the leveling claw 5 has a claw main body 17 that extends linearly, it can apply pressure to the rubble in both pushing and pulling directions, and can easily level the rubble regardless of the size or state of the rubble. I can do this.

In addition, by moving the work boat 1 appropriately,
As shown in FIG. 9, the slope surface H can also be leveled by the leveling machine 3, and the generation of wasteful rubble can be minimized.

(Effects of the invention) As explained in detail above, the present invention is equipped with a leveling machine with a leveling claw attached to the end of a multi-jointed arm, which applies pressure to the rubble in both the pushing and pulling directions. This has the effect of allowing easy leveling work regardless of the size of the rubble or the surface condition of the rubble layer.

In addition, since the operating state of the leveling machine's arm, the trajectory of the tip of the leveling claw, and the surface shape of the rubble layer can be confirmed on the screen, it is easy to set goals and achieve efficient leveling work. In addition, since the frame with multiple echo sounders mounted on it is run directly on the work boat, the echo sounders can be stably scanned horizontally without being affected by waves or wind. The surface shape can be accurately grasped, and the leveling accuracy is significantly improved. Moreover, since the frame extends across the opening of the workboat and is movable horizontally in a direction intersecting the transverse direction, it is not only possible to grasp the surface shape of the rubble layer over a wide range and with high efficiency. The opening can be used as a working area for the leveling machine, which has a great effect.

Furthermore, since the leveling machine and the acoustic depth sounder are mounted on the working boat, a special watertight structure is not required, and a leveling device with a simple structure and excellent maintainability can be realized.

[Brief explanation of drawings]

Fig. 1 is a side view showing the underwater rubble leveling device according to the present invention partially opened, Fig. 2 is a plan view of the present rubble leveling device, and Figs. 3 and 4 are parts thereof. A side view and a plan view showing a certain leveling nail, FIG. 5 is a block diagram of a display device which is also a part of the same, FIGS. 6 to 8 are schematic diagrams showing a CRT screen in the display device, and FIG. 9 FIG. 2 is a side view showing how the present rubble leveling device is used. 1...Work boat, 3...Leveling machine, 4...Arm,
5... leveling nail, 7... rubble layer, 8... water depth detection device, 10... acoustic depth sounder, 18... display device, 2
1...CRT, 22a, 22b, 22c...rotary encoder.

Claims (1)

[Scope of utility model claims] A leveling machine having a multi-jointed arm and a leveling claw attached to the tip of the arm is mounted on a work boat having an opening so that it can run along the opening, and the leveling machine is extended across the opening. A frame is disposed on a work boat so as to be horizontally movable in a direction intersecting the transverse direction thereof, and a plurality of echo sounders are attached to the frame, and a posture detection device detects the posture of the arm of the leveling machine. A device is provided, and signals from the attitude detection device and the acoustic depth sounder are processed to display images of the operating state of the arm including the leveling claw, the tip trajectory of the leveling claw, and the surface shape of the rubble layer. An underwater rubble leveling device characterized by being equipped with a display device.