JPH08144319A - Bucket type excavator and excavating method thereof - Google Patents

Abstract

(57) [Summary] [Purpose] To provide a bucket type excavator and a method for excavating the excavator that allow a driver to easily and accurately grasp the depth of reach of the tip of the excavator during excavation. [Constitution] One end of the depth measuring wire 9 is connected to the main body of the bucket excavator 1 and the other end is wound around a winding device 8.
From the wire stroke sensor 10 that detects the amount of delivery of the depth measurement wire 9, the bucket open / close degree detector 11 that detects the open / closed state of the bucket, and the detection values of the wire stroke sensor 10 and the bucket open / close degree detector 11. The processor 53 includes a processing unit 53 for calculating the bucket tip arrival depth, and a display unit 54 for displaying the bucket tip arrival depth calculated by the processing unit 53 to the driver in real time in a numerical or graphic form.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bucket type excavator having an openable and closable excavating bucket at the lower end of a main body and a method of excavating the bucket. The present invention relates to a bucket type excavator and an excavation method thereof.

[0002]

2. Description of the Related Art There is generally known a bucket type excavator having a drilling bucket which can be opened and closed at a lower end of a main body. This bucket type excavator is suspended by an elevating device such as a crane, and while the bucket is open, the tip of the bucket is pushed into the ground by its own weight, and the bucket can be closed in this state to excavate the ground. By repeating the above, a deep hole can be drilled in the ground.

FIG. 12 shows the whole bucket type excavator. The bucket type excavator 81 is provided with an excavating bucket 83 which is driven to be opened and closed by a bucket cylinder 82 at a lower part of the main body, and is itself suspended from a tip end of a boom of a base crane 84 by a suspending wire 85. The suspension wire 85 is wound around an elevating device 86 provided on a base crane 84, and the excavator 81 is configured to move up and down by rotation of a drum of the elevating device 86. An electric cable 87 is provided in parallel with the suspension wire 85.
7 supplies electricity for driving the opening and closing of the bucket 83 and the like.

The body of the excavator 81 has a weight sufficient to push the tip portion of the bucket 83 into the ground due to its own weight, and the excavator 81 keeps the bucket 83 open during excavation. The bucket 83 is pushed down into the ground and the bucket 83 is forcibly closed in that state to excavate the earth and sand. This allows
The ground is dug down to a predetermined depth, the excavator 81 is subsequently lifted, and the excavated soil is carried out.

By repeating the above operation, the excavation hole 88 is dug in the ground, and after the depth of the excavation hole 88 exceeds a predetermined depth, the purpose of preventing the side wall of the excavation hole 88 from collapsing. , An opaque stabilizing liquid 89 is injected into the digging hole 88, and the digging hole 88 is always filled with the opaque stabilizing liquid 8 in the subsequent digging operation.
9 and the excavator 81 is immersed in the opaque stabilizing solution 89 to perform excavation. Therefore, the state of the excavator 81 during excavation and the depth of the excavation hole 88 depend on the base crane 8.
4 could not be confirmed from the driver's seat 90 or from the ground.

In order to solve the problem that the depth of the excavation hole 88 cannot be confirmed with the naked eye, conventionally, a vinyl tape for depth measurement is attached on the electric cable 87 at regular intervals, and the driver can use the tape. The length of the electric cable 87 fed out is confirmed by the number of vinyl tapes, and the depth of the excavation hole 88 is estimated.

Further, the detailed measurement of the depth of the drilled hole 88 is
It was measured separately with a weight. FIG. 13 shows how the depth of an excavation hole is measured by the scale with the weight. As shown in the figure, the depth measurement using a measuring scale with a weight is performed by lifting the excavator 81 from the excavation hole 88,
Hangs a measuring scale 93 with a weight 92 in the excavation hole 88,
The depth of the excavation hole 88 was measured by reading the scale marked on the measuring scale 93.

[0008]

However, in the conventional digging depth control of the bucket type excavator using the vinyl tape for marking on the electric cable, since the interval between the vinyl tapes is coarse, the excavation is actually performed. The depth of the hole was not able to be grasped in detail.

In the above-described conventional method of managing the excavation depth, the operator of the bucket-type excavator detects that the tip of the excavator has reached the bottom of the excavation hole by loosening the suspension wire of the excavator. It was necessary to calculate the excavation depth by reading the feed amount of the electric cable from the landmark tape. However, the slack in the suspension wire of this excavator
Due to the inability to accurately identify, it was not possible to accurately measure the excavation depth with vinyl tape markings on electrical cables.

In addition, in this method of controlling the excavation depth, while the excavator is being lowered, the driver must read the mark tape on the electric cable which is continuously fed out, so that the additional operation of the driver is required. It was a burden.

On the other hand, in the above-mentioned conventional method of managing the depth of excavation using a measuring tape with a weight, the bucket excavator must be pulled up from the excavation hole every time it is measured, so the excavation work must be interrupted. However, there was a problem that the efficiency of excavation work was reduced.

Another problem is that the depth of the excavation hole cannot be accurately measured due to the looseness of the measuring tape or the unevenness of the bottom surface of the excavation hole.

[0013] Therefore, an object of the present invention is to solve the problem of excavation depth control of excavation work by the conventional bucket type excavator, and the driver can easily and accurately grasp the reach depth of the tip of the excavator during excavation. A bucket type excavator and its excavation method are provided.

Further, in the conventional bucket type excavator, since the bottom surface of the excavation hole becomes an arcuate concave surface along the trajectory of the claws of the excavation bucket, the excavation hole is continuously excavated to excavate a longitudinal groove. At this time, the bottom surface of the trench becomes a wavy uneven surface due to the concavo-convex connection of the bottom surface of each drilled hole.

Conventionally, when digging a vertically long groove or a wide hole as described above, the projection on the bottom of the groove or hole is finally picked up by a digging bucket, and the bottom of the groove is finished flat.

However, the finish of the bottom surface of the groove must rely on the driver's memory and intuition, and it is difficult to actually finish it on a flat surface having a uniform depth.

Therefore, another object of the present invention is to control a depth of a tip of a digging bucket of an digging machine to dig a flat bottom surface of a digging hole at a set digging depth and a digging method therefor. Is to provide.

[0018]

In order to achieve the above object, a bucket excavator according to claim 1 of the present application is a bucket excavator having an excavating bucket that can be opened and closed at a lower end portion of a main body. A depth measuring wire which is connected to the bucket type excavator body and the other end of which is wound around a winding device, a wire stroke sensor for detecting the amount of the depth measuring wire fed out, and a bucket for detecting the open / closed state of the bucket. An open / closed degree detector, a processing device for calculating the tip reaching depth of the bucket from the wire stroke sensor and the detection value of the bucket open / closed degree detector, and operating the bucket tip reaching depth calculated by the processing device in real time. And a display device for displaying numerical values or figures to a person.

The bucket type excavator according to claim 2 of the present application is
2. The bucket type excavator according to claim 1, wherein the processing device calculates from an output of the bucket opening / closing detector and outputs moving image information indicating an opening / closing state of the bucket to the display device. 3. It is.

The bucket type excavator according to claim 3 of the present application is
In the bucket type excavator according to claim 1 or 2,
An excavation depth control process for setting an excavation depth in advance, issuing an elevating command to the elevating device of the bucket type excavator in accordance with the opening / closing angle of the bucket, and matching the reaching depth of the bucket tip with the set excavation depth. It is characterized by having a device.

According to a fourth aspect of the present invention, there is provided a method for excavating a bucket-type excavator, the method comprising using a bucket-type excavator having an openable and closable bucket at a lower end portion of the main body. A depth measuring wire having one end connected to the excavator body and the other end wound around a winding device,
A wire stroke sensor for detecting a feeding amount of the depth measuring wire, a bucket opening / closing degree detector for detecting an opening / closing state of the bucket, and the bucket based on detection values from the wire stroke sensor and the bucket opening / closing degree detector. A processing device that calculates the depth of arrival of the tip of the bucket, and a display device that numerically or graphically displays the depth of arrival of the tip of the bucket calculated by the processing device to the driver in real time,
The detection signals of the wire stroke sensor and the bucket opening / closing detector are input to the processing device, and the processing device calculates the depth of arrival of the tip of the bucket. The calculated depth of arrival of the tip of the bucket is calculated in real time by the display device. By displaying numerical values or figures to the driver, the driver can perform excavation while grasping and managing the excavation depth.

According to a fifth aspect of the present invention, in the excavating method of the bucket type excavator, the detection value detected by the bucket open / close degree detector is calculated by the processing unit, and the open / close state of the bucket is set. Is output to the display device so that the driver can grasp and manage the open / closed state of the bucket in real time.

According to a sixth aspect of the present invention, there is provided the excavation method of the bucket type excavator according to the fourth or fifth aspect, wherein the bucket type excavation is performed in accordance with an opening / closing angle of the bucket with respect to a set excavation depth. A processing device for excavation depth control that issues an elevating command to the elevating device of the machine and matches the reaching depth of the tip of the bucket with the set excavation depth,
Let the driver set a planned excavation depth, control the reaching depth of the tip of the bucket type excavator by the excavation depth control processing device, and set the bottom surface of the excavation hole to a depth substantially matching the set excavation depth. It is characterized by excavation.

[0024]

In the bucket type excavator and the excavation method according to the first and fourth aspects of the present invention, when the bucket type excavator is hung in an excavation hole, a wire for depth measurement is fed out as the excavator descends. The feeding amount of the wire is detected by a wire stroke sensor. The feeding amount of the measuring wire detected by the wire stroke sensor is sent to the processing device as needed.

The amount by which the tip (claw) of the bucket bites into the ground and descends due to the opening and closing operation of the bucket during excavation is related to the extension of the piston rod of the bucket cylinder that drives the bucket. The extension amount of the piston rod of the bucket cylinder is detected by a bucket opening / closing degree detector and is sent to the processing device as needed.

In the processing apparatus, the descending amount of the excavator body and the descending amount of the tip (claw) of the bucket are respectively calculated from the detection signals of the wire stroke sensor and the bucket opening / closing detector, and these are summed up to obtain the bucket type excavation. The depth of arrival of the aircraft is calculated.

The calculated reaching depth of the tip of the bucket excavator is further processed by the processing device into screen information that is displayed numerically or graphically, and is output to a display device arranged near the driver. With the screen of the display device, the driver can accurately grasp the depth of arrival of the tip of the excavation bucket at any time during excavation, and can concentrate on excavation work. Further, since the excavation operation is not interrupted because the depth of the excavation hole is measured by the weight, the excavation operation can be performed consistently and efficiently.

According to the bucket type excavator and the method for excavating the same according to the second and fifth aspects of the present invention, the bucket type excavator according to the first aspect of the present invention has all the configurations, and the above-described operation allows the driver to excavate during excavation. In addition, it is possible to grasp the depth at which the tip of the bucket of the excavator is reached from the screen of the display device, and it is also possible to grasp what the depth of the bucket reaches in the open / closed state.

That is, according to the bucket type excavator and the excavating method thereof, the processing device inputs the detection signal of the bucket cylinder stroke and calculates the opening / closing angle of the excavating bucket based on the detection signal. Then, the moving image information indicating the open / closed state of the excavation bucket is output to the display device. As a result, the driver can grasp the opening / closing state of the excavation bucket as well as the depth at which the tip of the excavation bucket reaches, and can efficiently excavate while monitoring the state of the excavator in the excavation hole that cannot be seen with the naked eye.

According to the bucket type excavator and the excavation method thereof according to the third and sixth aspects of the present invention, the bucket type excavator has a processing unit for excavation depth control for controlling the reaching depth of the tip of the excavation bucket. You can dig flat to the depth. This excavation depth control processing device monitors the depth of the excavation bucket tip with the excavation depth set by the driver as a control target, and raises and lowers the excavator in accordance with the excess or shortage of the depth of the excavation bucket tip. Issue a lifting command to the device. This allows the excavator body to move up and down as needed during the opening and closing operation of the digging bucket, to maintain a constant depth at the tip of the digging bucket, and to make the bottom surface of the digging hole a plane of a predetermined depth. You can dig.

[0031]

Embodiments of a bucket type excavator and an excavating method therefor according to the present invention will be described below with reference to the accompanying drawings.

FIG. 1 shows an embodiment of a bucket type excavator according to the present invention suspended from a crane. In FIG. 1, a bucket type excavator 1 has a pair of buckets 3 driven to be opened and closed by a bucket cylinder 2 at a lower end of a main body, and is suspended from a boom tip of a base crane 4 by a suspension wire 5. The other end of the suspension wire is wound around an elevating device 6 provided on the base crane 4 and is taken up by rotation of the elevating device 6,
Or it is paid out. The rotation of the drum of the lifting device 6 causes the excavator 1 to move up and down. An electric cable 7 is provided along the hanging wire 5, and the electric cable 7 supplies electricity for driving the opening and closing of the bucket 3.

Further, the bucket type excavator 1 of the present invention is provided with a depth measuring wire 9 whose tip is connected to the upper end of the excavator body, is guided vertically upward, and the other end is wound around a dedicated winding device 8. ing. The winding device 8 for the wire 9 for depth measurement is provided with a wire stroke sensor 10 for detecting a feeding amount of the wire 9 for depth measurement. The bucket cylinder 2 is provided with a bucket cylinder stroke sensor 11 as a bucket opening / closing degree detector, which detects an extension amount of a piston rod of the bucket cylinder 2. Note that the bucket cylinder shown in the present embodiment moves synchronously by the tuning device, and therefore, the bucket stroke sensor 11 is provided at one location.

The bucket type excavator 1 has a sufficient weight to push the bucket 3 into the ground by its own weight, and when the bucket 3 is suspended by the base crane 4 at the excavation point with the bucket 3 open, the tip of the bucket 3 If the portion digs into the ground due to the weight of the excavator 1 and the bucket 3 is closed by operating the bucket cylinder 2 in that state, earth and sand can be excavated. With the excavated soil contained in the bucket 3, that is, with the bucket 3 closed, the excavator 1
, The excavated soil is removed, and the excavation hole 12 is removed.
You can

In the excavation method using the bucket type excavator 1, the operator monitors from the driver's seat 13 of the base crane 4, repeats the excavation by the excavator 1, and gradually deepens the excavation hole 12. When the drilling hole 12 reaches a predetermined depth, in order to prevent collapse of the side wall of the drilling hole 12,
The opaque stabilizing solution 14 is injected into the drill hole 12, and the drill hole 12 is always filled with the opaque stabilizing solution 14 in the subsequent drilling. Therefore, in the excavation by the bucket type excavator, the bottom of the excavation hole 12 is, of course, immersed in the opaque stable liquid 14 and cannot be confirmed by the driver's naked eyes.

According to the present invention, the depth of the excavation hole 12 which cannot be confirmed with the naked eye, the bucket 3 of the excavator 1,
The wire stroke sensor 10 and the bucket cylinder stroke sensor 11 are used to grasp the opened / closed state of the wire stroke sensor 10. The wire stroke sensor 10 and the bucket cylinder stroke sensor 11 will be specifically described below.

FIG. 2 shows the internal structure of the winding device 8 for the depth measuring wire 9. The winding device 8 has a wire drum 21 for winding the depth measuring wire 9, and on the rotating shaft 22 of the wire drum 21, a constant force spring 23a for generating a constant tension on the wire and rotation of the rotating shaft 22. An encoder 24 for detecting an angle is provided coaxially.
In the vicinity of the wire drum 21, a pair of wire guiding ball screws 25a, 25b are provided in parallel with the rotating shaft 22, and these ball screws 25a, 25b are screwed with wire guiding members 26a, 26b having female threads, respectively. . The ball screws 25a and 25b and the rotating shaft 22
Is the sprocket 27a, 27b, 27c and the chain 28
It is configured to rotate in conjunction with.

With the above configuration, for example, this winding device 8
When the depth measuring wire 9 is wound up by the rotating shaft 2
With the rotation of 2, the ball screws 25a and 25b also rotate,
As a result, the wire guide members 26a and 26b screwed to the ball screws 25a and 25b move to guide the depth measurement wire 9 and wind the depth measurement wire 9 around the wire drum 21 without overlapping each other. .
At this time, the winding amount of the depth measuring wire 9 can be detected by the encoder 24 as the rotation angle of the wire drum 21.

Conversely, when the depth measuring wire 9 is unwound from the winding device 8, the rotating shaft 22 rotates in the direction of winding the lower constant load spring 23a on the lower side of the constant load drum 23, and the wound constant load spring 23 is rotated. A constant tension can be applied to the depth measuring wire 9 by the returning force of 23a. This constant tension applied to the depth measuring wire 9 is maintained even when the depth measuring wire 9 is wound. Even when the depth measuring wire 9 is delivered, the amount of delivery of the depth measuring wire 9 can be easily obtained by detecting the rotation angle of the wire drum 21 by the encoder 24.

Next, the bucket cylinder stroke sensor 11 used as a bucket opening / closing detector will be described.

FIG. 3 shows the structure of the bucket cylinder stroke sensor 11. 3, the bucket cylinder 2 has a cylinder portion 2a and a piston rod portion 2b. The cylinder side end is connected to the excavator body 1a, and the piston rod side end is connected to a part of the bucket 3. An annular magnetic body 29 is provided at the insertion end of the piston rod portion 2b into the cylinder portion 2a, and a rod-shaped sensor probe 30 for detecting the position of the magnetic body 29 is inserted through the annular magnetic body 29. Have been.

With the above configuration, when the piston rod portion 2b of the bucket cylinder 2 slides in the cylinder portion 2a to drive the bucket 3, the magnetizing member 29 moves along the sensor probe 30, and the amount of movement Can be detected by the sensor probe 30. The stroke of the bucket cylinder 2 has a one-to-one relationship with the opening / closing angle of the bucket 3, that is, the descending amount of the tip of the bucket 3, whereby the reaching depth of the tip of the bucket 3 can be easily calculated.

Here, an example of an equation for calculating the descending amount h2 of the bucket tip from the stroke s of the bucket cylinder 2 will be shown. This calculation formula varies depending on the mounting position of the bucket cylinder 2 and the like, but can be determined by a geometrical solution method, actual measurement, or the like.

Elongation of bucket stroke s (mm) Lowering amount h2 (mm) of bucket tip 0 ≦ s ≦ 100 h2 = 0.205 * s / 100 100 <s ≦ 200 h2 = 0.205 + 0.185 * (s-100) / 100 200 <s ≦ 300 h2 = 0.390 + 0.140 * (s-200) / 100 300 <s ≦ 400 h2 = 0.530 + 0.115 * (s-300) / 100 400 <s ≦ 500 h2 = 0.645 + 0.065 * (s- 400) / 100 500 <s ≦ 600 h2 = 0.710 + 0.050 * (s-500) / 100 600 <s ≦ 700 h2 = 0.760 + 0.025 * (s-600) / 100 700 <s ≦ 800 h2 = 0.785-0.015 * (s−700) / 100 800 <s ≦ 900 h2 = 0.770−0.030 * (s−800) / 100 FIG. 4 shows another embodiment of the bucket opening / closing detector.

FIG. 4 (a) shows an external bucket cylinder stroke sensor 31 comprising a magnet and a sensor probe for detecting the position of the magnet as described in FIG. This bucket cylinder stroke sensor 31
Has a cylinder portion 31a and a piston portion 31b nested in the cylinder portion 31a. The cylinder part 31a is fixed to the bucket cylinder part 2a from outside, and the piston part 31b is similarly fixed to a part of the piston rod part 2b of the bucket cylinder. In the cylinder portion 31a and the piston portion 31b of the bucket cylinder stroke sensor 31, the same magnetizing body as in FIG. 3 and a sensor probe for detecting the position of the magnetizing body are incorporated.

With the above structure, when the bucket cylinder 2 operates, the amount of movement of the piston rod portion 2b is determined by the bucket cylinder stroke sensor 3 as described above.
Can be detected by 1. In this case, since the bucket cylinder stroke sensor 31 can be externally attached to the bucket cylinder 2, it can be easily attached to an existing excavator.

FIG. 4 (b) shows a bucket cylinder stroke sensor using laser light. In FIG. 4B, the bucket cylinder stroke sensor 32 includes a laser projecting unit 33, a laser reflecting unit 34, and a bellows tube 35 connecting the laser projecting unit 33 and the laser reflecting unit 34. The laser projecting portion 33 is fixed to the cylinder portion 2a of the bucket cylinder 2, while the laser reflecting portion 34 is fixed to the piston rod portion 2b of the bucket cylinder 2.

With the above structure, the bucket cylinder stroke sensor 32 emits the laser beam 36 from the laser projecting section 33 toward the laser reflecting section 34, and the laser beam 36 is reflected by the laser reflecting section 34 to project the laser beam. By measuring the time until returning to the light unit 33, the amount of extension of the piston rod of the bucket cylinder 2 can be obtained.

It should be noted that it has the same structure as described above, and it is possible to use ultrasonic waves instead of laser light.

FIG. 4C shows a modification in which the change in the distance between buckets due to the opening and closing of the bucket 3 is measured using a laser. In this embodiment, a laser projection unit 37 is attached to one of the buckets 3 and a laser reflection unit 38 is attached to the other bucket 3. When the bucket 3 opens and closes, the distance between the laser projecting section 37 and the laser reflecting section 38 also changes. Therefore, the change in the distance is measured by the laser light, and the opening and closing angle of the bucket 3 can be obtained.

FIG. 4D shows a bucket cylinder stroke sensor 39 for detecting the stroke of the bucket cylinder 2 by a mechanical method. The bucket cylinder stroke sensor 39 has a drum 41 with an encoder which is always urged to wind the wire 40. The tip of the wire 40 is fixed to the tip of the piston rod portion 2b of the bucket cylinder 2. In the bucket cylinder stroke sensor 39, when the piston rod 2b is paid out, the wire 40 is also paid out, and the wire payout amount can be detected by the encoder of the drum 41.

Next, a method of calculating the leading end depth of the bucket 3 by the wire stroke sensor 10 and the bucket cylinder stroke sensor 11 will be described.
It should be noted that various bucket opening / closing degree detectors described with reference to FIG. 4 can be used instead of the bucket cylinder stroke sensor 11, and a detailed description thereof will be omitted.

FIG. 5 shows a method of calculating the depth reached by the tip of the excavator. In FIG. 5, reference numeral 42 is the ground,
Reference numeral 3 denotes a hole to be excavated, and SL ± 0 denotes a reference height (usually the top end of a guide wall) which is a reference for the depth of the excavation hole. In the excavating method of the bucket type excavator according to the present invention, first, when the bucket 3 of the excavator 1 is fully opened, the tip of the bucket is made to coincide with the reference height SL ± 0 as shown in FIG. The feeding amount of the state depth measuring wire 9 is used as a reference. The excavation is started after the initial setting as described above, and the excavation hole 43 is dug in the ground by the method described above. FIG. 5B shows the excavator 1 at one point during the excavation.
Shows the state of. As apparent from FIG. 5 (b), the bucket tip reaching depth of the excavator 1 is equal to the reference body height SL ± 0 and the main body descending amount h1 of the bucket in the fully open state indicated by a virtual line.
'And the amount h2 of falling of the bucket tip due to the closing of the bucket at a predetermined angle, that is, h1' + h2. The lowering amount h1 'of the bucket body in the fully opened state is equal to the extending amount h1 of the depth measuring wire 9 from the state where the bucket tip is first adjusted to the reference height SL ± 0 (h
1 '= h1). The extension amount h1 of the wire 9 for measuring the depth.
Can be easily obtained from the detection signal of the wire stroke sensor 10. On the other hand, the descending amount h2 of the bucket tip caused by closing the bucket from the open state is determined by the bucket cylinder stroke sensor 1 as described above.
It can be obtained from the detection signal of 1. That is, from the detection signals of the wire stroke sensor 10 and the bucket cylinder stroke sensor 11, the depth at which the excavator 1 reaches the tip h
1 '+ h2 (= h1 + h2) can be calculated.

FIG. 6 shows the structure of an apparatus for calculating the depth of arrival of the excavator and the information flow.

In FIG. 6, the wire stroke sensor 1
The signal of the extension amount of the depth measuring wire 9 detected by 0 is:
Programmable controller 5 via controller 51
The signal of the feed amount of the piston rod of the bucket cylinder 2 that is input to 0 and similarly detected by the bucket cylinder stroke sensor 11 is input to the programmable controller 50 via the amplifier 52. The detection signal of the sensor is converted into a signal that can be processed by the processing device 53 by the programmable controller 50 and input to the processing device 53. The signal input to the processing device 53 is
Is output to the display device 54 as numerical data of the depth of the excavator tip and screen information indicating the depth of the excavator tip.

FIG. 7 shows the flow of processing by the processing device 53. At the start of the process (step 100), the excavator 1 makes the tip thereof coincide with the reference height SL ± 0 as shown in FIG. In this state, the feeding amount of the depth measuring wire 9 is set to an initial value, and at the same time, the depth data D is set to 0 (step 110). At this time,
The stroke elongation of the bucket cylinder is also set to 0 (step 120).

Next, when excavation is started, the presence / absence of vertical movement of the excavator 1 is detected by the wire stroke sensor 10 (step 130). The depth data D is updated by the amount (the excavator body descending amount) h1 (step 140).

Next, when the opening and closing of the bucket 3 of the excavator 1 is detected by the bucket cylinder stroke sensor 11 and the extension amount S of the bucket cylinder 2 is detected (step 150), the bucket amount is calculated based on the extension amount S of the bucket cylinder 2. Lowering amount h2 of bucket tip by opening and closing 3
(Step 160).

Next, the excavator tip reaching depth D = h1 + h2 is calculated from the excavator body descending amount h1 and the bucket tip descending amount h2 caused by opening and closing the bucket 3 (step 170). The numerical value of the leading end depth D or the screen information of the graphic display is output to the display device 54 (step 180). Subsequently, it is determined whether or not the excavation has been completed (step 190). If the excavation has been completed, the process is terminated (step 200). If not, the process returns to step 130 to repeat the above process.

FIG. 8 shows an example of screen information displayed by the display device 54. This screen information is output to the display device 54 installed near the driver, whereby the driver can perform excavation work while looking at the screen of the display device 54.

Various information is displayed on the screen displayed on the display device 54. However, as far as the present invention is concerned, the depth at which the excavator 1 reaches the tip is determined by the excavator depth display 6 at the center of the screen.
The value is displayed as 0. In the present embodiment, a graphic display indicating the depth of the excavator tip is selectively displayed on the left side of the screen together with the numerical display of the depth of the excavator tip. In the graphic display of the reaching depth of the tip of the excavator of the present embodiment, a hole 61 to be excavated is displayed together with a depth scale 62, and a current excavator position 63 is displayed for the excavating hole 61. Further, in this embodiment, the depth of the already drilled hole 64
The planned excavation depth 65 is displayed in the image of the excavation hole 61, so that the driver can intuitively grasp the state of the excavator and the progress of the excavation work.

According to the present invention, the open / closed state of the bucket is displayed by using the detection signal of the bucket cylinder stroke sensor 11, so that the driver can visually grasp the state of the excavator. Can be. The processing method in that case will be described below.

FIG. 9 shows the flow of processing in the processing device 53 when displaying the open / closed state of the bucket. In this process, when the process is started, the open / closed state of the bucket is detected by a signal from the bucket cylinder stroke sensor 11 (step 200), and if there is an extension amount S of the bucket cylinder stroke, this is converted into the open / close angle of the bucket. (Step 210). Next, screen information indicating the open / closed state of the bucket is generated based on the calculated open / closed angle of the bucket (step 220), and this is displayed on the display device 54.
Output to. Then, it is judged whether or not the excavation is completed (step 230), and if it is completed, the process is ended.

The information indicating the open / closed state of the bucket is shown in FIG. 8 by displaying a moving image of the bucket in the front view 66 of the excavator on the right side of the screen according to the actual open / closed state, or by displaying the current excavator position 63 on the left side of the screen. By displaying a moving image of the indicated bucket of the excavator in accordance with the actual open / closed state, it is possible to inform the driver.

Further, according to the present invention, the reaching depth of the tip of the excavator is grasped by the position of the tip (claw) of the bucket, and by utilizing this, the bottom of the excavation hole is controlled so as to have a constant depth. Excavation becomes possible. Hereinafter, an apparatus and a method for controlling the excavation depth will be described.

FIG. 10 shows the configuration of the apparatus when the excavation depth is controlled and the flow of the control. In FIG. 10, the processing device 53 includes an input unit 70, and the excavation depth as a control target is input to the processing device 53 by the input unit 70. The lifting and lowering and the opening and closing of the bucket during excavation of the bucket type excavator 1 are detected by the wire stroke sensor 10 and the bucket cylinder stroke sensor 11 as described above, and the information is transmitted via the controller 51, the amplifier 52, and the programmable controller 50. It is sent to the processing device 53, and the processing device 53 calculates the reaching depth of the tip of the bucket. The bucket tip reaching depth is sent to the display device 54 by the processing device 53 and is compared with the previously set target excavation depth. When the bucket tip has not reached the control target excavation depth, the bucket excavation is performed. A command to continue the excavation while applying the weight of the machine body is issued to the control panel 71 for controlling the lifting / lowering device 6 of the excavator 1. If the bucket tip depth exceeds the control target excavation depth, the bucket tip depth is determined. A control panel 7 that controls the lifting device 6 of the excavator 1 by raising and lowering the hoisting of the excavator body so that
Emitted to 1.

The bucket type excavator 1 is actually lifted and lowered by the elevating device 6 based on the control command of the control panel 71, and the movement of the bucket type excavator 1 is returned to the wire stroke sensor 10 and the bucket cylinder stroke sensor 1 again.
1 is detected and fed back to generate a new control command.

In FIG. 10, the processing device 53 also functions as a processing device for controlling the excavation depth. However, a processing device for calculating the end reaching depth and a processing device for controlling the excavation depth may be provided separately. Alternatively, these two devices may be functionally realized by the same device.

By controlling the excavation depth in this way, it is possible to excavate the bottom surface of the excavation hole into a flat surface having a depth equal to the set excavation depth. There is no need to finish the bottom of the drill hole flat. Particularly, when digging a plurality of digging holes and digging a vertically long digging groove or a large digging hole, it is possible to dig the unevenness of the connecting portion of each digging hole to a uniform depth by automatic control, thereby making the predetermined depth uniform. It is possible to obtain a well-bottomed excavation groove and the like.

Next, the flow of processing for controlling the excavation depth will be described with reference to FIG. In FIG. 11, first, the excavation depth T of the control target is set (step 200), and then the tip (claw) of the bucket 3 is set to the reference height S with the bucket 3 fully opened.
In accordance with L ± 0, the feeding amount of the depth measuring wire 9 at this time is set as the depth D = 0 (step 210).
At this time, the elongation of the stroke of the bucket cylinder 2 is set as S = 0 cm (step 220). When the excavation is started, the vertical movement of the excavator 1 is detected by the wire stroke sensor 10 (step 230). When the vertical movement occurs, the depth data D is set to D = h1 by the detection signal of the wire stroke sensor 10. Update (step 240).

Next, the open / closed state of the bucket 3 is detected by the bucket cylinder stroke sensor 11 (step 2
50) When the bucket 3 is opened / closed, the stroke extension amount S of the bucket cylinder 2 is converted into the height h2 in the depth direction of the bucket 3 (step 260), and the lifting amount of the bucket tip by opening / closing the bucket 3 is calculated. The tip reaching depth D = h1 + h2 is obtained by adding h2 to the depth data D (step 270). Next, the difference TD between the excavator tip reaching depth D and the set control target excavation depth T is calculated (step 280), and an elevating command is issued to the elevating device 6 (step 290). After the above series of processing, it is confirmed whether or not the excavation is completed (step 300). If it is completed, the processing is ended (step 310). If not, the processing returns to step 230 to repeat the above series of processing. .

By repeating the above control in a short cycle, excavation can be performed while maintaining the depth of the bucket 3 at the tip of the control target at the excavation depth T.

[0073]

As is apparent from the above description, according to the bucket type excavator and the excavating method thereof according to claims 1 and 4, the excavator has a depth measuring wire, a wire stroke sensor, a bucket opening / closing degree. The excavator has a detector, a processing device, and a display device, and the wire stroke sensor detects the vertical movement amount of the excavator body, and the bucket opening / closing degree detector detects the vertical movement amount of the bucket tip due to opening / closing of the bucket. Calculate the reaching depth of the tip,
This can be displayed numerically or graphically to the driver by means of a display device.

As a result, regardless of whether or not the excavator is filled with the opaque stabilizing liquid and the operator cannot see the excavator with the naked eye, the operator can determine the excavation depth at the tip of the bucket ( The reach depth of the claw) can be grasped, and thus excavation can be performed while accurately controlling the excavation depth.

Further, according to the excavator and the excavation method of the present invention, the excavation work is not interrupted for depth measurement by measuring, and the driver concentrates on the screen of the display device to excavate. Therefore, excavation can be performed efficiently.

According to the bucket excavator and the excavating method of the present invention, the bucket open / close degree detector detects the open / closed state of the bucket, and the processing device determines the open / close angle of the bucket based on the detected open / closed state. It is possible to perform calculations and graphic processing and show it to the driver via the display. As a result, the driver can grasp the excavation depth and the current open / closed state of the bucket, and can efficiently excavate while monitoring the state of the excavator in the excavation hole on the screen of the display device. Can be made flat.

According to the bucket type excavator and the excavating method therefor of claim 3 of the present application, it has an input means for inputting a control target excavation depth, and the processing device stores the target excavation depth, By calculating the tip reach depth of the current excavator by the same method as the bucket type excavator and the excavation method according to claim 1 and claim 4, so that the tip reach depth of this excavator and the target excavation depth match. It controls the lifting device of the excavator.

This makes it possible to finish the bottom surface of the excavation hole into a flat surface having a uniform depth. In particular, when excavating a vertically long excavation groove having a plurality of excavation holes or a large excavation hole, the bottom surface of the excavation hole is intuitive to the driver. It is not necessary to rely on the finish, and it is possible to efficiently dig a hole or a groove with an accurate depth.

[Brief description of drawings]

FIG. 1 is a diagram showing the entire bucket type excavator according to the present invention in a state of being suspended by a base crane.

FIG. 2 is a perspective view showing a structure of a wire winding device for a depth measuring wire according to the present invention.

FIG. 3 is a diagram showing a structure of a bucket cylinder stroke sensor of the present invention.

FIG. 4 is a view showing another embodiment of the bucket cylinder stroke sensor of the present invention.

FIG. 5 is a view for explaining a method of calculating the depth of arrival of the excavator tip.

FIG. 6 is a block diagram showing a configuration of an apparatus for calculating a tip reaching depth of the excavator.

FIG. 7 is a flowchart illustrating a flow of a process for calculating an excavator tip reaching depth.

FIG. 8 is a diagram showing an example of a screen of a display device which numerically or graphically indicates the depth of arrival of the excavator tip.

FIG. 9 is a flowchart showing the flow of processing for grasping the open / closed state of the bucket.

FIG. 10 is a block diagram showing an apparatus configuration for controlling the depth of arrival of the excavator tip.

FIG. 11 is a flowchart showing a flow of a process for controlling the depth of arrival of the excavator tip.

FIG. 12 is a view showing the entire conventional bucket type excavator suspended by a base crane.

FIG. 13 is a diagram showing a state of a conventional excavation hole depth measurement using a measuring scale with a weight.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 bucket type excavator 2 bucket cylinder 2a cylinder part 2b piston rod part 3 bucket 5 hanging wire 6 elevating device 7 electric cable 8 winding device 9 wire for depth measurement 10 wire stroke sensor 11 bucket cylinder stroke sensor 53 processing device 54 display Device 70 Input means

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[Procedure amendment]

[Submission date] July 21, 1995

[Procedure Amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0071

[Correction method] Change

[Correction content]

Next, the open / closed state of the bucket 3 is detected by the bucket cylinder stroke sensor 11 (step 2
50) When the bucket 3 is opened and closed, the extension amount S of the stroke of the bucket cylinder 2 is converted into the height h2 of the bucket 3 in the depth direction (step 260), and the amount of downward movement of the bucket tip due to the opening and closing of the bucket 3 h2 is added to the depth data D to obtain a tip end reaching depth D = h1 + h2 (step 270). Next, the difference TD between the excavator tip reaching depth D and the set control target excavation depth T is calculated (step 280), and an elevating command is issued to the elevating device 6 (step 290). After the above series of processing, it is confirmed whether or not the excavation is completed (step 300). If it is completed, the processing is ended (step 310). If not, the processing returns to step 230 to repeat the above series of processing. .

[Procedure Amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0073

[Correction method] Change

[Correction content]

[0073]

As is apparent from the above description, according to the bucket type excavator and the excavating method thereof according to claims 1 and 4, the excavator has a depth measuring wire, a wire stroke sensor, a bucket opening / closing degree. The excavator has a detector, a processing device, and a display device, and the wire stroke sensor detects the descending amount of the excavator main body, and the bucket opening / closing degree detector detects the descending amount of the bucket tip due to opening / closing of the bucket. Calculate the reaching depth of the tip,
This can be displayed numerically or graphically to the driver by means of a display device.

[Procedure 3]

[Document name to be corrected] Drawing

[Name of item to be corrected] Figure 7

[Correction method] Change

[Correction content]

[Figure 7]

[Procedure amendment 4]

[Document name to be corrected] Drawing

[Correction target item name] Figure 9

[Correction method] Change

[Correction content]

[Figure 9]

[Procedure Amendment 5]

[Document name to be corrected] Drawing

[Name of item to be corrected] Fig. 11

[Correction method] Change

[Correction content]

FIG. 11

 ─────────────────────────────────────────────────── ─── Continuation of the front page (71) Applicant 000150615 Haseko Corporation 2-32-1, Shiba, Minato-ku, Tokyo (71) Applicant 594198547 Orient Development Co., Ltd. 2-3-12 Yaesu, Chuo-ku, Tokyo (72) Inventor Kazuhisa Yamamoto 3-12-8 Shibaura, Minato-ku, Tokyo Within Ando Construction Co., Ltd.

Claims (6)

[Claims] 1. A bucket type excavator equipped with an openable and closable excavating bucket at the lower end of the main body, wherein one end is connected to the bucket type excavator main body and the other end is wound on a winding device. From a wire stroke sensor that detects the amount of delivery of the depth measuring wire, a bucket open / closed degree detector that detects the open / closed state of the bucket, and a detection value from the wire stroke sensor and the bucket open / closed degree detector. A bucket excavator, comprising: a processing device that calculates the arrival depth at the tip of the bucket; and a display device that displays a numerical value or a graphic in real time to the arrival depth at the tip of the bucket calculated by the processing device. . 2. The bucket according to claim 1, wherein the processing device calculates from an output of the bucket open / close degree detector and outputs moving image information indicating an open / closed state of the bucket to the display device. Excavator. 3. An excavation depth is set in advance, and an elevating / lowering command is issued to an elevating device of the bucket type excavator according to an opening / closing angle of the bucket so that the depth reached by the tip of the bucket coincides with the set excavation depth. The bucket type excavator according to claim 1 or 2, further comprising a processing device for controlling the excavation depth. 4. A method of excavating using a bucket excavator equipped with an excavating bucket at the lower end of the main body, wherein one end of the bucket excavator is connected to the excavator main body and the other end is wound up. A depth measuring wire wound around the device, a wire stroke sensor that detects the amount of delivery of the depth measuring wire, a bucket opening / closing degree detector that detects the open / closed state of the bucket, the wire stroke sensor and the bucket opening / closing A processing device for calculating the tip reaching depth of the bucket from the detection value from the degree detector, and a display device for numerically or graphically displaying the tip reaching depth of the bucket calculated by the processing device in real time to the driver, The detection signals of the wire stroke sensor and the bucket open / closed degree detector are input to the processing device, and the processing device outputs the tip of the bucket. By calculating the end reaching depth and displaying the calculated tip reaching depth of the bucket numerically or graphically to the driver by the display device in real time, it is possible to allow the driver to perform digging while grasping and managing the digging depth. A method of excavating a bucket type excavator, which is a feature. 5. The opening / closing state of the bucket is calculated by calculating the detection value detected by the bucket opening / closing degree detector by the processing device and outputting moving image information indicating the opening / closing state of the bucket to the display device. The excavation method for a bucket excavator according to claim 4, characterized in that the driver grasps and manages in real time. 6. An excavation command is issued to an elevating device of the bucket type excavator in accordance with an opening / closing angle of the bucket with respect to a set excavation depth, and a reaching depth of the bucket tip coincides with the set excavation depth. An excavation depth control processing device for causing a driver to set a planned excavation depth, controlling a reaching depth of a tip of the bucket type excavator by the excavation depth control processing device, and setting the bottom surface of the excavation hole to the predetermined value. The excavation is performed to a depth substantially matching the excavation depth.
Or the excavation method of the bucket type excavator according to claim 5.