JPH0634425Y2 - Posture correction device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention relates to a posture correction device in an excavator suitable for construction of a retaining wall for retaining soil.

(Prior Art) In the conventional digging device of this type, the position and orientation of the panel to be embedded is visually determined with respect to the reference line, and the digging operation is performed while maintaining the correct position and orientation. I was doing.

(Problems to be solved by the invention) However, such an excavator has a problem that an accurate posture of the panel cannot be obtained because it is judged by visual observation, and the skill and manpower required for visual observation are extra. There was a drawback that was necessary for.

In view of the above conventional problems, the present invention accurately detects and adjusts the posture of the panel without visual inspection, efficiently excavates while maintaining the correct position and posture, and embeds the panel. An object of the present invention is to provide a posture correction device in an excavator that can be used.

(Means for Solving the Problem) In order to achieve the above-mentioned object, in the present invention according to claim (1), both sprockets arranged above and below a panel suspended and embedded in a reader and wound around the sprockets. A chain equipped with a plurality of digging blades for hanging and excavating, in an excavator for rotating the chain for excavation, an inclinometer for detecting an inclination of the panel, and one end of which is connected to a lower portion of the reader. A position correction cylinder having the other end fixed to a position other than the leader, and a lift cylinder having one end connected to the leader above the position correction cylinder and the other end connected to a predetermined position other than the leader are provided. It is characterized in that the position correction cylinder and the elevation cylinder are operated based on the detection result of the inclinometer to correct the position and orientation of the panel. Further, in the present invention as set forth in claim (2), there are provided both sprockets arranged above and below a panel suspended and embedded in a leader, and a chain wound around the sprockets and having a plurality of excavating blades for excavation attached thereto. Prepare,
In a drilling device for rotating the chain for drilling,
A turning unit that turns together with the upper end of the panel, an angle detecting unit that detects a turning angle of the turning unit, and a turning drive that corrects the turning angle of the turning unit. .

(Operation) The excavator according to the present invention detects the inclination of the panel suspended by the leader with an inclinometer without visual inspection, and one end is connected to the lower portion of the leader and the other end is fixed to a place other than the leader. The position and posture of the leader by operating the position correction cylinder and the elevation cylinder whose one end is connected to the leader and the other end is connected to a predetermined position other than the leader above the position correction cylinder. The position and posture of the panel are corrected by using the angle detection unit, and the angle of the swivel unit that swivels together with the upper end of the panel is detected by the angle detection unit, and the swivel driver is operated to correct the swivel angle of the swivel unit. The panel can be embedded in the correct position and posture while correcting the position of the upper end of the panel.

(Embodiment) An embodiment of the present invention will be described below with reference to the drawings by taking a case where a reader is provided in a backhoe body as an example.

FIG. 1 is a partially cutaway front view showing a schematic configuration of the whole excavating device according to an embodiment of the present invention, and FIG. 2 is a partially cutaway side view showing a main part thereof.

The excavator includes a reader 20 mounted on the backhoe body 1 via a position correction cylinder 2 and a lift cylinder 6, and an excavator 70 suspended from the top of the reader 20.

The excavator 70 includes a drive head 50, which is a revolving unit supported by a slide frame 40 suspended from the top of the reader 20 by a main hoist 24, and a moving frame 73 that moves integrally with the drive head 50. , A panel 71 which is held at a predetermined position by a chuck 78 provided on the moving frame 73, and this panel
Both sprockets 72, 74 arranged at both ends of 71, and a plurality of excavating blades 76 wound around the sprockets 72, 74 for excavation.
A chain 75 attached to the drive head 50, inclinometers 60, 60 attached to the drive head 50, and a swing cylinder 54 that is a swing drive body in which the tip of the rod that moves in and out is connected to the drive head 50.

Then, the excavating device rotates the chain 75 by the drive hydraulic motor 57 provided in the drive head 50 to perform excavation, and detects the inclination of the panel 71 with both inclinometers 60, 60 attached to the drive head 50, and corrects the position. The position and the inclination of the panel 71 are corrected by operating the cylinder 2 and the elevation cylinder 6 to adjust the position and the posture of the reader 20, and the drive head 50 is adjusted.
The rotary encoder 56
Then, the turning cylinder 54 is operated to correct the turning angle of the drive head 50, and the panel 71 can be embedded in the correct position and posture while correcting the position of the upper end of the panel 71.

The position correcting cylinder 2 includes a cylinder body 2a and a rod 2b that can move in and out of the cylinder body 2a. The cylinder body 2a is fixed substantially horizontally on a bracket 4 provided at a predetermined position of the backhoe body 1. The tip of the rod 2b is connected to the lower portion of the leader 20 via a universal joint 8.

The double-elevation cylinder 6 is provided with a cylinder body 6a whose base end is rotatably pin-joined to a predetermined position (not shown) of the backhoe body 1, and an in-and-out rod 6b which can freely move in and out of the cylinder body 6a. The leading ends of the in-and-out rods 6b are connected via a universal joint 9 having a joint pin 9a on the upper part of the backhoe main body 1 and are symmetrically arranged on the left and right sides of the backhoe body 1.
And when raising the leader 20, the both elevation cylinders 6
When the exit / entry rod 7b of the auxiliary cylinder 7 provided at the rear portion of the backhoe main body 1 is operated to move out, the tip of the ingress / egress rod 7b pushes up the intermediate position of the reader 20, and
The reader 20 can be easily raised.

The both universal joints 8 and 9 have stoppers (not shown),
The change in the angle between the reader 20 and the cylinder can be accommodated only within a predetermined range.

FIG. 3 is a circuit diagram for operating the both elevation cylinders.

Pipe lines 16a, 16b, 16c, 16d as shown to each side of the piston in the cylinder body of each lifting cylinder 6, 6 inadvertently operate the respective switching valves 10, 11 and the respective inlet / outlet rods 6b, 6b. Check valves 12a, 12b, 12c, 12d, 13a, 13b, 13c, 13 to prevent
It is connected to a pressure oil source (not shown) in the backhoe main body 1 via d, and the changeover switch 18 includes the changeover valves 10, 1
Connected as shown in 1. When the switching valves 10 and 11 are positioned at the positions A and C by the switch 18, the access rods 6b and 6b of both the elevation cylinders 6 and 6 simultaneously enter and operate, and the switch 18 causes the switching valves 10 and 11 to move to the positions B and B. When it is positioned at D, the in-and-out rods 6b and 6b of both elevation cylinders 6 and 6 simultaneously move out. Similarly, when both switching valves 10 and 11 are placed at positions A and D, or positions B and C, both elevations are lowered. Cylinder
One of the entrance and exit rods 6b and 6b of the 6, 6 enters and exits, and the other enters and exits. The pipelines 16a to 16d indicated by broken lines in the drawing are configured to send pressure oil to one side of the pistons 6c and 6c to form the respective rods 6 in and out.
The purpose is to let pressure oil flow out from the other side of the pistons 6c, 6c when the b, 6b are operated.

The leader 20 is the main winch via the bracket 21 at the bottom.
29 and an auxiliary winch (not shown) are installed, the pulley supporting portion 22 is fixed to the upper end, and the entry / exit rod 2b of the position correcting cylinder 2 is installed.
Is supported by the backhoe body 1 so as to be rotatable around the joint pin 8a of the universal joint 8 at the tip of the
By vertically moving the 6 rods 6b, 6b in and out in the same direction at the same time, the elevation can be adjusted in the thickness direction of the panel 71 (hereinafter referred to as the X direction). The direction along the plate surface of the panel 71 by going in and out of the direction (hereinafter referred to as the Y direction)
The position can be adjusted without changing the tilt angle by adjusting the position of the tilting cylinder 2 and the position adjusting cylinder 2 and the moving rods 2b, 6b, 6b of both the lifting cylinders 6 and 6 all at the same time. It is designed so that it can be freely moved, and during transportation, the rods 6b, 6b for moving in and out of the two lifting cylinders 6, 6
To move the cylinder body 6a, 6a into the deepest position,
As shown by the chain double-dashed line in FIG.

FIG. 4 is a partially cutaway front view showing the upper part of the reader, FIG. 5 is a side view showing the main part thereof, FIG. 6 is a view taken along the line XX of FIG. 5, and FIG. It is a partially expanded sectional view.

The main hoisting machine 24 is a fixed pulley provided at both ends of the pulley supporting portion 22.
25, 26, a moving pulley 27 provided on the slide frame 40, a wire rope 28 fixed to the lower portion of the pulley support portion 22 by winding one end around each of these pulleys, and a main winch 29 provided at the lower portion of the reader 20. By operating the main winch 29, the slide frame 40 and the drive head 50 can be freely moved up and down.

The excavator includes an auxiliary hoist 30 in addition to the main hoist 24.

The auxiliary hoisting machine 30 includes a stationary sheave (not shown) located at a position corresponding to the stationary sheave 25 of the main hoisting machine 24 and a sheave supporting portion 22.
A fixed pulley 32 provided on the extended portion of the wire rope, a wire rope 34 wound around these, and an auxiliary winch (not shown) provided near the main winch 29 at the bottom of the leader 20, and is suspended from the fixed pulley 32. The panel 71 is hooked and hung up on the hook 36 provided at the tip of the wire rope 34, and the upper end of the panel 71 is grasped by the chuck 78, and auxiliary work for arranging the panel 71 at a predetermined position is performed. It is a thing.

The slide frame 40 is guided by the leader 20 and is slidable in the vertical direction, and a sliding base 41, and a movable pulley supporting member 42 having a movable pulley 27 attached to the upper end of the sliding base 41 so as to project forward. And an upper pin vertically provided on the sliding base 41.
43 and the lower pin 44, and the support member 48 protruding obliquely forward
And a vertical pin 54c provided between the supporting member 48 and a bracket 49 laterally protrudingly fixed to the moving pulley supporting member 42 by rotatably supporting the drive head 50 with the pins 43 and 44. The rotary cylinder 54, which is a rotary drive, is rotatably supported. A fixed gear 45 is provided on the upper end of the upper pin 43.

The drive head 50 has a bracket 51a on the upper surface of the upper arm 51.
Also, the vertical axis 53 is fixed, the tip of the rod 54b of the swiveling cylinder 54 is connected to the pin 54d provided on the protrusion 51b of the bracket 51a, and the upper end of the vertical axis 53 supports the rotary encoder 56. 55 is fixedly arranged along a radial direction from the axis of the upper pin 43, and a rotary having a rotor (not shown) coaxially rotating with the pinion 46 coaxially with the pinion shaft 47 of the pinion 46 meshing with the fixed gear 45. An encoder 56 is provided, and a pulse signal is transmitted from the rotary encoder 56 to an indicator (not shown) in the backhoe main body 1 in accordance with a turning angular displacement centering on both pins 43 and 44, and the turning is performed based on the pulse signal. The cylinder 54 is operated so that the turning angle can be adjusted. Drive head
50 is an upper arm 51 and a lower arm 52 integrally formed therewith.
A drive hydraulic motor 57 having a spline output shaft 57a is installed at a predetermined position between and, and both inclinometers 60, 60 are arranged and fixed on both sides of the drive hydraulic motor 57, and are suspended by the main lifting machine 24. Supported by the slide frame 40, the leader 20
You can move up and down along.

FIG. 8 is a front sectional view showing the inclinometer, and FIG. 9 is a side sectional view thereof.

Both inclinometers 60, 60 are arranged with their phases shifted by 90 degrees, but since they have the same structure, only one will be described.

The inclinometer 60 includes a pendulum 62 housed in a tubular container 61, a strain gauge 65 attached to a detection plate 64 fixed to the upper end of an arm 63 that suspends the pendulum 62, and the upper end of the detection plate 64 facing sideways. It is provided with a push pin 66 for pushing to. Then, the driving hydraulic motor 57 in the driving head 50 is fitted to both outsides, one inclinometer 60 detects the tilt of the panel 71 in the X direction, and the other inclinometer 60 is mounted on the panel.
The phase of one of the inclinometers is detected to detect the inclination of the 71 in the Y direction.
The other side of the drive head 50 is shifted by 90 degrees with respect to the other 60.
An external cable 67, which is fixedly arranged between 1,52, and is connected to a conductor 68 of a strain gauge 65, is connected to an indicator (not shown) installed in the driver's seat of the backhoe body 1.

When the inclinometer 60 is tilted with respect to the vertical direction, the pendulum 62 remains vertical, so that the detection plate 64 fixed upward from the support shaft of the pendulum 62 is pushed by the push pin 66 and changes into flexure. The strain gauge 65 responds to this change in deflection.
Distortion occurs in the display, and this distortion is displayed on the indicator so that the inclination can be read.

The excavator 70 includes a panel 71 embedded in the soil and a moving frame 73 having a sprocket 74 and arranged above the panel 71.
And a sprocket 72 arranged at the lower end of the panel 71 itself,
A chain 75 having a plurality of excavating blades 76 wound around both sprockets 72 and 74 is attached, and the upper sprocket 74 is arranged on the extension line of the spline output shaft 57a of the drive hydraulic motor 57, and the spline output is provided. The rotation of the shaft 57a is directly transmitted to the upper sprocket 74, and the drive hydraulic motor 57 rotates the chain 75 to perform excavation.

The panel 71 is a guide plate 71a along the rotation path of the chain 75.
And two flat steel plates 71b which are fixed to both outer sides of the guide plate 71a and whose edges are projected to the outside of the guide plate 71a, and the guide plate 71a and the both edges of the flat steel plates 71b form a chain. A guide groove 71c for guiding is formed, and the upper end of both chucks 78 will be described later.
The vertical plate members 71d, 71d to be gripped by are assembled and fixed according to the interval between the chucks 78, 78, and the vertical plate members 71d, 71d, the flat steel plates 71b, 71b and the guide plate 71a are fitted in a sheath shape. Combined space 71e, 71
forming e. And the panel 71 is a moving frame 73.
Suspended at the bottom of the lead 20
The lower part is slidably supported on the lead 20 in the vertical direction while maintaining a predetermined distance.

The moving frame 73 is similar to the panel 71 in that the chain guide plate 73
A guide groove 73e is formed by a and a flat steel plate 73b, and is provided with a sprocket 74 and chain tensioning cylinders 77, 77 that are vertically arranged side by side at predetermined intervals below the sprocket 74. Chucks 78, 78 for gripping the panel are provided at the lower end of the rod 77b for moving in and out of each cylinder.
Downward fitting protrusions 73c, 73c corresponding to the fitting spaces 71e, 71e of
Is projected.

Next, the operation of the excavator according to the above embodiment of the present invention will be described.

The backhoe body 1 moving with the leader 20 lying down is stopped at a predetermined position near the excavation point, and the leader rods 6b, 6b of the both elevation cylinders 6, 6 are actuated to move the leader 20 in a substantially vertical position. To The hook 36 is hooked on the upper part of one of a plurality of panels 71 (not shown) arranged side by side, and the auxiliary winch of the auxiliary lifting machine 30 is operated to lift the panel 71, and the fitting projections 73c, 73c are fitted. Combined space 71e, 71e
The upper ends of the vertical plate members 71d, 71d are gripped by the chucks 78, 78 provided on the moving frame 73, and the spline output shaft 57a of the drive hydraulic motor 57 is fitted in the center hole of the upper sprocket 74 and the chain 75 is attached. Both sprockets 72,7
The chain 75 is wound around 4 and the both ends of the chain 75 are joined by connecting pins (not shown) to make the chain 75 endless, and then the rods 77b, 77b of the chain tensioning cylinders 77, 77 are actuated to tension the chain 75.

The pressure oil is sent to operate the drive hydraulic motor 57 to rotate the chain 75 and the wire rope of the main lifting machine 24.
Perform excavation work while relaxing 28. The excavator 70 itself sinks under its own weight according to the depth of excavation. When the panel 71 is displaced or tilted with respect to the initial position and posture during the excavation work, the displacement is tilted according to the displacement amount with respect to the reference position at the start of the excavation. 2 are moved out or in at the same time, and the position is corrected each time.
The tilts in the X direction and the Y direction are detected by the 60, 60, and the tilt in the X direction is detected according to the detection result, and the tilting rod 2b of the position correction cylinder 2 and the tilting rods 6b, 6b of the both elevation cylinders 6, 6 are detected. The tilting correction is performed each time by moving and in and out, and the tilt in the Y direction is corrected by tilting the rods 6b and 6b of the two lifting cylinders 6 and 6 in and out. In addition, the drive head 50 and the moving frame 73
The rotary encoder 56 detects the rotation deviation of the drive head 50, and if necessary, operates the rotation cylinder 54 to angularly displace the drive head 50 around both pins 43 and 44, and the rotation angle with respect to the initial value of the upper part of the panel 71. Make corrections.

In this way, the excavation work is accurately performed to a predetermined depth at a predetermined position and a predetermined posture, and the panel 71 is embedded to a predetermined depth. When the embedding of one panel 71 is completed, the joining pin is removed to release the endless state of the chain 75, and one end of the chain is pulled up by the auxiliary lifting machine 30 to pull out the chain 75 from the soil to embed it. The chucks 78, 78 are removed from the finished panel 71, and the main lifting machine 24 hoists the drive head 50 and the moving frame 73 back to their original positions. After that, the next one panel 71 is lifted by the auxiliary lifting machine 30 in the same manner as above, embedded in the same manner as above, and the same operation is repeated thereafter, so that the plurality of panels 71 are accurately held in position and posture. I will embed it one after another. Each embedded panel 71 forms an earth retaining wall.

The soil dug up to the ground by the excavating blade 76 is backfilled into the space in each panel 71, and hardly remains on the ground.

It should be noted that the present invention is not limited to the above-described embodiment, but other types of inclinometers may be used, a motor may be used in place of the swivel cylinder, and the scope is not deviated from the other points. Various modifications are possible.

(Effects of the Invention) The present invention is configured as described above, and in the invention described in claim (1), the position correction cylinder and the elevation cylinder are operated based on the detection result of the inclinometer, so that the panel adjustment By detecting the tilt and adjusting the position and posture of the reader, the position and posture of the panel can be corrected.

Further, in the invention as set forth in claim (2), the turning angle of the turning unit which turns together with the upper end of the panel is detected by the angle detection unit, and the turning driver is operated to correct the turning angle of the turning unit. The panel can be embedded in the correct position and posture while correcting the turning angle of the upper end of the panel.

[Brief description of drawings]

FIG. 1 is a partially cutaway front view showing a schematic configuration of an entire excavating device according to an embodiment of the present invention, FIG. 2 is a partially cutaway side view showing an essential part of the same, and FIG. 3 is an operation of both elevation cylinders. FIG. 4 is a partially cutaway front view showing the upper part of the reader,
FIG. 5 is a side view showing the main part, and FIG. 6 is an X- line in FIG.
FIG. 7 is a partially enlarged sectional view showing the upper part of the drive head, FIG. 8 is a front sectional view showing the inclinometer, and FIG. 9 is a side sectional view thereof. 2 ... Position correction cylinder, 6 ... Depression cylinder, 20 ...
Leader, 50 …… Drive head (swivel part), 54 …… Swivel cylinder (swing drive body), 56 …… Rotary encoder (angle detection part), 60 …… Inclinometer, 70 …… Excavator, 71 …… Panel , 72,74 …… Sprocket, 75 …… Chain, 76 ……
Drilling blade,

Claims (2)

[Scope of utility model registration request] 1. A sprocket disposed above and below a panel suspended and embedded in a leader, and a chain having a plurality of digging blades wound around the sprocket and attached to the sprocket, and the chain is rotated for excavation. In the excavation device that performs the above, an inclinometer for detecting the inclination of the panel, a position correction cylinder whose one end is connected to the lower portion of the leader and the other end of which is fixed to a place other than the leader, and above the position correction cylinder. The elevation cylinder having one end connected to the reader and the other end connected to a predetermined position other than the reader is provided, and the position correction cylinder and the elevation cylinder are operated based on the detection result of the inclinometer to operate the position and posture of the panel. A posture correction device in an excavation device, which corrects 2. A sprocket arranged above and below a panel suspended and embedded in a leader, and a chain wound around the sprocket and having a plurality of digging blades for digging attached thereto, the digging being performed by rotating the chain. In the excavating device for performing, a swivel unit that swivels integrally with the upper end of the panel,
An attitude correction device in an excavator, comprising: an angle detection unit that detects a turning angle of the turning unit; and a turning drive that performs a correction operation of the turning angle of the turning unit.